CN105774800B - A kind of impact-moderation method and device in hybrid vehicle queue between vehicle - Google Patents
A kind of impact-moderation method and device in hybrid vehicle queue between vehicle Download PDFInfo
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Abstract
The invention discloses the impact-moderation method and device between vehicle in a kind of hybrid vehicle queue, the impact-moderation method in hybrid vehicle queue between vehicle includes the following steps：1) situation of remote of the adjacent non-net connection vehicle of the situation of remote of acquisition net connection vehicle and net connection Chinese herbaceous peony, rear；2) sequentially judge head vehicle in hybrid vehicle queue, rear car, if head vehicle or rear car, then enter step 3), otherwise return to step 1), head vehicle joins vehicle for the net that damped condition is more than given threshold, and rear car meets the vehicle of queue impact-moderation requirement for head vehicle rear；3) situation of remote of net connection vehicle is received；4) plan that respectively net joins the expectation acceleration of vehicle in rear car；5) respectively net connection vehicle is travelled according to the expectation acceleration planned in rear car, and non-net connection vehicle is travelled according to car-following model；6) judge whether each rear car stops, if so, stopping control；Otherwise, return to step 3).The present invention can be controlled using the braked space in each workshop in hybrid vehicle queue.
Description
Technical field
The present invention relates to automobile technical field, more particularly to the impact-moderation side between vehicle in a kind of hybrid vehicle queue
Method and device.
Background technology
In recent years, since car ownership is skyrocketed through, law on road traffic safety rule relatively lag behind, and driving technology training should
The reasons such as examinationization, road traffic bear unprecedented pressure.According to statistics, in China's expressway traffic accident form, collision accident institute
Accounting example highest, can almost reach 66.76%.In people, three, Che He roads aspect, human factor causes traffic accident to account for accident
More than 90% sum.Therefore, collision accident how is effectively reduced, is obtained for government, enterprise and research institution all the time
Highest attention.
Advanced driving assistance system (ADAS, Advanced Driver Assistance Systems) is due to can overcome the disadvantages that people
Limitation of class driver itself, has obtained extensive research and application.Wherein, Active collision avoidance system is avoided collision as most effective
Accident technology, has obtained further investigation and extensive use.The system is accurately obtained from vehicle and periphery by advanced sensing technology
The information of vehicle, and recognize security risk.Under emergency work condition, system actively takes control for brake, so as to avoid collision accident,
Ensure driving safety.At present, Active collision avoidance system only avoids colliding with front vehicles or barrier by control from vehicle braking,
The influence to front vehicle is not considered in braking decision, in fact it could happen that braking deceleration is excessive, front braked space is not using
Phenomena such as abundant, so as to cause the generation of rear-end collision accident.Therefore, hybrid vehicle queue impact-moderation technology is come into being.
The fast development of car networking technology is vehicle active safety technologies, especially hybrid vehicle queue impact-moderation technology
Bring huge opportunity.In highway and the unobstructed environment of city expressway, pass through existing vehicle vehicle short-range communication technology
And 4G/5G networking technologies, more workshops can realize large-scale initiative information interaction.Vehicle is to the perception of environment from from vehicle
The limited information collection of sensor expands to nearby vehicle and entire traffic environment, and front vehicles emergency can be carried out in advance
It perceives and prediction, and makes rational control decision, compensate for brake caused by traditional sensors information collection range is small and subtract
Speed is excessive, braked space utilizes phenomena such as insufficient, and then avoids the generation of more vehicle chain of rings collision accidents.
Although more vehicle impact-moderation controls can bring apparent safety improvement under net connection environment, the formation of full networked environment
It also needs for a long time, before this, there is net connection vehicle and net the part car networking stage for joining vehicle and participating in traffic circulation jointly with non-.Mesh
Front truck vehicle impact-moderation control method is mostly based on ideal full networked environment scene, and in the vehicle networked scene of substantial portion
Necessarily joined vehicle by non-net to be restricted.Therefore, it is necessary to design one kind under interconnecting segment environment hybrid vehicle queue (net connection vehicle with
It is non-net connection vehicle participate in jointly) impact-moderation method and device.
Thus, it is desirable to have a kind of technical solution is come at least one drawbacks described above for overcoming or at least mitigating the prior art.
Invention content
The purpose of the present invention is to provide the impact-moderation method and devices between vehicle in a kind of hybrid vehicle queue gram
Clothes at least mitigate at least one drawbacks described above of the prior art.
To achieve the above object, the present invention provides a kind of impact-moderation method between vehicle in hybrid vehicle queue, described
Impact-moderation method in hybrid vehicle queue between vehicle includes the following steps：1) situation of remote of acquisition net connection vehicle and net connection
The situation of remote of the adjacent non-net connection vehicle in Chinese herbaceous peony, rear；2) head vehicle in hybrid vehicle queue, rear car are sequentially judged, if head
3) vehicle or rear car then enter step, otherwise return to step 1), head vehicle joins vehicle, rear car for the net that damped condition is more than given threshold
Meet the vehicle of queue impact-moderation requirement for head vehicle rear；3) situation of remote of net connection vehicle is received；4) each net in rear car is planned
Join the expectation acceleration of vehicle；5) respectively net connection vehicle is travelled according to expectation acceleration plan in rear car, it is non-net join vehicle according to
Vehicle model travels；6) judge whether each rear car stops, if so, stopping control；Otherwise, return to step 3).
Further, in step 4), the minimum optimization aim of vehicle critical retardation power summation is joined with net, plans each net in rear car
Join the expectation acceleration of vehicle.
Further, the expectation acceleration a of net connection vehiclei,des(k) it is obtained by following formula：
Its constraints is：
Wherein：T is prediction time domain length, and G is the set of net connection vehicle in hybrid vehicle queue, and B is in hybrid vehicle queue
The set of non-net connection vehicle, c_i are the serial number of net connection vehicle, and c_j joins the serial number of vehicle, m for non-netc_iMatter for the c_i net connection vehicle
Amount, m0For the quality of non-net connection vehicle, SiFor i-th vehicle and the following distance of its front truck；xi(t) it is the headstock position of i-th vehicle of t moment
It puts, vi(t) it is the speed of i-th vehicle of t moment, ai(t) it is the acceleration of i-th vehicle of t moment, adi(t) expectation for i-th vehicle
Acceleration, τ be characterize vehicle operating lag time constant, ai,minFor the minimum acceleration of i-th vehicle, ai,maxFor i-th vehicle
Peak acceleration.
Further, in step 2), the composition of hybrid vehicle queue has following characteristics：It is 1. adjacent in hybrid vehicle queue
Two vehicles time headway be less than preset value；2. trailer is net connection vehicle；3. the net connection vehicle between head vehicle and trailer joins parking stall with non-net
It is random to put distribution.
Further, the car-following model of non-net connection vehicle is：
In formula, TTC is the collision avoidance time.
The present invention also provides the impact-moderation device between vehicle in a kind of hybrid vehicle queue, in the hybrid vehicle queue
Impact-moderation device between vehicle include perceiving unit, communication unit, the first brak control unit, the second brak control unit and
Cloud computing platform, wherein：The perception unit, communication unit and the first brak control unit are mounted on net connection vehicle, and described the
Two brak control units are installed on non-net connection vehicle；It is described perceive unit be used to collecting respective wire connection vehicle from car state information and
The situation of remote of the adjacent non-net connection vehicle in net connection Chinese herbaceous peony, rear and output；The communication unit joins vehicle and the cloud for netting
Computing platform carries out real-time information interaction；The cloud computing platform is used to receive the information of the perception unit output, judges to mix
It closes and the expectation acceleration of connection vehicle is respectively netted in head vehicle and rear car and the planning rear car in vehicle platoon and is exported, the head vehicle is system
Condition of starting building is more than the net connection vehicle of given threshold, and the rear car meets the vehicle of queue impact-moderation requirement for head vehicle rear；It is described
First brak control unit is used for the control net after the expectation acceleration for receiving the cloud computing platform output and joins vehicle according to the phase
Hope acceleration traveling；Second brak control unit travels for non-net to be controlled to join according to car-following model.
Further, the perception unit includes environmental perception device, acceleration harvester, on-vehicle information harvester
And positioning device, wherein：The environmental perception device is used to perceiving the adjacent non-net connection situation of remote of vehicle of forward and backward side and defeated
Go out；The acceleration harvester is used to perceive the longitudinal acceleration from vehicle；The on-vehicle information harvester is used for collecting vehicle
Speed, brake pressure and throttle opening information；The positioning device is used to acquire from vehicle location information.
Further, the communication unit wirelessly communicates the information conveyance for acquiring the perception unit extremely by 4G/5G
The cloud computing platform, and it is expected acceleration from vehicle for receive cloud computing platform planning.
Further, the cloud computing platform includes communication device, head vehicle judgment means, rear car judgment means and it is expected to add
Speed planning device, wherein：The communication device and the communication unit information exchange, and for the expectation planned to be accelerated
Degree is conveyed to the communication unit respectively netted in rear car on connection vehicle；The head vehicle judgment means are used for the damped condition according to input
Judge the head vehicle；The rear car judgment means are used to receive the information of the head vehicle, and require to sentence according to queue impact-moderation
The disconnected rear car, and the vehicle in hybrid vehicle queue is numbered；The expectation acceleration device for planning is used for according to net
Join the driving states information of vehicle, plan the expectation acceleration of net connection vehicle in each rear car.
Further, the expectation acceleration device for planning includes information Fusion Module, model prediction module and it is expected to add
Speed calculation module, wherein, described information Fusion Module is used for the forward and backward side's vehicle for perceiving the environmental perception device
Situation of remote is merged, and quickly determines forward and backward side's car status information, and be conveyed to the model prediction module；The mould
Type prediction module is predicted for the movement of each rear car, is conveyed to the expectation acceleration calculation module；The expectation
Acceleration calculation module is used to be moved according to each rear car of prediction, calculates the expectation acceleration of each rear car and is conveyed to institute
State communication device.
The present invention has the following advantages due to taking above technical scheme：1st, the present invention is obtained by 4G/5G wireless communications
The non-net connection car state information that all net connection vehicle information and net connection vehicle perceive in hybrid vehicle queue is taken, it is critical with net connection vehicle
Optimization aim, progress hybrid vehicle queue impact-moderation control brake force summation minimum in order to control.Due to having considered net connection
Che Yufei net connection vehicles influence each other, it is thus possible to which the braked space for efficiently using each workshop in hybrid vehicle queue is controlled
System, collision avoid controlling with to be much better than traditional bicycle active collision avoidance on remission effect；2nd, the present invention is based on possess independent intellectual
The 4G/5G communication technologys of property right, the not only traditional short range communication technology of the big quantum jump of communication distance, and when improving access
Prolong, the singal reporting codes such as traffic rate, bandwidth are, it can be achieved that whole impact-moderation control in urban road traveling；3rd, the present invention is based on
Possess China Mobile's cloud computing platform (" great Yun (BigCloud) platform ") of independent intellectual property right, dug in computational efficiency, data
Pick functionally excellent performance, fully meets " National Highway Traffic safety management bureau and collision avoidance standard cooperative programme group
Knit many aspects of vehicle safety applications standard of selection ", it can be achieved that low time delay, highly reliable cloud platform application.
The present invention can be widely applied in the vehicle vehicle impact-moderation control under interconnecting segment environment in hybrid vehicle queue.
Description of the drawings
Fig. 1 is the hybrid vehicle queue impact-moderation control method flow provided by the present invention based on Model Predictive Control
Figure.
Fig. 2 is that the structure that the hybrid vehicle queue impact-moderation provided by the present invention based on Model Predictive Control is implemented is shown
It is intended to.
Fig. 3 is single unit vehicle hardware architecture diagram.
Specific embodiment
To make the purpose, technical scheme and advantage that the present invention is implemented clearer, below in conjunction in the embodiment of the present invention
Attached drawing, the technical solution in the embodiment of the present invention is further described in more detail.In the accompanying drawings, identical from beginning to end or class
As label represent same or similar element or the element with same or like function.Described embodiment is the present invention
Part of the embodiment, instead of all the embodiments.The embodiments described below with reference to the accompanying drawings are exemplary, it is intended to use
It is of the invention in explaining, and be not considered as limiting the invention.Based on the embodiments of the present invention, ordinary skill people
All other embodiment that member is obtained without creative efforts, shall fall within the protection scope of the present invention.Under
Face is described in detail the embodiment of the present invention with reference to attached drawing.
In the description of the present invention, it is to be understood that term " " center ", " longitudinal direction ", " transverse direction ", "front", "rear",
The orientation or position relationship of the instructions such as "left", "right", " vertical ", " level ", " top ", " bottom " " interior ", " outer " is based on attached drawing institutes
The orientation or position relationship shown is for only for ease of the description present invention and simplifies description rather than instruction or imply signified dress
It puts or element must have specific orientation, with specific azimuth configuration and operation, therefore it is not intended that the present invention is protected
The limitation of range.
Signified " hybrid vehicle queue " of the invention includes net connection vehicle and non-net connection vehicle, and " net connection vehicle " refers to intelligence of new generation
Energy automobile, carries the vehicle of wifi symbols, has following features simultaneously as shown in Figure 2：
Firstth, there is environment sensing, by perceiving forward and backward side's information of vehicles from vehicle sensor (radar and video camera)
(including distance, speed and acceleration etc.), wherein, forward and backward side's vehicle can be net connection vehicle or non-net connection vehicle.
Secondth, there is GPS positioning function, the location information of vehicle can be obtained from real time.
Third has communication function, by vehicle-mounted short range communication device or 4G/5G means of communication, it can be achieved that net connection vehicle
Information exchange between net connection vehicle, between net connection vehicle and cloud platform.
" non-net connection vehicle " refers to conventional truck, i.e., does not have the vehicle of These characteristics or do not have thirdly function at least
Vehicle, as shown in Figure 2 without the vehicle of wifi symbols.
As shown in Figure 1, impact-moderation method in the hybrid vehicle queue that present embodiment is provided between vehicle include with
Lower step：
1) situation of remote of the adjacent non-net connection vehicle of the situation of remote of acquisition net connection vehicle and net connection Chinese herbaceous peony, rear：Traveling
All net connection vehicles acquisitions are from the situation of remote of vehicle damped condition and its forward and backward side's vehicle in vehicle platoon, and by above- mentioned information
Cloud computing platform is sent to by 4G/5G communication equipments.Wherein, damped condition includes accelerating from vehicle brake signal and corresponding braking
Degree, brake signal can be extracted by former vehicle CAN bus, once collecting the signal, then can determine whether to have been stepped on for brake pedal
Under；Braking acceleration generally refers to the longitudinal acceleration of vehicle.
2) sequentially judge head vehicle in hybrid vehicle queue, rear car, if so, being denoted as a vehicle or rear car, and enter step
3)；Otherwise, return to step 1), which is specially：
First, it is determined that the damped condition for whether having net connection vehicle is more than given threshold, if so, net connection vehicle is designated as head
Vehicle；Otherwise, return to step 1).That is, according in step 1) it is collected net connection vehicle situation of remote and the net connection Chinese herbaceous peony,
The situation of remote of the adjacent non-net connection vehicle in rear, cloud computing platform carries out damped condition analysis, if the braking letter of a certain net connection vehicle
Number and longitudinal acceleration signal occur simultaneously, and longitudinal acceleration is more than given threshold (such as 2m/s2) when, then the net
Connection vehicle is designated as a vehicle, and be labeled.
Then, judge whether the vehicle at vehicle rear meets queue impact-moderation requirement, if so, being designated as rear car；It is no
Then, return to step 1).That is, required according to queue impact-moderation, all after cloud computing platform enemy's vehicle meet team
The vehicle of row impact-moderation requirement carries out the foundation of hybrid vehicle queue, and each vehicle is numbered.Queue impact-moderation requires to include：
1. head vehicle is net connection vehicle and produces braking deceleration；2. the time headway of rear car and front truck is less than preset value (such as 3 between vehicle
Second)；3. trailer is net connection vehicle；4. the net connection vehicle and non-net connection truck position distribution between head vehicle and trailer are random.
3) cloud computing platform receives the situation of remote of net connection vehicle in hybrid vehicle queue.
4) plan that respectively net joins the expectation acceleration of vehicle in rear car：Cloud computing platform combines in mixing hybrid vehicle queue and nets connection
Vehicle (in addition to head vehicle) conveying joins vehicle Partial State Information from car state information and non-net adjacent thereto, using based on MPC
The hybrid vehicle queue impact-moderation method of (Model Predictive Control, Model Predictive Control), to hybrid vehicle
Respectively the expectation acceleration of net connection vehicle carries out centralized planning in queue, and counted each optimal expectation acceleration of rear car is conveyed respectively
Join vehicle to the net in hybrid vehicle queue.
5) respectively net connection vehicle is travelled according to the expectation acceleration planned in rear car, and non-net connection vehicle is according to car-following model row
It sails.
6) judge whether each rear car stops, if so, stopping control；Otherwise, return to step 3).
Above-mentioned steps 4) in, the minimum optimization aim of vehicle critical retardation power summation is joined with net, plans that respectively net joins vehicle in rear car
Expectation acceleration.
Above-mentioned steps 5) in, the expectation acceleration a of net connection vehiclei,des(k) it is obtained by following methods：
A) hybrid vehicle queue is established
Assuming that there are m net connection vehicle, net connection vehicle present position in hybrid vehicle queue in the hybrid vehicle queue of N vehicle
ID collection is combined into：
The vehicle ID collection for participating in optimization calculating is so needed to be combined into：
C=G ∪ { gi-1}∪{gj+ 1 }, gi＞ 1, gj＜ N, gi,gj∈G
It enables
C={ c_1, c_2 ... c_p }, c_1 ＜ c_2 ＜ ... ＜ c_p, m≤p≤N,
Representated by element it is to optimize the row virtual vehicle queue that controls in calculating process in set C, in actual environment
In these vehicles it is not necessarily front and rear adjacent.Wherein, net connection vehicle can accurately calculate relative kinetic energy density from vehicle and front truck rather than
Net connection vehicle can only calculate the relative kinetic energy density that connection vehicle is netted with front.If there are continuous two non-nets in car team to join vehicles, all
Uncontrollable, relative kinetic energy density calculating between the two is also meaningless.
B) object function is established
The relative kinetic energy density of two vehicles in virtual car team, i.e. the critical value power of rear car is in two vehicles：
Wherein Fi,i+1(t) the relative kinetic energy density between t moment i+1 vehicle and i-th vehicle, miFor i-th vehicle
Quality, Si(t) following distance of i-th vehicle of t moment and (i-1) vehicle, v are representedi(t) be respectively i-th vehicle of t moment speed,
vi-1(t)≤vi(t), i=1,2 ..., n-1 work as vi-1(t) ＞ vi(t) v is taken wheni-1(t)=vi(t)。
Following distance is calculated by following formula.
Si=xi(t)-xi+1(t)-Li
Wherein LiFor the length of i-th vehicle, xi(t) it is the headstock position of i-th vehicle of t moment.
Using the critical retardation power summation of more vehicles as object function, collided using its value minimum as hybrid vehicle queue slow
The optimization aim of control is solved, and only considers the critical retardation power between adjacent two vehicle, i.e.,：
Wherein, c_i ∈ G and c_i ＞ 1, c_j ∈ CCThe net connection vehicle of G, c_j ＞ 1 and c_ (j-1) ∈ G, i.e. c_i as rear car
The vehicle ID that ID, c_i are non-net connection vehicle but front truck is net connection vehicle.m0Join the quality of vehicle for non-net, although its quality is can not to survey
, but considering the type and mass range of vehicle, it may be assumed that the quality of all non-net connection vehicles is with certain when calculating
Value.Its speed and following distance information can accurately be obtained by Adjacent vehicles radar.
Since the control method controls non-net connection vehicle, the expectation acceleration of non-net connection vehicle is determined by driver
It is fixed.In car-following model, the vehicle speed data of non-net connection vehicle perceived measured by unit of vehicle is joined by net, the reality that difference obtains adds
Speed is approximately it is expected that acceleration substitutes into calculate.
Therefore, it can show that the hybrid vehicle queue impact-moderation algorithm object function based on net connection vehicle critical retardation power is：
Wherein adesExpectation acceleration input for each net connection vehicle.
C) constraints
Kinematics model is chosen as auto model, and assumes vehicle actual acceleration with it is expected that acceleration input is single order
Inertial element.Net connection vehicle expectation acceleration is determined that non-net connection vehicle accelerates generation using current acceleration as expectation by control system
Enter auto model, and assume that the collection of non-net connection vehicle ID compositions is combined into B, the auto model obtained in prediction time domain is as follows：
Wherein xi(t) for i-th vehicle in the headstock position of t moment, vi(t) for i-th vehicle in the headstock speed of t moment and
ai(t) for i-th vehicle in the acceleration of t moment, ai,des(t) it is expectation acceleration of i-th vehicle in t moment, τ is that the time is normal
Number.In order to which this algorithm is made to have solution, and it can also continue when certain vehicles collide to optimize the acceleration of other vehicles, constraints
Only consider the stopping power of each vehicle, and be not provided with safe distance constraint.The acceleration of each net connection vehicle is constrained to：
ai,min≤ai,des(t)≤ai,max
Wherein ai,minFor the minimum acceleration of i-th vehicle, ai,maxPeak acceleration for i-th vehicle.
D) Optimized model is established
Constraints in reference to the object function established in b) and c), if centralized Control variable it is expected acceleration for each vehicle
The vectorial a of compositiondes(t)=[a1,des(t),a2,des(t),...,N,des(t)]T, time range is solved as prediction time domain Δ t, i.e.,
[t0,t0+Δt].Such as following formula of the hybrid vehicle queue impact-moderation Controlling model based on total critical retardation power is obtained to represent：
The expectation acceleration a of net connection vehiclei,des(k) it is obtained by following formula：
Its constraints is：
Wherein：T is prediction time domain length, and G is the set of net connection vehicle in hybrid vehicle queue, and B is in hybrid vehicle queue
The set of non-net connection vehicle, c_i are the serial number of net connection vehicle, and c_j joins the serial number of vehicle, m for non-netc_iMatter for the c_i net connection vehicle
Amount, m0For the quality of non-net connection vehicle, SiFor i-th vehicle and the following distance of its front truck；xi(t) it is the headstock position of i-th vehicle of t moment
It puts, vi(t) it is the speed of i-th vehicle of t moment, ai(t) it is the acceleration of i-th vehicle of t moment, adi(t) expectation for i-th vehicle
Acceleration, τ be characterize vehicle operating lag time constant, ai,minFor the minimum acceleration of i-th vehicle, ai,maxFor i-th vehicle
Peak acceleration.
The preparation method of the car-following model of non-net connection vehicle in step 5) is specific as follows：
A) non-net connection vehicle car-following model is established
Be analysis in Some vehicles networked environment, net connection vehicle to it is non-net connection vehicle influence, using improve driver AP
(Action Point) model (belongs to and drives mental model), simulates the behavior that the driver of non-net connection vehicle brakes with vehicle.The mould
Driver's desired braking deceleration that type is characterized determines by TTC (Time To Collision), which is the collision avoidance time, table
It has levied and has knocked into the back under current state with front truck the required time from vehicle, form is as follows：
ades=ceTTCf+d (1)
In formula (1), c, d, e and f are undetermined constant.
The use of formula (1) need to meet certain precondition, i.e. visual angle change rate of the front truck in driver's seat reaches one
Driver can just perceive and take operation when determining threshold value, this can be kept eliminating from driver before vehicle and front truck relative motion
Operation.Front truck visual angle change rate in driver's seat is：
Wherein θ is angular field of view of the front truck in driver's eye, Δ v and Δ x be respectively front and rear two vehicles relative velocity and
Vehicle headway.
It is expected following distance D with driverpInstead of Δ x, obtain judging the threshold of perception current of driver：
As k ＞ 6 × 10-4When, driver will take operation according to formula (1).
E, f and d value in formula (1)：E=1.04, f=0.72, d=-6.918.Wherein e, f are estimated for driver from vehicle
With the relevant parameters of front truck TTC, d is the desired maximum braking deceleration of driver.Can see from the form of (1), only when
TTC is reduced to 0, and driver can just take expectation maximum braking deceleration, it means that driver will not take before the collision
Maximum braking, and the present embodiment may be reasonably assumed that driver will take maximum braking when two vehicle TTC are smaller, enabling should
TTC is TTCl, then formula (1) can be rewritten as
On the other hand, driver will not take brake operating when TTC is very big, it is assumed that driver determines to take brake operating
TTC be TTCu, work as TTC=TTCuWhen, the desired braking deceleration of driver is 0, and therefore the parameter c in (4) can be by equation
(5) it determines.
TTCuIt is determined according to ongoing driver characteristics result of study, measures and meet China's driver's driving performance
TTC mean values are 14.68s.Using the value as TTCu, TTClTake 3s.Each parameter value is substituted into (1), obtains non-net connection vehicle with vehicle mould
Type is：
The time of driver's reaction of car-following model simulation is longer, and braking deceleration uphill process is relatively gentle, meets true
Practical operation is made, and final spacing of stopping is also more realistic.
As shown in Figures 2 and 3, the present invention also provides the impact-moderation device between vehicle in a kind of hybrid vehicle queue,
Including perceiving unit 1, communication unit 2, the first brak control unit 3a, the second brak control unit 3b and cloud computing platform 4.
Perceive unit 1 be installed on net connection vehicle, and for collect respective wire connection vehicle from car state information and the net connection vehicle
The situation of remote of the adjacent non-net connection vehicle of forward and backward side, and it is delivered to communication unit 2.A kind of perceptually preferred implementation of unit 1
Mode, including environmental perception device 11, acceleration harvester 12, on-vehicle information harvester 13 and positioning device 14,
In：Environmental perception device 11 is used to perceive situation of remote and the output of the adjacent non-net connection vehicle of forward and backward side.Environmental perception device 11
It is made of vehicle-borne CCD video camera and millimetre-wave radar, the forward and backward side of machine testing is imaged with the non-net connection vehicle in track by vehicle-borne CCD
Whether relative position detects non-net connection vehicle in identical track, passes through the speed of the forward and backward Fang Fei nets connection vehicle of vehicle-mounted millimeter wave detections of radar
Degree and acceleration, vehicle-borne CCD video camera and millimetre-wave radar collect all information and are conveyed to communication unit 2.
Acceleration harvester 12 is used for the longitudinal acceleration of vehicle where perceiving it and is conveyed to communication unit 2.This reality
Inertial sensor may be used in the acceleration harvester 12 applied in mode, and requires the renewal frequency of inertial sensor not low
In 5Hz.
On-vehicle information harvester 13 is used to acquire speed, brake pressure and throttle opening information.Preferably, on-vehicle information
Harvester 13 is integrated with CAN communication chip, for acquiring necessary car status information (such as vehicle system from former vehicle CAN bus
Dynamic signal), and these car status informations are conveyed to communication unit 2.It is required that the frequency acquisition of CAN communication chip is not less than
5Hz, to ensure the newer real-time of information.
Positioning device 14 is used to acquire from vehicle location information.In present embodiment, vehicle locating device 14 is using north
The satellite navigation system that struggles against (BeiDou Navigation Satellite System, BDS), for obtaining vehicle position information simultaneously
Send communication unit 2 to.Positioning device 14 requires renewal frequency, and not less than 5Hz, positioning accuracy is not less than 1m, to ensure vehicle position
The accurate and update put, so as to ensure to calculate the accuracy and real-time of vehicle headway.
Communication unit 2 is installed on net connection vehicle, and carries out real-time information interaction with cloud computing platform 4 for netting connection vehicle.This reality
It applies in mode, communication unit 2 uses 4G/5G wireless communication modules.During mixing hybrid vehicle queue impact-moderation control,
Communication unit 2 is put down what the perception unit 1 netted on connection vehicle acquired from car state information and environmental information by sending cloud computing to
Platform 4, and the expectation acceleration being calculated from cloud computing platform 4 is obtained, it is delivered to the first brak control unit 3a, the first system
Dynamic control unit 3a is used for the control after the expectation acceleration for receiving the output of cloud computing platform 4 and nets connection vehicle desirably acceleration
Traveling realizes impact-moderation control for brake.The 4G/5G wireless telecommunications are communicated using the LTE-V based on TD-LTE technical researches
Module, two kinds of communication modes of cellular based communication technology and distributed straight-through technology including extension, subsequently can also be used currently
The LTE-V mechanicss of communication towards 5G in research and development, but not limited to this.
First brak control unit 3a is installed on net connection vehicle, and for adding in the expectation for receiving the output of cloud computing platform 4
Desirably acceleration travels control net connection vehicle after speed, in the expectation acceleration for not receiving the cloud computing platform output
In standby mode, each vehicle is freely travelled according to driver intention, to realize the control to net connection vehicle in hybrid vehicle queue.
Preferably, the first brak control unit 3a controls vehicle by the brake actuator in E-Gas and body stabilization system
Acceleration.
Second brak control unit 3b travels for non-net to be controlled to join vehicle according to car-following model.Car-following model refers to currently
Side is when being in an emergency, the emergency reaction that driver takes, and the car-following model of non-net connection vehicle is：
In formula, TTC is the collision avoidance time.
Cloud computing platform 4 is for receiving the information for perceiving unit 1 and exporting, judge head vehicle and rear car in hybrid vehicle queue
And respectively net joins the expectation acceleration of vehicle and exports in planning rear car.The head vehicle joins for the net that damped condition is more than given threshold
Vehicle.The rear car meets the vehicle of queue impact-moderation requirement for head vehicle rear.
As a kind of preferred embodiment of cloud computing platform 4, cloud computing platform 4 includes communication device 41, head vehicle judges
Device 42, rear car judgment means 43 and expectation acceleration device for planning 44, wherein：
Communication device 41 and each 2 information exchange of communication unit, and for the expectation acceleration planned to be conveyed to rear car
In respectively net connection vehicle on communication unit 2.Head vehicle judgment means 42 are used to judge the head vehicle according to the damped condition of input.Specifically
Ground, head vehicle judgment means 42 judge whether certain vehicle is the head vehicle according to the brake signal and the longitudinal acceleration.The reality
Apply in mode, when brake pedal be operated and braking acceleration be more than 2m/s2When, it is head vehicle to remember the vehicle.Rear car judgment means 43
For receiving the information of head vehicle, and the rear car is judged, and to the vehicle in hybrid vehicle queue according to the requirement of queue impact-moderation
It is numbered.Hybrid vehicle queue judgment means 43 are formed into columns according to criterion enemy's vehicle front vehicle.Head vehicle rear
Vehicle in, meet the vehicle of the following conditions can be incorporated into mixing hybrid vehicle queue in：1. time headway is less than pre- between vehicle
If it is worth (such as 3 seconds)；2. trailer is net connection vehicle.One of above-mentioned condition is unsatisfactory for, is not incorporated into mixing hybrid vehicle queue.
It is expected that acceleration device for planning 44 for the driving states information according to net connection vehicle, plans that the expectation of net connection vehicle in each rear car accelerates
Degree.
In the above embodiment, it is expected that acceleration device for planning 44 includes information Fusion Module 441, model prediction module
442 and it is expected acceleration calculation module 443, wherein：
Information Fusion Module 441 is used for the situation of remote of forward and backward side's vehicle for perceiving the environmental perception device 11
It is merged, quickly determines forward and backward side's car status information, and be conveyed to model prediction module 442.
Model prediction module 442 is predicted for the movement of each rear car, is conveyed to and it is expected acceleration calculation module 443.
Specifically：Model prediction module 442 is used for according to speed, acceleration and position, and the movement of vehicle is predicted.It is non-to Mr. Yu
Net connection vehicle, by time discretization, take the not a length of Δ T of discrete time, collect k walk the vehicle position be x (k), speed v
(k), acceleration is a (k), and it is a it is expected accelerationdes(k), then k+j steps are set to x (k+j | k)=x (k+j-1 | k)+v (k+j-1
| k) * Δs T, speed are v (k+j | k)=v (k+j-1 | k)+a (k+j-1 | k) * Δ T, acceleration for a (k+j | k)=(τ-Δ t)/
τ*a(k+j-1|k)+ΔT/τ*ades(k+j-1|k).Here, τ is the time constant for characterizing vehicle operating lag, it can thus be appreciated that：
442 position used for vehicles of model prediction module, speed and acceleration carry out Np steps and are predicted.
Acceleration calculation module 443 it is expected for being moved according to each rear car of prediction, and the expectation for calculating each rear car accelerates
It spends and is conveyed to communication device 41.In particular, it is desirable to acceleration calculation module 443 walks collected vehicle location, speed according to k
And acceleration information, the prediction result of Np steps that binding model prediction module 442 obtains minimize object function, so as to optimize
The aimed acceleration of vehicle.
In conclusion the device that the respective embodiments described above are provided can in order to control be optimized with vehicle critical retardation power minimum
Target can efficiently use being controlled with vehicle space for each workshop in hybrid vehicle queue, realize the conjunction of vehicle relative position
Reason distribution, the generation so as to avoid collision as possible；When collision can not avoid, it can effectively slow down the degree of injury of collision belt.
It is last it is to be noted that：The above embodiments are merely illustrative of the technical solutions of the present invention, rather than its limitations.To the greatest extent
Pipe is with reference to the foregoing embodiments described in detail the present invention, it will be understood by those of ordinary skill in the art that：It is still
It can modify to the technical solution recorded in foregoing embodiments or which part technical characteristic is equally replaced
It changes；And these modifications or replacement, the essence for various embodiments of the present invention technical solution that it does not separate the essence of the corresponding technical solution
God and range.
Claims (9)
1. a kind of impact-moderation method in hybrid vehicle queue between vehicle, which is characterized in that include the following steps：
1) situation of remote of the adjacent non-net connection vehicle of the situation of remote of acquisition net connection vehicle and net connection Chinese herbaceous peony, rear；
2) sequentially judge head vehicle in hybrid vehicle queue, rear car, if head vehicle or rear car, then enter step 3), otherwise return
Step 1), head vehicle are the net connection vehicle that brake signal and longitudinal acceleration are more than given threshold, and rear car meets queue for head vehicle rear
The vehicle of impact-moderation requirement；The queue impact-moderation requires to include：1. head vehicle is net connection vehicle and produces braking deceleration；
2. the time headway of rear car and front truck is less than preset value between vehicle；3. trailer is net connection vehicle；4. the net connection vehicle between head vehicle and trailer
It is random with non-net connection truck position distribution；
3) situation of remote of net connection vehicle is received；
4) plan that respectively the expectation acceleration of net connection vehicle, net join the expectation acceleration a of vehicle in rear cari,des(k) it is obtained by following formula：
Its constraints is：
Wherein：T is prediction time domain length, and G is the set of net connection vehicle in hybrid vehicle queue, and B is non-net in hybrid vehicle queue
Join the set of vehicle, c_i is the serial number of net connection vehicle, and c_j joins the serial number of vehicle, m for non-netc_iFor the quality of the c_i net connection vehicle, m0
For the quality of non-net connection vehicle, SiFor i-th vehicle and the following distance of its front truck, xi(t) it is the headstock position of i-th vehicle of t moment, vi
(t) it is the speed of i-th vehicle of t moment, ai(t) it is the acceleration of i-th vehicle of t moment, adi(t) accelerate for the expectation of i-th vehicle
Degree, τ be characterization vehicle operating lag time constant, ai,minFor the minimum acceleration of i-th vehicle, ai,maxFor i-th vehicle most
High acceleration；
5) respectively net connection vehicle is travelled according to the expectation acceleration planned in rear car, and non-net connection vehicle is travelled according to car-following model；
6) judge whether each rear car stops, if so, stopping control；Otherwise, return to step 3).
2. the impact-moderation method in hybrid vehicle queue as described in claim 1 between vehicle, which is characterized in that step 4)
In, the minimum optimization aim of vehicle critical retardation power summation is joined with net, plans that respectively net joins the expectation acceleration of vehicle in rear car.
3. the impact-moderation method in the hybrid vehicle queue as described in any one of claim 1 to 2 between vehicle, feature exist
In in step 2), the composition of hybrid vehicle queue has following characteristics：1. in hybrid vehicle queue during the headstock of two adjacent vehicles
Away from less than preset value；2. trailer is net connection vehicle；3. the net connection vehicle and non-net connection truck position distribution between head vehicle and trailer are random.
4. the impact-moderation method in hybrid vehicle queue as claimed in claim 3 between vehicle, which is characterized in that non-net connection vehicle
Car-following model be：
In formula, TTC be the collision avoidance time, adesExpectation acceleration for non-net connection vehicle.
5. the impact-moderation device in a kind of hybrid vehicle queue between vehicle, which is characterized in that including perceiving unit (1), communication
Unit (2), the first brak control unit (3a), the second brak control unit (3b) and cloud computing platform (4), wherein：The sense
Know that unit (1), communication unit (2) and the first brak control unit (3a) are mounted on net connection vehicle, the second control for brake list
First (3b) is installed on non-net connection vehicle；It is described perceive unit (1) for collect respective wire connection vehicle from car state information and the net
The situation of remote of the adjacent non-net connection vehicle in connection Chinese herbaceous peony, rear and output；The communication unit (2) is by netting based on connection vehicle and the cloud
It calculates platform (4) and carries out real-time information interaction；The cloud computing platform (4) for receive it is described perception unit (1) export information,
Judge head vehicle and rear car in hybrid vehicle queue and plan that respectively net joins the expectation acceleration of vehicle and exports, the head in rear car
Vehicle is brake signal and longitudinal acceleration is more than the net connection vehicle of given threshold, and the rear car meets queue collision for head vehicle rear and delays
Solve the vehicle of requirement；The queue impact-moderation requires to include：1. head vehicle is net connection vehicle and produces braking deceleration；2. vehicle
Between the time headway of rear car and front truck be less than preset value；3. trailer is net connection vehicle；4. net connection vehicle and non-net between head vehicle and trailer
It is random to join truck position distribution；First brak control unit (3a) for receiving the cloud computing platform (4) output
Desirably acceleration travels control net connection vehicle after it is expected acceleration；Second brak control unit (3b) is for controlling non-net
Connection vehicle is travelled according to car-following model.
6. the impact-moderation device in hybrid vehicle queue as claimed in claim 5 between vehicle, which is characterized in that the perception
Unit (1) includes environmental perception device (11), acceleration harvester (12), on-vehicle information harvester (13) and positioning device
(14), wherein：The environmental perception device (11) for perceive forward and backward side it is adjacent non-net connection vehicle situation of remote and output；
The acceleration harvester (12) is for perceiving from the longitudinal acceleration of vehicle；The on-vehicle information harvester (13) is for adopting
Collect speed, brake pressure and throttle opening information；The positioning device (14) is for acquiring from vehicle location information.
7. the impact-moderation device in hybrid vehicle queue as claimed in claim 5 between vehicle, which is characterized in that the communication
Unit (2) wirelessly communicates the information conveyance for acquiring the perception unit (1) to the cloud computing platform (4) by 4G/5G, and
For receive the cloud computing platform (4) planning from vehicle it is expected acceleration.
8. the impact-moderation device in hybrid vehicle queue as claimed in claim 6 between vehicle, which is characterized in that the cloud meter
Platform (4) is calculated including communication device (41), head vehicle judgment means (42), rear car judgment means (43) and it is expected acceleration planning dress
(44) are put, wherein：The communication device (41) and the communication unit (2) information exchange, and for the expectation planned to be added
Speed is conveyed to the communication unit (2) respectively netted in rear car on connection vehicle；The head vehicle judgment means (42) are for according to input
Damped condition judge the head vehicle；The rear car judgment means (43) are for receiving the information of the head vehicle, and according to queue
Impact-moderation requires to judge the rear car, and the vehicle in hybrid vehicle queue is numbered；The expectation acceleration planning
Device (44) plans the expectation acceleration of net connection vehicle in each rear car for the driving states information according to net connection vehicle.
9. the impact-moderation device in hybrid vehicle queue as claimed in claim 8 between vehicle, which is characterized in that the expectation
Acceleration device for planning (44) is including information Fusion Module (441), model prediction module (442) and it is expected acceleration calculation module
(443), wherein, described information Fusion Module (441) is for forward and backward side's vehicle for perceiving the environmental perception device (11)
Situation of remote merged, quickly determine forward and backward side's car status information, and be conveyed to the model prediction module (442)；
Movement of the model prediction module (442) for each rear car is predicted, is conveyed to the expectation acceleration calculation mould
Block (443)；Each rear car for it is expected acceleration calculation module (443) for according to prediction moves, and calculates each rear car
Expectation acceleration and be conveyed to the communication device (41).
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