CN106781435A - A kind of Fei Xinkong intersections platooning passing method based on radio communication - Google Patents
A kind of Fei Xinkong intersections platooning passing method based on radio communication Download PDFInfo
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Abstract
The present invention relates to a kind of Fei Xinkong intersections platooning passing method based on radio communication, its step：When the non-letter of net connection vehicle approaching controls intersection, the identification number of itself, position, speed and acceleration information are broadcasted using radio communication；Service platform obtains identification number, position, speed and the acceleration information of all net connection vehicles, determines the virtual preceding vehicle of each net connection vehicle, and the identification number of real vehicles corresponding to the virtual preceding vehicle of each net connection vehicle is broadcasted；Each net connection vehicle obtains the identification number of real vehicles corresponding to the virtual preceding vehicle of itself, and then obtain the position of real vehicles, speed and acceleration information corresponding to virtual preceding vehicle according to the identification number, and carry out Coordinate Conversion, it is changed into equivalent front truck, the equivalent front truck of vehicle tracking is automatically controlled, until sailing out of intersection.The present invention can significantly avoid vehicle that deceleration, parking and the starting-up process of intersection are controlled in non-letter, reduce transit time, improve non-letter and control the traffic efficiency of intersection, while reducing the demand to communicating.
Description
Technical field
The present invention relates to a kind of intelligent transport system field, intersect especially with regard to a kind of non-letter control based on radio communication
Crossing platooning passing method.
Background technology
The invention of automotive engineering and development also bring a series of problems while being offered convenience to the mankind, and traffic
Congestion is exactly one of wherein topmost problem.Statistics display, brought by traffic congestion direct of Beijing every workday and
Indirectly economic loss is average in ten million yuan of rank.Therefore, intersection passing efficiency how is lifted, is led as automobile and traffic
The research emphasis in domain.In recent years, net connection automobile (CV, Connected Vehicles) technology is fast-developing, can be above-mentioned to solve
Problem provides new thinking, thus has obtained the extensive concern of automobile and field of traffic.Net connection automobile is by vehicle and vehicle, car
Communication with trackside infrastructure, vehicle and internet, can broadly obtain ambient condition information, so as to perceiving,
Decision-making and control plane realize car car, bus or train route collaboration.On the basis of net connection automotive engineering, multiple vehicles are with relative to freely driving
Shorter vehicle headway carries out formation traveling under the conditions of sailing, and forms vehicle platoon, can not only reduce windage, reduce oil consumption, more
Wagon flow overall length can be reduced, transit time, lifting traffic efficiency is reduced.
However, although platooning's traveling helps to shorten wagon flow length, reduces transit time, intersection this
Plant and but receive restriction at traffic bottlenecks greatly.In the intersection for having signal to control, vehicle platoon may be blocked by red light, it is impossible to
Ensure that whole queue is continuously passed through；In the intersection of non-mandrel roller, the vehicle platoon of different directions can be interfered, can only
Passed through successively according to priority.In this process, the vehicle platoon of low priority has the very big probability to experience deceleration, stop
Car, the process restarted, thus vehicle platoon improve traffic efficiency in terms of advantage have a greatly reduced quality.Therefore, how to intersect
Crossing carries out platooning's control, avoids above-mentioned limitation, as practical the faced big bottleneck of platooning.
The Patents of the platooning's passing method on non-letter control intersection there is no.What is be similar to therewith has
Technology primarily directed to it is non-letter control intersection vehicle collision clear up or speed guiding and propose corresponding solution.North
What capital Aero-Space university proposed clears up method and Xian Electronics Science and Technology University's proposition of the car traffic conflict of unsignalized intersection two
The method for clearing up the car traffic conflict of unsignalized intersection two devise two cars conflict identification, classification and digestion procedure, its
Concern vehicle safety, it is more difficult to be applied in the formation of concern vehicle pass-through efficiency.University Of Suzhou's Zhangjiagang industrial technology research
The conflict resolution and speed bootstrap technique of the non-letter control intersection that institute proposes, it is intended to which speed guiding, speed are carried out to driver
Trajectory calculation is complex, is not also suitable for the application of vehicle platoon.Chongqing Mail and Telephones Unvi propose based on bus or train route coordination technique
Platooning's method and its vehicle based on bus or train route coordination technique that proposes of system and Chongqing Yun Tu transport science and techonologies Co., Ltd
Form a team to travel the situation that manager's rule does not consider intersection.
There is the method for the conflict resolution and crossing of some non-letter control intersections in the prior art, it is difficult to should
For the formation control of vehicle.Coordination control such as the intersection under bus or train route cooperative surroundings is studied and based on bus or train route coordination technique
Intersection coordination approach is studied, unsignalised crossing cooperation wagon control is studied etc., proposes the peace that many cars pass through intersection
Full speed computational methods only consider speed tracing, but cannot be applied to platooning.As can be seen here, non-letter control is there is no to hand at present
The current effective practical method of the cross road mouthful platooning.
The content of the invention
Regarding to the issue above, it is an object of the invention to provide a kind of non-letter control intersection vehicle volume based on radio communication
Team's passing method, the method is based on radio communication, and the net connection vehicle of letter control intersection non-to approaching is formed into columns, and makes each side
To net connection vehicle can pass sequentially through intersection, so as to avoid deceleration, parking, the starting-up process of vehicle, reduce when passing through
Between, improve the traffic efficiency of non-letter control intersection.
To achieve the above object, the present invention takes following technical scheme：A kind of non-letter control crossroad based on radio communication
Mouth platooning passing method, it is characterised in that comprise the following steps：1) when the non-letter of net connection vehicle approaching controls intersection, utilize
Radio communication is broadcasted the identification number of itself, position, speed and acceleration information；2) service platform utilizes radio communication
Identification number, position, speed and the acceleration information of all nets connection vehicle of non-letter control intersection are sailed in acquisition into, carry out coordinate
Conversion, determines the virtual preceding vehicle of each net connection vehicle；3) service platform using radio communication by each net connection vehicle it is virtual before
The identification number of real vehicles corresponding to car is broadcasted, and each net connection vehicle obtains the virtual preceding vehicle of itself using radio communication
The identification number of corresponding real vehicles；4) each net connection vehicle obtains real vehicles corresponding to virtual preceding vehicle by radio communication
Position, speed and acceleration information, and carry out Coordinate Conversion, be changed into equivalent front truck, then automatically control vehicle tracking it is equivalent before
Car, until sailing out of intersection.
The step 2) in, using Coordinate Conversion, the method for determining virtual preceding vehicle and equivalent front truck is as follows：2.1) setting up has
To, virtual track by intersection central point；2.2) positional information of vehicle is joined using the net of non-letter control intersection,
Calculate each net connection vehicle to the distance of intersection central point；The total number of net connection vehicle is N；2.3) for having passed through crossroad
The net connection vehicle of mouth, its position is carried out clockwise or counterclockwise with intersection central point, projection to virtual track
Upper right side, forms virtual vehicle；2.4) vehicle is joined for the net not by intersection, by its position with intersection central point
Carry out clockwise or counterclockwise, the lower left of projection to virtual track forms virtual vehicle；2.5) to all net connection vehicles
After projection, the virtual queue of virtual vehicle composition is formed on virtual track, if virtual vehicle total number is also N, to virtual team
Each virtual vehicle in row by virtual track opposite direction 1~N of numbering from small to large, then according to number definition virtual vehicle j
It is the virtual preceding vehicle of the corresponding real vehicles of virtual vehicle j+1, wherein 1≤j≤N-1；2.6) real vehicles respectively will be respective
Real vehicles corresponding to virtual preceding vehicle project the front in the true track to where itself, are changed into equivalent vehicle, then the equivalent car
Be the real vehicles equivalent front truck.
The step 2) in, using Coordinate Conversion, it is determined that the computational methods of the net connection equivalent front truck of vehicle are as follows：2.1) certain is set
The moment net connection vehicle fleet mesh of non-letter control intersection is N, be that each net connection vehicle numbers respectively is 1~N, and remembers i-th net
Connection vehicle is Ri；If net connection vehicle RiAbsolute distance away from non-letter control intersection central point is di, definition net connection vehicle RiAway from non-
The directed distance of letter control intersection central point is Di, meet Di=μidi, 1≤i≤N；2.2) to directed distance DiCarry out from big
To small sequence, orderly indexed set is obtained for S={ s1,s2,...,sN, wherein 1≤j≤N-1；2.3) assume imaginary in the presence of one
Vehicle Ej, it is located at net connection vehicleFront and headstock forward, with net connection vehicleApartIts speed, plus
Speed and net connection vehicleIt is identical, then define imaginary vehicle EjIt is net connection vehicleEquivalent front truck.
The step 2.1) in, if net connection vehicle RiIntersection central point is passed through, then μi=1；If net connection vehicle RiNot
By intersection central point, then μi=-1.
The running of the service platform is as follows：3.1) obtained using radio communication and newly enter non-letter control intersection
All nets join identification number, position, speed and the acceleration information of vehicles；3.2) judge whether in the absence of virtual queue, when not
When there is virtual queue, Coordinate Conversion is carried out to net connection information of vehicles, build virtual queue；When there is virtual queue, by elder generation
The new net connection vehicle for entering intersection is added order the tail of the queue of virtual queue afterwards, forms new virtual queue；3.3) foundation
The virtual queue of formation, determines the virtual preceding vehicle of each net connection vehicle, and the identity of real vehicles corresponding to virtual preceding vehicle is compiled
Each net connection vehicle number is broadcast to, and is back to step 3.1).
The service platform is built in cloud server, or is built in the trackside of non-letter control intersection, or sets up at random
On certain the net connection vehicle in the non-letter control intersection.
The step 4) in, the process that each net connection vehicle sails out of intersection is：4.1) each net connection vehicle leads to all the time
Cross radio communication and broadcast identification number, position, speed and the acceleration information of itself；4.2) when judgement net connection vehicle is just in approaching
During non-letter control intersection, into step 4.3), otherwise repeat step 4.2) lasting judge；4.3) by radio communication from service
Platform obtains the identification number of real vehicles corresponding to virtual preceding vehicle；4.4) obtain true corresponding to virtual preceding vehicle by radio communication
The position of real vehicle, speed and acceleration information, and Coordinate Conversion is carried out, it is changed into equivalent front truck；4.5) judge from car with it is equivalent
The vehicle headway of front truck, when the vehicle headway be less than pre-set expectation vehicle headway when, then automatically control tracking it is equivalent before
Car；Cruise otherwise is carried out according to setting speed, or remains that the equivalent front truck of tracking forms uninterrupted vehicle platoon；4.6)
When judging that net connection vehicle sails out of non-letter control intersection, return to step 4.2), otherwise return to step 4.5).
The step 4.5) in, when automatically controlling the equivalent front truck of tracking, using PID, linearly or nonlinearly control, model are pre-
The gas pedal and brake pedal of observing and controlling system, sliding formwork control or robust control method control net connection vehicle, realize to net connection vehicle
Acceleration or speed control.
Due to taking above technical scheme, it has advantages below to the present invention：1st, the present invention is realized non-based on radio communication
Letter control intersection vehicle formation pass through, it is possible to achieve while colliding with each other wagon flow pass through (refer to it is each to without experience slow down,
Parking, the process of starting), help to reduce the transit time of wagon flow while ensureing safe, improve the current of intersection
Efficiency.2nd, after each net connection vehicle obtains the identification number of real vehicles corresponding to virtual preceding vehicle, the present invention is only needed by nothing
Line communication obtains the information of the corresponding net connection vehicle of the identification number, and need not obtain the information of other net connection vehicles, Ke Yi great
The big demand reduced to communicating, for example, reduce transinformation and the communication frequency.
Brief description of the drawings
The schematic diagram that Fig. 1 is the present invention virtual queue for building, determines virtual preceding vehicle and equivalent front truck；
Fig. 2 is service platform operational process schematic diagram of the invention；
Fig. 3 is net connection vehicle operational process schematic diagram of the invention.
Specific embodiment
The present invention is described in detail with reference to the accompanying drawings and examples.
The present invention provides a kind of Fei Xinkong intersections platooning passing method based on radio communication, and it includes following
Step：
1) during the non-letter control intersection of net connection vehicle approaching, using radio communication by the identification number of itself, position, speed
Broadcasted with acceleration information；Wherein, the identification number of each net connection vehicle is unique；
2) service platform using radio communication obtain sail into it is non-letter control intersection all nets connection vehicle identification number,
Position, speed and acceleration information, carry out Coordinate Conversion, build virtual vehicle queue, it is determined that the current order of net connection vehicle, enters
And determine the virtual preceding vehicle of each net connection vehicle；
3) service platform is compiled the identity of real vehicles corresponding to the virtual preceding vehicle of each net connection vehicle using radio communication
Number broadcasted, the identity that each net connection vehicle obtains real vehicles corresponding to the virtual preceding vehicle of itself using radio communication is compiled
Number；
Wherein, service platform can be arranged on cloud server, or non-letter controls the trackside of intersection, or the non-letter
On certain net connection vehicle of control crossing intersection part.
4) each net connection vehicle obtains the position of real vehicles, speed and acceleration corresponding to virtual preceding vehicle by radio communication
Degree information, and Coordinate Conversion is carried out, it is changed into equivalent front truck, then the equivalent front truck of vehicle tracking is automatically controlled, until sailing out of crossroad
Mouthful.
Above-mentioned steps 2) in, using Coordinate Conversion, virtual queue is built, determine the method for virtual preceding vehicle and equivalent front truck such as
Under：
2.1) virtual track oriented, by intersection central point is set up, upper right side is pointed to by lower left in such as Fig. 1
Arrow shown in；
2.2) using the positional information for netting connection vehicle R1~RN of non-letter control intersection, each net connection vehicle to intersection is calculated
The distance of crossing central point；Wherein, N is the total number of net connection vehicle, is said by taking 8 net connection vehicles as an example in the present embodiment
It is bright.
2.3) for passed through intersection net join vehicle, by its position with intersection central point carry out clockwise or
Rotate counterclockwise, the upper right side of projection to virtual track forms virtual vehicle, and the solid line curved arrow in such as Fig. 1 is projected as void
Intend vehicle V1~V4；
2.4) for not joining vehicle by the net of intersection, by its position with intersection central point carry out clockwise or
Rotate counterclockwise, the lower left of projection to virtual track forms virtual vehicle, and the solid line curved arrow in such as Fig. 1 is projected as void
Intend vehicle V5~V8；
2.5) after to all net connection vehicle projections, the virtual queue of virtual vehicle composition is formed on virtual track, to void
Intend each virtual vehicle in queue by virtual track opposite direction numbering V1, V2 ..., V8 from small to large, as shown in figure 1, empty
Intend vehicle V1, V2, V3 ..., it is R1, R7, R3 ..., R8, then according to number definition virtual vehicle that V8 distinguishes corresponding real vehicles
V1, V2 ..., V7 is respectively real vehicles R7, R3 ..., the virtual preceding vehicle of R8；
2.6) real vehicles R7, R3 ..., R8 respectively by respective virtual preceding vehicle V1, V2 ..., V7 is projected to where itself
True track front, as shown in the dotted line camber line arrow in Fig. 1, be changed into equivalent vehicle E1, E2 ..., E7, then equivalent vehicle
E1, E2 ..., E7 are respectively the equivalent front truck of real vehicles R7, R3 ..., R8.Such as virtual vehicle V2 correspondences real vehicles in Fig. 1
R7, the virtual preceding vehicle V1 of real vehicles R7 is projected to the front of real vehicles R7, as equivalent vehicle E1, then equivalent vehicle E1
The as equivalent front truck of real vehicles R7.
Above-mentioned steps 2) in, using Coordinate Conversion, virtual queue is built, it is determined that the computational methods of the net connection equivalent front truck of vehicle
It is as follows：
2.1) size of intersection and vehicle is ignored, if the net connection vehicle fleet mesh of certain moment non-letter control intersection is
N, is that to number respectively be 1~N to each net connection vehicle, and remember that i-th (1≤i≤N) net connection vehicle is Ri.If net connection vehicle RiAway from non-letter
The absolute distance for controlling intersection central point is di, definition net connection vehicle RiAway from the directed distance of non-letter control intersection central point
It is Di, meet Di=μidi。
Wherein, if net connection vehicle RiIntersection central point is passed through, then μi=1；If net connection vehicle RiDo not pass through crossroad
Mouthful central point, then μi=-1.
2.2) to directed distance DiSorted from big to small, obtained orderly indexed set for S={ s1,s2,...,sN}.Its
In 1≤j≤N-1.
2.3) assume there is an imaginary vehicle Ej, it is located at net connection vehicleFront and headstock forward, with net connection car
ApartIts speed, acceleration and net connection vehicleIdentical (direction is forward or backward).Then define the vacation
The vehicle E for thinkingjIt is net connection vehicleEquivalent front truck.
Above-mentioned steps 2), step 3) in, as shown in Fig. 2 the running of service platform is as follows：
3.1) obtained using radio communication and newly enter identification number, position that the non-all nets for believing control intersection join vehicle
Put, speed and acceleration information；
3.2) virtual queue is judged whether, when in the absence of virtual queue, coordinate is carried out to net connection information of vehicles and is turned
Change, build virtual queue；When there is virtual queue, sequentially the new net connection vehicle for entering intersection is added virtual
The tail of the queue of queue, forms new virtual queue；
3.3) according to the virtual queue for being formed, the virtual preceding vehicle of each net connection vehicle is determined, and by corresponding to virtual preceding vehicle
The identification number of real vehicles is broadcast to each net connection vehicle, and is back to step 3.1).
Above-mentioned steps 4) in, the process that each net connection vehicle sails out of intersection is：
4.1) each net connection vehicle broadcasts identification number, position, speed and the acceleration of itself by radio communication all the time
Information；
4.2) when judging net connection vehicle just in the non-letter control intersection of approaching, into step 4.3), otherwise repeat step
4.2) it is lasting to judge；
4.3) identification number of real vehicles corresponding to virtual preceding vehicle is obtained from service platform by radio communication；
4.4) position of real vehicles, speed and acceleration information corresponding to virtual preceding vehicle are obtained by radio communication, and
Coordinate Conversion is carried out, is changed into equivalent front truck；
4.5) vehicle headway with equivalent front truck from car is judged, when the vehicle headway is less than the expectation following distance for pre-setting
From when, then automatically control the equivalent front truck of tracking；Otherwise cruise is carried out according to setting speed, or before remaining that tracking is equivalent
Car forms uninterrupted vehicle platoon；
4.6) when judging that net connection vehicle sails out of non-letter control intersection, return to step 4.2), otherwise return to step 4.5).
Above-mentioned steps 4.5) in, automatically control tracking equivalent front truck when, using PID, linearly or nonlinearly control, model
The gas pedal and brake pedal of the different control methods such as PREDICTIVE CONTROL, sliding formwork control or robust control control net connection vehicle, it is real
Now join the control of the acceleration or speed of vehicle to net.
The various embodiments described above are merely to illustrate the present invention, and the order and content of each step all can be what is be varied from, such as
The order and content of each step can be readjusted in the case where crossing and vehicle dimension is considered.In technical solution of the present invention
On the basis of, all improvement carried out to separate step according to the principle of the invention and equivalents should not be excluded in guarantor of the invention
Outside shield scope.
Claims (8)
1. a kind of Fei Xinkong intersections platooning passing method based on radio communication, it is characterised in that including following step
Suddenly：
1) when the non-letter of net connection vehicle approaching controls intersection, using radio communication is by the identification number of itself, position, speed and adds
Velocity information is broadcasted；
2) service platform obtains identification number, the position of all nets connection vehicle for sailing non-letter control intersection into using radio communication
Put, speed and acceleration information, carry out Coordinate Conversion, determine the virtual preceding vehicle of each net connection vehicle；
3) service platform is entered the identification number of real vehicles corresponding to the virtual preceding vehicle of each net connection vehicle using radio communication
Row broadcast, each net connection vehicle obtains the identification number of real vehicles corresponding to the virtual preceding vehicle of itself using radio communication；
4) each net connection vehicle obtains the position of real vehicles, speed and acceleration corresponding to virtual preceding vehicle and believes by radio communication
Breath, and Coordinate Conversion is carried out, it is changed into equivalent front truck, then the equivalent front truck of vehicle tracking is automatically controlled, until sailing out of intersection.
2. a kind of Fei Xinkong intersections platooning passing method based on radio communication as claimed in claim 1, it is special
Levy and be：The step 2) in, using Coordinate Conversion, the method for determining virtual preceding vehicle and equivalent front truck is as follows：
2.1) virtual track oriented, by intersection central point is set up；
2.2) join the positional information of vehicle using the net of non-letter control intersection, calculate each net connection vehicle to intersection central point
Distance；The total number of net connection vehicle is N；
2.3) join vehicle for having passed through the net of intersection, its position is carried out into the clockwise or inverse time with intersection central point
Pin rotates, the upper right side of projection to virtual track, forms virtual vehicle；
2.4) join vehicle for the net not by intersection, its position is carried out into the clockwise or inverse time with intersection central point
Pin rotates, the lower left of projection to virtual track, forms virtual vehicle；
2.5) after to all net connection vehicle projections, the virtual queue of virtual vehicle composition is formed on virtual track, if virtual vehicle
Total number is also N, to virtual queue in each virtual vehicle by virtual track opposite direction 1~N of numbering from small to large, then
It is the virtual preceding vehicle of the corresponding real vehicles of virtual vehicle j+1 according to number definition virtual vehicle j, wherein 1≤j≤N-1；
2.6) real vehicles corresponding to respective virtual preceding vehicle are projected real vehicles the true track to where itself respectively
Front, is changed into equivalent vehicle, then the equivalent vehicle is the equivalent front truck of the real vehicles.
3. a kind of Fei Xinkong intersections platooning passing method based on radio communication as claimed in claim 1, it is special
Levy and be：The step 2) in, using Coordinate Conversion, it is determined that the computational methods of the net connection equivalent front truck of vehicle are as follows：
2.1) the net connection vehicle fleet mesh for setting certain moment non-letter control intersection be N, is that each net joins vehicle to number respectively be 1~N,
And remember that i-th net connection vehicle is Ri；If net connection vehicle RiAbsolute distance away from non-letter control intersection central point is di, define net
Connection vehicle RiDirected distance away from non-letter control intersection central point is Di, meet Di=μidi, 1≤i≤N；
2.2) to directed distance DiSorted from big to small, obtained orderly indexed set for S={ s1,s2,...,sN, wherein 1≤j
≤N-1；
2.3) assume there is an imaginary vehicle Ej, it is located at net connection vehicleFront and headstock forward, with net connection vehicleApartIts speed, acceleration and net connection vehicleIt is identical, then define imaginary vehicle EjIt is net connection vehicle
Equivalent front truck.
4. a kind of Fei Xinkong intersections platooning passing method based on radio communication as claimed in claim 3, it is special
Levy and be：The step 2.1) in, if net connection vehicle RiIntersection central point is passed through, then μi=1；If net connection vehicle RiNot
By intersection central point, then μi=-1.
5. a kind of Fei Xinkong intersections platooning passing method based on radio communication as claimed in claim 1, it is special
Levy and be：The running of the service platform is as follows：
3.1) obtained using radio communication and newly enter identification number, position, speed that the non-all nets for believing control intersection join vehicle
Degree and acceleration information；
3.2) judge whether in the absence of virtual queue, when in the absence of virtual queue, Coordinate Conversion carried out to net connection information of vehicles,
Build virtual queue；When there is virtual queue, the new net connection vehicle for entering intersection is sequentially added into virtual team
The tail of the queue of row, forms new virtual queue；
3.3) according to the virtual queue for being formed, the virtual preceding vehicle of each net connection vehicle is determined, and will be true corresponding to virtual preceding vehicle
The identification number of vehicle is broadcast to each net connection vehicle, and is back to step 3.1).
6. a kind of Fei Xinkong intersections platooning passing method based on radio communication as claimed in claim 1, it is special
Levy and be：The service platform is built in cloud server, or is built in the trackside of non-letter control intersection, or is built up at random
On certain the net connection vehicle in the non-letter control intersection.
7. a kind of Fei Xinkong intersections platooning passing method based on radio communication as claimed in claim 1, it is special
Levy and be：The step 4) in, the process that each net connection vehicle sails out of intersection is：
4.1) each net connection vehicle broadcasts identification number, position, speed and the acceleration information of itself by radio communication all the time；
4.2) when judging net connection vehicle just in the non-letter control intersection of approaching, into step 4.3), otherwise repeat step 4.2)
It is lasting to judge；
4.3) identification number of real vehicles corresponding to virtual preceding vehicle is obtained from service platform by radio communication；
4.4) position of real vehicles, speed and acceleration information corresponding to virtual preceding vehicle are obtained by radio communication, and is carried out
Coordinate Conversion, is changed into equivalent front truck；
4.5) vehicle headway with equivalent front truck from car is judged, when the vehicle headway is less than the expectation vehicle headway for pre-setting
When, then automatically control the equivalent front truck of tracking；Cruise otherwise is carried out according to setting speed, or remains the equivalent front truck of tracking
Form uninterrupted vehicle platoon；
4.6) when judging that net connection vehicle sails out of non-letter control intersection, return to step 4.2), otherwise return to step 4.5).
8. a kind of Fei Xinkong intersections platooning passing method based on radio communication as claimed in claim 7, it is special
Levy and be：The step 4.5) in, when automatically controlling the equivalent front truck of tracking, using PID, linearly or nonlinearly control, model are pre-
The gas pedal and brake pedal of observing and controlling system, sliding formwork control or robust control method control net connection vehicle, realize to net connection vehicle
Acceleration or speed control.
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| CN109523807A (en) * | 2018-11-28 | 2019-03-26 | 湖南大学 | A kind of traffic network vehicle distributed control method |
| CN110109159A (en) * | 2019-05-22 | 2019-08-09 | 广州小鹏汽车科技有限公司 | Travel management method, device, electronic equipment and storage medium |
| CN110853335A (en) * | 2019-11-14 | 2020-02-28 | 东南大学 | Cooperative fleet conflict risk avoidance autonomous decision-making method for common bottleneck sections of expressway |
| CN110942645A (en) * | 2019-11-06 | 2020-03-31 | 清华大学 | Vehicle control method for hybrid traffic intersection |
| CN111199640A (en) * | 2019-12-31 | 2020-05-26 | 新石器慧通（北京）科技有限公司 | Cooperative control method and device for vehicle formation |
| CN111354199A (en) * | 2020-02-19 | 2020-06-30 | 广州小鹏汽车科技有限公司 | Control method, control device, vehicle, and storage medium |
| CN111724602A (en) * | 2020-07-01 | 2020-09-29 | 清华大学 | Multi-vehicle cooperative control method under urban non-signal control multi-intersection environment |
| CN113450570A (en) * | 2021-07-06 | 2021-09-28 | 湖南大学 | Autonomous intersection management system and method based on signal lamp-free intersection |
| CN114648877A (en) * | 2022-05-13 | 2022-06-21 | 北京理工大学前沿技术研究院 | Method, system, equipment and storage medium for vehicle passing at signalless intersection |
| CN116564118A (en) * | 2023-07-11 | 2023-08-08 | 蘑菇车联信息科技有限公司 | Intersection passing control method, device and system of vehicles and electronic equipment |
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