CN106781435B - Non-signal control intersection vehicle formation passing method based on wireless communication - Google Patents
Non-signal control intersection vehicle formation passing method based on wireless communication Download PDFInfo
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Abstract
The invention relates to a non-signal control intersection vehicle formation passing method based on wireless communication, which comprises the following steps: when the networked vehicle approaches a non-signal control intersection, the identity number, the position, the speed and the acceleration information of the networked vehicle are broadcasted by utilizing wireless communication; the service platform acquires the identity numbers, positions, speeds and acceleration information of all the networked vehicles, determines the virtual front vehicle of each networked vehicle, and broadcasts the identity numbers of the real vehicles corresponding to the virtual front vehicles of each networked vehicle; each networked vehicle acquires the identity number of a real vehicle corresponding to the virtual front vehicle, and further acquires the position, speed and acceleration information of the real vehicle corresponding to the virtual front vehicle according to the identity number, performs coordinate conversion to become an equivalent front vehicle, and automatically controls the vehicle to track the equivalent front vehicle until the vehicle leaves the intersection. The invention can greatly avoid the processes of deceleration, parking and starting of the vehicle at the non-signal control intersection, reduce the passing time, improve the passing efficiency of the non-signal control intersection and reduce the requirement on communication.
Description
Technical Field
the invention relates to the field of intelligent traffic systems, in particular to a vehicle formation passing method for a non-signal control intersection based on wireless communication.
Background
The invention and the development of the automobile technology bring convenience to people and bring a series of problems, and the traffic jam is one of the most main problems. Statistics show that direct and indirect economic losses caused by traffic congestion in Beijing are on the average of ten million yuan per working day. Therefore, how to improve the intersection passing efficiency becomes the important research point in the fields of automobiles and transportation. In recent years, the technology of internet Vehicles (CV) has been rapidly developed to provide a new idea for solving the above problems, and thus, the technology has attracted extensive attention in the fields of automobiles and transportation. The networked automobile can more widely acquire surrounding environment information through communication between vehicles, between vehicles and road side infrastructure, between vehicles and the internet, thereby realizing vehicle-road cooperation in the aspects of perception, decision and control. On the basis of the internet automobile technology, a plurality of vehicles are formed to run in a formation mode at a shorter workshop distance relative to the free driving condition, so that a vehicle queue is formed, wind resistance can be reduced, oil consumption can be reduced, the overall length of traffic flow can be reduced, the passing time can be shortened, and the traffic efficiency can be improved.
However, although the formation of a vehicle helps to shorten the length of the traffic flow and reduce the transit time, it is greatly restricted at a traffic bottleneck such as an intersection. At the intersection with signal control, the vehicle queue can be cut off by the red light, and the continuous passing of the whole queue cannot be ensured; at the intersection without signal control, vehicle queues in different directions interfere with each other and can only pass in sequence according to the priority. In this process, there is a high probability that the low priority vehicle queue will undergo the deceleration, stop, and restart processes, and thus the advantage of the vehicle queue in improving the traffic efficiency is greatly reduced. Therefore, how to control vehicle formation at the intersection to avoid the above limitations is a major bottleneck for practical vehicle formation.
Related patents relating to methods for formation passage of vehicles at non-signal controlled intersections do not exist. The prior art similar to the prior art is mainly a corresponding solution method for vehicle conflict resolution or vehicle speed guidance of non-signal control intersections. The method for resolving the traffic conflict between two vehicles at the no-signal intersection proposed by Beijing university of aerospace and the method for resolving the traffic conflict between two vehicles at the no-signal intersection proposed by the university of Western's electronics and technology both design conflict identification, classification and resolution methods for the two vehicles, pay attention to the safety of the vehicles and are difficult to be applied to formation of the attention to the traffic efficiency of the vehicles. The conflict resolution and vehicle speed guidance method for the non-signal control intersection proposed by the institute of industrial technology, home, Zhang, Suzhou university aims at speed guidance for drivers, is complex in speed track calculation, and is not suitable for application of vehicle queues. The vehicle formation method and system based on the vehicle-road cooperation technology provided by Chongqing post and telecommunications university and the vehicle formation driving management method based on the vehicle-road cooperation technology provided by Chongqing cloud traffic technology Limited company do not consider the situation of the intersection.
in the prior art, methods for conflict resolution and intersection management of non-signal control intersections exist, and are difficult to be applied to formation control of vehicles. For example, in the coordination control research of the intersection under the vehicle-road coordination environment, the intersection coordination method research based on the vehicle-road coordination technology, the signalless intersection coordination vehicle control research and the like, the safe vehicle speed calculation method for the intersection passing by multiple vehicles only considers speed tracking, but cannot be applied to vehicle formation. Therefore, no effective and practical method for vehicle formation passing at the non-signal control intersection exists at present.
disclosure of Invention
In view of the above problems, an object of the present invention is to provide a method for formation of vehicle formation for passing through a non-signal controlled intersection based on wireless communication, which forms a formation of networked vehicles approaching the non-signal controlled intersection based on wireless communication, so that the networked vehicles in all directions can pass through the intersection in sequence, thereby avoiding the processes of deceleration, stop and start of the vehicles, reducing the passing time, and improving the passing efficiency of the non-signal controlled intersection.
In order to achieve the purpose, the invention adopts the following technical scheme: a vehicle formation passing method for a non-signal control intersection based on wireless communication is characterized by comprising the following steps: 1) when the networked vehicle approaches a non-signal control intersection, the identity number, the position, the speed and the acceleration information of the networked vehicle are broadcasted by utilizing wireless communication; 2) the service platform acquires the identity numbers, positions, speeds and acceleration information of all networked vehicles driving into the non-signal control intersection by using wireless communication, performs coordinate conversion and determines the virtual front vehicle of each networked vehicle; 3) the service platform broadcasts the identity number of the real vehicle corresponding to the virtual front vehicle of each networked vehicle by using wireless communication, and each networked vehicle acquires the identity number of the real vehicle corresponding to the virtual front vehicle by using the wireless communication; 4) and each networked vehicle acquires the position, the speed and the acceleration information of the real vehicle corresponding to the virtual front vehicle through wireless communication, performs coordinate conversion to change the position, the speed and the acceleration information into equivalent front vehicles, and automatically controls the vehicle to track the equivalent front vehicles until the vehicles leave the intersection.
in the step 2), the method for determining the virtual front vehicle and the equivalent front vehicle by using coordinate conversion comprises the following steps: 2.1) establishing a directional virtual lane passing through the central point of the intersection; 2.2) calculating the distance from each networked vehicle to the central point of the intersection by using the position information of the networked vehicles at the non-signal control intersection; the total number of the networked vehicles is N; 2.3) for the networked vehicles passing through the intersection, the positions of the networked vehicles are rotated clockwise or anticlockwise according to the center point of the intersection, and the positions are projected to the upper right of the virtual lane to form virtual vehicles; 2.4) for the internet vehicles which do not pass through the intersection, the positions of the internet vehicles are rotated clockwise or anticlockwise through the center point of the intersection, and the positions are projected to the left lower part of the virtual lane to form virtual vehicles; 2.5) after all the networked vehicles are projected, forming a virtual queue consisting of virtual vehicles on the virtual lanes, setting the total number of the virtual vehicles to be N, numbering each virtual vehicle in the virtual queue from small to large according to the reverse direction of the virtual lanes, and defining a virtual vehicle j as a virtual front vehicle of a real vehicle corresponding to the virtual vehicle j +1 according to the number, wherein j is more than or equal to 1 and less than or equal to N-1; and 2.6) the real vehicles respectively project the real vehicles corresponding to the respective virtual front vehicles to the front of the real lane where the real vehicles are located, so that equivalent vehicles are changed into equivalent vehicles, and the equivalent vehicles are the equivalent front vehicles of the real vehicles.
in the step 2), a calculation method for determining the equivalent front vehicle of the networked vehicle by using coordinate conversion is as follows: 2.1) setting the total number of the networked vehicles at the non-signal control intersection at a certain moment as N, and numbering the networked vehicles respectively1-N, and the ith vehicle is Ri(ii) a Vehicle R with internetiThe absolute distance from the central point of the non-signal control intersection is diDefine the networked vehicle Rithe directed distance from the central point of the non-signal control intersection is Disatisfy Di＝μidii is more than or equal to 1 and less than or equal to N; 2.2) to directed distance DiSorting from large to small to obtain ordered subscript set S ═ S1,s2,...,sNJ is more than or equal to 1 and less than or equal to N-1; 2.3) suppose there is a hypothetical vehicle EjOn an on-line vehicleFront and forward of the vehicle head, and the vehicle connected with the networkdistance of each othervehicle with speed, acceleration and network connectionif the same, then define the hypothetical vehicle EjFor vehicles connected to the internetequivalent front vehicle.
In the step 2.1), if the vehicle R is connected with the Internetiwhen it has passed through the center point of the intersection, mui1 is ═ 1; if vehicle R is networkediMu if not passing through the center point of the intersectioni＝-1。
The operation process of the service platform is as follows: 3.1) acquiring the identity numbers, positions, speeds and acceleration information of all networked vehicles newly entering a non-signal control intersection by utilizing wireless communication; 3.2) judging whether a virtual queue does not exist, and when the virtual queue does not exist, performing coordinate conversion on the internet vehicle information to construct a virtual queue; when the virtual queue exists, adding the networked vehicles newly entering the intersection into the tail of the virtual queue according to the sequence to form a new virtual queue; 3.3) determining the virtual front vehicle of each networked vehicle according to the formed virtual queue, broadcasting the identity number of the real vehicle corresponding to the virtual front vehicle to each networked vehicle, and returning to the step 3.1).
the service platform is arranged on a cloud server, or arranged at the road side of the non-signal control intersection, or randomly arranged on a certain internet vehicle at the non-signal control intersection.
In the step 4), the process that each internet-connected vehicle drives away from the intersection is as follows: 4.1) each networked vehicle broadcasts the identity number, position, speed and acceleration information of the networked vehicle through wireless communication all the time; 4.2) when judging that the networked vehicle is approaching the non-signal control intersection, entering a step 4.3), and otherwise, repeating the step 4.2) for continuous judgment; 4.3) acquiring the identity number of the real vehicle corresponding to the virtual front vehicle from the service platform through wireless communication; 4.4) acquiring the position, the speed and the acceleration information of a real vehicle corresponding to the virtual front vehicle through wireless communication, and performing coordinate conversion to obtain an equivalent front vehicle; 4.5) judging the distance between the self vehicle and the equivalent front vehicle, and automatically controlling and tracking the equivalent front vehicle when the distance between the self vehicle and the equivalent front vehicle is less than the preset expected distance between the self vehicle and the equivalent front vehicle; otherwise, performing constant-speed cruising according to the set speed, or keeping tracking the equivalent front vehicle all the time to form an uninterrupted vehicle queue; 4.6) when judging that the internet vehicle drives away from the non-signal control intersection, returning to the step 4.2), otherwise, returning to the step 4.5).
And in the step 4.5), when the equivalent front vehicle is automatically controlled and tracked, controlling an accelerator pedal and a brake pedal of the networked vehicle by using a PID (proportion integration differentiation), linear or nonlinear control, model prediction control, sliding mode control or robust control method, so as to realize the control of the acceleration or the speed of the networked vehicle.
Due to the adoption of the technical scheme, the invention has the following advantages: 1. the invention realizes formation and passing of vehicles at the non-signal control intersection based on wireless communication, can realize simultaneous passing of mutually conflicting traffic flows (which means that all directions do not need to undergo the processes of deceleration, parking and starting), is beneficial to ensuring safety, simultaneously reduces the passing time of the traffic flows and improves the passing efficiency of the intersection. 2. After each networked vehicle acquires the identity number of the real vehicle corresponding to the virtual front vehicle, the method and the system only need to acquire the information of the networked vehicle corresponding to the identity number through wireless communication, but do not need to acquire the information of other networked vehicles, and can greatly reduce the requirements on communication, such as information transmission quantity and communication frequency.
Drawings
FIG. 1 is a schematic diagram of a virtual queue, a defined virtual lead vehicle, and an equivalent lead vehicle constructed in accordance with the present invention;
FIG. 2 is a schematic flow diagram of the operation of the service platform of the present invention;
Fig. 3 is a schematic view of the operation flow of the networked vehicle of the present invention.
Detailed Description
The invention is described in detail below with reference to the figures and examples.
the invention provides a non-signal control intersection vehicle formation passing method based on wireless communication, which comprises the following steps:
1) When the networked vehicle approaches a non-signal control intersection, the identity number, the position, the speed and the acceleration information of the networked vehicle are broadcasted by utilizing wireless communication; wherein the identity number of each networked vehicle is unique;
2) The service platform acquires the identity numbers, positions, speeds and acceleration information of all the networked vehicles driving into the non-signal control intersection by using wireless communication, performs coordinate conversion, constructs a virtual vehicle queue, determines the passing order of the networked vehicles and further determines the virtual front vehicle of each networked vehicle;
3) The service platform broadcasts the identity number of the real vehicle corresponding to the virtual front vehicle of each networked vehicle by using wireless communication, and each networked vehicle acquires the identity number of the real vehicle corresponding to the virtual front vehicle by using the wireless communication;
the service platform can be arranged on a cloud server, or the road side of the non-signal control intersection, or a certain internet vehicle at the non-signal control intersection.
4) And each networked vehicle acquires the position, the speed and the acceleration information of the real vehicle corresponding to the virtual front vehicle through wireless communication, performs coordinate conversion to change the position, the speed and the acceleration information into equivalent front vehicles, and automatically controls the vehicle to track the equivalent front vehicles until the vehicles leave the intersection.
In the step 2), the method for establishing the virtual queue and determining the virtual front vehicle and the equivalent front vehicle by using coordinate conversion comprises the following steps:
2.1) establishing a directional virtual lane passing through the central point of the intersection, as shown by an arrow pointing from the lower left to the upper right in FIG. 1;
2.2) calculating the distance from each networked vehicle to the central point of the intersection by using the position information of the networked vehicles R1-RN at the non-signal control intersection; where N is the total number of the networked vehicles, 8 networked vehicles are taken as an example in the present embodiment for explanation.
2.3) for the networked vehicles passing through the intersection, the positions of the networked vehicles are rotated clockwise or anticlockwise by the central point of the intersection, and the networked vehicles are projected to the upper right of the virtual lane to form virtual vehicles, and the virtual vehicles are projected as virtual vehicles V1-V4 as solid line arc arrows in FIG. 1;
2.4) for the networked vehicles which do not pass through the intersection, the positions of the networked vehicles are rotated clockwise or anticlockwise by the central point of the intersection, and the networked vehicles are projected to the left lower part of the virtual lane to form virtual vehicles, and the virtual vehicles are projected as virtual vehicles V5-V8 as solid line arc arrows in fig. 1;
2.5) after all the networked vehicles are projected, forming a virtual queue consisting of virtual vehicles on the virtual lanes, numbering V1, V2, … and V8 from small to large for each virtual vehicle in the virtual queue according to the opposite direction of the virtual lanes, wherein as shown in FIG. 1, the real vehicles corresponding to the virtual vehicles V1, V2, V3, … and V8 are R1, R7, R3, … and R8 respectively, and then the virtual vehicles V1, V2, … and V7 are virtual front vehicles of real vehicles R7, R3, … and R8 respectively according to the numbering;
2.6) the real vehicles R7, R3, … and R8 respectively project the respective virtual front vehicles V1, V2, … and V7 to the front of the real lane where the real vehicles are located, as shown by dotted arc arrows in fig. 1, the virtual front vehicles become equivalent vehicles E1, E2, … and E7, and the equivalent vehicles E1, E2, … and E7 are equivalent front vehicles of the real vehicles R7, R3, … and R8 respectively. As shown in fig. 1, the virtual vehicle V2 corresponds to the real vehicle R7, and the virtual front vehicle V1 of the real vehicle R7 is projected to the front of the real vehicle R7 to become the equivalent vehicle E1, and the equivalent vehicle E1 is the equivalent front vehicle of the real vehicle R7.
In the step 2), a calculation method for constructing a virtual queue and determining an equivalent front vehicle of the networked vehicle by using coordinate conversion is as follows:
2.1) neglecting the sizes of the crossroad and the vehicles, setting the total number of the networked vehicles at the non-signal control crossroad at a certain moment as N, numbering each networked vehicle as 1-N, and recording the ith networked vehicle (i is more than or equal to 1 and less than or equal to N) as Ri. Vehicle R with internetiThe absolute distance from the central point of the non-signal control intersection is didefine the networked vehicle RiThe directed distance from the central point of the non-signal control intersection is Disatisfy Di＝μidi。
Wherein, if the vehicle R is connected with the InternetiWhen it has passed through the center point of the intersection, mui1 is ═ 1; if vehicle R is networkedimu if not passing through the center point of the intersectioni＝-1。
2.2) to directed distance DiSorting from large to small to obtain ordered subscript set S ═ S1,s2,...,sN}. Wherein j is more than or equal to 1 and less than or equal to N-1.
2.3) suppose there is a hypothetical vehicle EjOn an on-line vehicleFront and forward of the vehicle head, and the vehicle connected with the networkdistance of each otherVehicle with speed, acceleration and network connectionThe same (both directions are forward or backward). Define the hypothetical vehicle Ejfor vehicles connected to the internetEquivalent front vehicle.
In the above step 2) and step 3), as shown in fig. 2, the operation process of the service platform is as follows:
3.1) acquiring the identity numbers, positions, speeds and acceleration information of all networked vehicles newly entering a non-signal control intersection by utilizing wireless communication;
3.2) judging whether a virtual queue exists or not, and when the virtual queue does not exist, performing coordinate conversion on the internet vehicle information to construct the virtual queue; when the virtual queue exists, adding the networked vehicles newly entering the intersection into the tail of the virtual queue according to the sequence to form a new virtual queue;
3.3) determining the virtual front vehicle of each networked vehicle according to the formed virtual queue, broadcasting the identity number of the real vehicle corresponding to the virtual front vehicle to each networked vehicle, and returning to the step 3.1).
In the step 4), the process that each internet-connected vehicle drives away from the intersection is as follows:
4.1) each networked vehicle broadcasts the identity number, position, speed and acceleration information of the networked vehicle through wireless communication all the time;
4.2) when judging that the networked vehicle is approaching the non-signal control intersection, entering a step 4.3), and otherwise, repeating the step 4.2) for continuous judgment;
4.3) acquiring the identity number of the real vehicle corresponding to the virtual front vehicle from the service platform through wireless communication;
4.4) acquiring the position, the speed and the acceleration information of a real vehicle corresponding to the virtual front vehicle through wireless communication, and performing coordinate conversion to obtain an equivalent front vehicle;
4.5) judging the distance between the self vehicle and the equivalent front vehicle, and automatically controlling and tracking the equivalent front vehicle when the distance between the self vehicle and the equivalent front vehicle is less than the preset expected distance between the self vehicle and the equivalent front vehicle; otherwise, performing constant-speed cruising according to the set speed, or keeping tracking the equivalent front vehicle all the time to form an uninterrupted vehicle queue;
4.6) when judging that the internet vehicle drives away from the non-signal control intersection, returning to the step 4.2), otherwise, returning to the step 4.5).
in the step 4.5), when the equivalent front vehicle is automatically controlled and tracked, the accelerator pedal and the brake pedal of the internet vehicle can be controlled by using a plurality of control methods such as PID, linear or nonlinear control, model predictive control, sliding mode control or robust control and the like, so that the acceleration or the speed of the internet vehicle can be controlled.
the above embodiments are only for illustrating the present invention, and the order and content of the steps can be changed, for example, the order and content of the steps can be readjusted in consideration of the size of the intersection and the vehicle. On the basis of the technical scheme of the invention, the improvement and equivalent transformation of the individual steps according to the principle of the invention are not excluded from the protection scope of the invention.
Claims (5)
1. A vehicle formation passing method for a non-signal control intersection based on wireless communication is characterized by comprising the following steps:
1) When the networked vehicle approaches a non-signal control intersection, the identity number, the position, the speed and the acceleration information of the networked vehicle are broadcasted by utilizing wireless communication;
2) The service platform acquires the identity numbers, positions, speeds and acceleration information of all networked vehicles driving into the non-signal control intersection by utilizing wireless communication, performs coordinate conversion and determines the virtual front vehicle of each networked vehicle, and the specific process is as follows:
2.1) establishing a directional virtual lane passing through the central point of the intersection;
2.2) calculating the distance from each networked vehicle to the central point of the intersection by using the position information of the networked vehicles at the non-signal control intersection; the total number of the networked vehicles is N;
2.3) for the networked vehicles passing through the intersection, the positions of the networked vehicles are rotated clockwise or anticlockwise according to the center point of the intersection, and the positions are projected to the upper right of the virtual lane to form virtual vehicles;
2.4) for the internet vehicles which do not pass through the intersection, the positions of the internet vehicles are rotated clockwise or anticlockwise through the center point of the intersection, and the positions are projected to the left lower part of the virtual lane to form virtual vehicles;
2.5) after all the networked vehicles are projected, forming a virtual queue consisting of virtual vehicles on the virtual lanes, setting the total number of the virtual vehicles to be N, numbering each virtual vehicle in the virtual queue from small to large according to the reverse direction of the virtual lanes, and defining a virtual vehicle j as a virtual front vehicle of a real vehicle corresponding to the virtual vehicle j +1 according to the number, wherein j is more than or equal to 1 and less than or equal to N-1;
2.6) the real vehicles respectively project the real vehicles corresponding to the respective virtual front vehicles to the front of the real lane where the real vehicles are located, and the real vehicles become equivalent vehicles, and the equivalent vehicles are the equivalent front vehicles of the real vehicles;
3) the service platform broadcasts the identity number of the real vehicle corresponding to the virtual front vehicle of each networked vehicle by using wireless communication, and each networked vehicle acquires the identity number of the real vehicle corresponding to the virtual front vehicle by using the wireless communication;
4) Each networked vehicle acquires the position, the speed and the acceleration information of a real vehicle corresponding to a virtual front vehicle through wireless communication, performs coordinate conversion to change the position, the speed and the acceleration information into an equivalent front vehicle, and automatically controls the vehicle to track the equivalent front vehicle until the vehicle leaves an intersection, wherein the computing method for determining the equivalent front vehicle of the networked vehicle by utilizing the coordinate conversion comprises the following steps:
4.11) setting the total number of the networked vehicles at the non-signal control intersection at a certain moment as N, numbering the networked vehicles from 1 to N respectively, and recording the ith networked vehicle as Ri(ii) a Vehicle R with internetithe absolute distance from the central point of the non-signal control intersection is diDefine the networked vehicle RiThe directed distance from the central point of the non-signal control intersection is DiSatisfy Di＝μidiI is more than or equal to 1 and less than or equal to N; if vehicle R is networkediWhen it has passed through the center point of the intersection, mui1 is ═ 1; if vehicle R is networkediMu if not passing through the center point of the intersectioni＝-1；
4.12) pair directed distance Disorting from large to small to obtain ordered subscript set S ═ S1,s2,...,sNWherein j is more than or equal to 1 and less than or equal to N-1;
4.13) hypothesis storagein a hypothetical vehicle Ejon an on-line vehiclefront and forward of the vehicle head, and the vehicle connected with the networkDistance of each otherVehicle with speed, acceleration and network connectionIf the same, then define the hypothetical vehicle EjFor vehicles connected to the internetEquivalent front vehicle.
2. The non-signal control intersection vehicle formation passing method based on wireless communication as claimed in claim 1, characterized in that: the operation process of the service platform is as follows:
3.1) acquiring the identity numbers, positions, speeds and acceleration information of all networked vehicles newly entering a non-signal control intersection by utilizing wireless communication;
3.2) judging whether a virtual queue does not exist, and when the virtual queue does not exist, performing coordinate conversion on the internet vehicle information to construct a virtual queue; when the virtual queue exists, adding the networked vehicles newly entering the intersection into the tail of the virtual queue according to the sequence to form a new virtual queue;
3.3) determining the virtual front vehicle of each networked vehicle according to the formed virtual queue, broadcasting the identity number of the real vehicle corresponding to the virtual front vehicle to each networked vehicle, and returning to the step 3.1).
3. The non-signal control intersection vehicle formation passing method based on wireless communication as claimed in claim 1, characterized in that: the service platform is arranged on a cloud server, or arranged at the road side of the non-signal control intersection, or randomly arranged on a certain internet vehicle at the non-signal control intersection.
4. The non-signal control intersection vehicle formation passing method based on wireless communication as claimed in claim 1, characterized in that: in the step 4), the process that each internet-connected vehicle drives away from the intersection is as follows:
4.1) each networked vehicle broadcasts the identity number, position, speed and acceleration information of the networked vehicle through wireless communication all the time;
4.2) when judging that the networked vehicle is approaching the non-signal control intersection, entering a step 4.3), and otherwise, repeating the step 4.2) for continuous judgment;
4.3) acquiring the identity number of the real vehicle corresponding to the virtual front vehicle from the service platform through wireless communication;
4.4) acquiring the position, the speed and the acceleration information of a real vehicle corresponding to the virtual front vehicle through wireless communication, and performing coordinate conversion to obtain an equivalent front vehicle;
4.5) judging the distance between the self vehicle and the equivalent front vehicle, and automatically controlling and tracking the equivalent front vehicle when the distance between the self vehicle and the equivalent front vehicle is less than the preset expected distance between the self vehicle and the equivalent front vehicle; otherwise, performing constant-speed cruising according to the set speed, or keeping tracking the equivalent front vehicle all the time to form an uninterrupted vehicle queue;
4.6) when judging that the internet vehicle drives away from the non-signal control intersection, returning to the step 4.2), otherwise, returning to the step 4.5).
5. The non-signal control intersection vehicle formation passing method based on wireless communication as claimed in claim 4, characterized in that: and in the step 4.5), when the equivalent front vehicle is automatically controlled and tracked, controlling an accelerator pedal and a brake pedal of the networked vehicle by using a PID (proportion integration differentiation), linear or nonlinear control, model prediction control, sliding mode control or robust control method, so as to realize the control of the acceleration or the speed of the networked vehicle.
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| CN113450570B (en) * | 2021-07-06 | 2022-04-12 | 湖南大学 | Autonomous intersection management system and method based on signal lamp-free intersection |
| CN114648877B (en) * | 2022-05-13 | 2022-08-09 | 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 |
| CN116564118B (en) * | 2023-07-11 | 2023-10-03 | 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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