CN108791306A - A kind of speed bootstrap technique - Google Patents

A kind of speed bootstrap technique Download PDF

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Publication number
CN108791306A
CN108791306A CN201810263975.1A CN201810263975A CN108791306A CN 108791306 A CN108791306 A CN 108791306A CN 201810263975 A CN201810263975 A CN 201810263975A CN 108791306 A CN108791306 A CN 108791306A
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target vehicle
vehicle
efficient communication
search coverage
region
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CN108791306B (en
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赵祥模
史昕
袁娜
惠飞
侯俊
马峻岩
杨澜
吴霞
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Changan University
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Changan University
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
    • B60W40/10—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to vehicle motion
    • B60W40/107—Longitudinal acceleration
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
    • B60W30/08—Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences

Abstract

The invention discloses a kind of speed bootstrap techniques, this method according to target vehicle different search coverage transport conditions variation, neighbours' vehicle is calculated in real time to influence power caused by target vehicle, ensures the traveling that vehicle can be more reasonable and safe under the influence of surrounding vehicles.The driving condition of this method integrated use surrounding vehicles so that result of calculation is more accurate reasonable, has higher real-time, while also can more efficiently adjust driving environment, improves the passage rate of road.

Description

A kind of speed bootstrap technique
Technical field
The invention belongs to car networking fields, are related to a kind of speed bootstrap technique.
Background technology
Car networking is auxiliary with various sensors, is realized in vehicle based on interior net, vehicle border net and wide area network The interaction of information between portion, vehicle and between vehicle and internet and shared, is handed over improving road traffic control and road Lead to the ability of safety.
In recent years, express way driving safety appears in the public visual field again and again with congestion problems, quite a few accident is former Caused by due to excessive velocities, the generation of accident how is reduced from technological means becomes research hotspot problem.It is high at present The traffic information method of synchronization of fast highway relies primarily on road conditions LED screen, navigation or broadcast, and there are certain offices for traditional mode It is sex-limited, it can not be especially (rainy day, big in extreme weather effectively by current environment and surrounding vehicles synchronizing information to target vehicle Mist, night etc.) under the information of road conditions and surrounding vehicles be particularly important.
Invention content
For problems of the prior art, the object of the present invention is to provide a kind of speed bootstrap technique, this method By obtaining the information of surrounding vehicles, the travel speed of vehicle is guided, improves road under the premise that security is guaranteed Current rate.
To achieve the goals above, the present invention adopts the following technical scheme that：
A kind of speed bootstrap technique, this method include the following steps for obtaining speed of the target vehicle at moment t：
Step 1：When data acquiring frequency is f, the efficient communication region S of target vehicle under moment t is divided into collision inspection Survey region S1, repulsive area S2With distributing area S3, S1+S2+S3=S；Meanwhile the efficient communication region S of target vehicle being divided For front search coverage S4, rear search coverage S5, left search coverage S6With right search coverage S7, S4+S5+S6+S7=S；
Wherein, efficient communication region S is using the geometric center of target vehicle as the center of circle, using R as the border circular areas of radius, R For the communication radius of mobile unit in target vehicle；
Collision detection region S1It is using the geometric center of target vehicle as the center of circle, with R1For the border circular areas of radius, and R1= L/2, L are the length of target vehicle；
Repulsive area S2It is using the geometric center of target vehicle as the center of circle, with R2Collision inspection is removed for the border circular areas of radius Survey region S1The annular region formed afterwards；
Distributing area S3For efficient communication region ScomRemove collision detection region S1With repulsive area S2The annular formed afterwards Region；
Front search coverage S4It is using the geometric center of target vehicle as the center of circle, using R as radius, immediately ahead of target vehicle The sector region formed within the scope of each 45 ° of the right and left；
Rear search coverage S5It is using the geometric center of target vehicle as the center of circle, using R as radius, in target vehicle dead astern The sector region formed within the scope of each 45 ° of the right and left；
Left search coverage S6It is front search coverage S in efficient communication region4Left margin and rear search coverage S5's Sector region between left margin；
Right search coverage S7It is front search coverage S in efficient communication region4Right margin and rear search coverage S5's Sector region between right margin；
Step 2, the speed of target vehicle under moment t is calculated
In formula,For the acceleration of target vehicle, f is data acquiring frequency,Exist for target vehicleWhen The speed inscribed；
The acceleration of target vehicleIt is calculated using formula (2)：
In formula, m is the quality of target vehicle；It is all neighbours' vehicles in the efficient communication region of target vehicle to mesh Mark the influence power that vehicle generates；
The influence power that all vehicles in the efficient communication region of target vehicle generate target vehicleUsing formula (3) It calculates：
In formula,ForWhen inscribe j-th of neighbours' vehicle in the efficient communication region of target vehicle Speed, kjForWhen inscribe what j-th of neighbours' vehicle in the efficient communication region of target vehicle generated target vehicle Coefficient factor, N beWhen inscribe the sum of neighbours' vehicle in the efficient communication region of target vehicle,Target Vehicle existsWhen the speed inscribed, djForWhen inscribe j-th of neighbours' vehicle in the efficient communication region of target vehicle At a distance from target vehicle；C1jForThe inverse of the produced order of magnitude, C2It isThe inverse of the generated order of magnitude.
Optionally, in the step 2When inscribe j-th of neighbours' vehicle in the efficient communication region of target vehicle To target vehicle generate coefficient factor kj, calculation formula is：
kj=k1 × ω (4)
In formula, k1 be repulsive area and distributing area impact factor, whenWhen inscribe the efficient communication area of target vehicle When j-th of neighbours' vehicle in domain is located at repulsive area, k1=-1, when j-th in the efficient communication region of target vehicle is adjacent When occupying vehicle and being located at distributing area, k1=1；
ω is the different direction regional effect factor, whenWhen inscribe j-th in the efficient communication region of target vehicle When neighbours' vehicle is located at front search coverage, ω ∈ [0.8750,1.0434), whenWhen inscribe the efficient communication of target vehicle When j-th of neighbours' vehicle in region is located behind search coverage, ω ∈ [0.4375,0.5217), whenWhen inscribe target When j-th of neighbours' vehicle in the efficient communication region of vehicle is located at left search coverage, ω ∈ [0.1823,0.1980), whenWhen inscribe in the efficient communication region of target vehicle j-th of neighbours' vehicle when being located at right search coverage, ω ∈ [0.1823,0.1980)。
Optionally, existWhen inscribe j-th of neighbours' vehicle acceleration in the efficient communication region of target vehicle and occur When reversed, the value of ω increases Δ ω, and Δ ω=0.1 × ω.
Compared with prior art, the present invention has the following technical effects：The present invention is according to target vehicle in different detecting areas The variation of domain transport condition calculates neighbours' vehicle to influence power caused by target vehicle, ensures vehicle in surrounding vehicles in real time Under the influence of can be more reasonable and safe traveling.The driving condition of this method integrated use surrounding vehicles so that result of calculation It is more accurate reasonable, there is higher real-time, while also can more efficiently adjust driving environment, improves the passage of road Rate.
Description of the drawings
Fig. 1 is a kind of efficient communication zoning plan of the present invention；
Fig. 2 is another efficient communication zoning plan of the present invention；
Fig. 3 is the trajectory diagram of vehicle when number of vehicles is 4 in the embodiment of the present invention；
Fig. 4 is the trajectory diagram of vehicle when number of vehicles is 8 in the embodiment of the present invention.
Specific implementation mode
The present invention provides a kind of speed bootstrap technique, and this method is realized for obtaining speed of the target vehicle at moment t The purpose of speed guiding is carried out to target vehicle, this method specifically includes following steps：
Step 1, the efficient communication region S of target vehicle under moment t is divided into collision detection region S1, repulsive area S2 With distributing area S3, S1+S2+S3=S, referring to Fig. 1；The efficient communication region S of target vehicle is divided into front search coverage S4、 Rear search coverage S5, left search coverage S6With right search coverage S7, referring to Fig. 2, S4+S5+S6+S7=S；
Wherein, efficient communication region S is using the geometric center of target vehicle as the center of circle, using R as the border circular areas of radius, R For the communication radius of mobile unit in target vehicle；
Collision detection region S1It is using the geometric center of target vehicle as the center of circle, with R1For the border circular areas of radius, and R1= L/2, L are the length of target vehicle；
Repulsive area S2It is using the geometric center of target vehicle as the center of circle, with R2Collision inspection is removed for the border circular areas of radius Survey region S1The annular region formed afterwards；
Distributing area S3For efficient communication region ScomRemove collision detection region S1With repulsive area S2The annular formed afterwards Region；
Front search coverage S4It is using the geometric center of target vehicle as the center of circle, using R as radius, immediately ahead of target vehicle The sector region formed within the scope of each 45 ° of the right and left；
Rear search coverage S5It is using the geometric center of target vehicle as the center of circle, using R as radius, in target vehicle dead astern The sector region formed within the scope of each 45 ° of the right and left；
Left search coverage S6It is front search coverage S in efficient communication region4Left margin and rear search coverage S5's Sector region between left margin；
Right search coverage S7It is front search coverage S in efficient communication region4Right margin and rear search coverage S5's Sector region between right margin.
Step 2, the speed of target vehicle under moment t is calculatedThe formula of use is as follows：
Wherein,For the acceleration of target vehicle, f is data acquiring frequency,Exist for target vehicleWhen The speed inscribed is given value.In the present embodiment,Wherein, τ is redundancy time, which includes person's development The machine driving time of time and vehicle.
Wherein, the acceleration of target vehicleIt is calculated using following formula：
In above formula, m is the quality of target vehicle；For all neighbours' vehicles pair in the efficient communication region of target vehicle The influence power that target vehicle generates；
The influence power that all vehicles in the efficient communication region of target vehicle generate target vehicleUsing following public affairs Formula calculates：
Wherein,ForWhen inscribe, j-th of neighbours' vehicle in the efficient communication region of target vehicle Speed, kjForWhen inscribe, j-th of neighbours' vehicle in the efficient communication region of target vehicle to target vehicle generate Coefficient factor, N beWhen inscribe, the sum of the neighbours' vehicle in the efficient communication region of target vehicle, Target vehicle existsWhen the speed inscribed, djForWhen inscribe, j-th in the efficient communication region of target vehicle Neighbours' vehicle is at a distance from target vehicle；C1jForThe inverse of the produced order of magnitude；C2It isThe generated order of magnitude falls Number.
In the present embodiment, target vehicle is generated using all vehicles in the efficient communication region of target vehicle influence PowerCalculate acceleration.In reality scene, the active force between two articles must meet gravitation theorem, i.e. two objects Active force between body is inversely proportional with square distance between the two.Physical entity of the vehicle as necessary being, while target Position relationship between vehicle and surrounding vehicles be directly related to target vehicle be by from what kind of active force of surrounding vehicles, Size and active force including active force are repulsive force or attraction, to ensure that formula (2) can accord in actual scene Newton third theorem is closed, therefore gravitation mechanical model is introduced in formula (2).It introduces after gravitation mechanical model, It ensure that movement of the vehicle in car networking environment is more in line with reality, ensure that safety and conjunction that vehicle moves in group Rationality.
Specifically, in another embodiment, existWhen inscribe, j-th in the efficient communication region of target vehicle is adjacent Occupy the coefficient factor k that vehicle generates target vehiclej, calculation formula is as follows：
kj=k1 × ω (4)
In formula, k1 be repulsive area and distributing area impact factor, whenWhen inscribe, the efficient communication area of target vehicle When j-th of neighbours' vehicle in domain is located at repulsive area, k1=-1, when j-th in the efficient communication region of target vehicle is adjacent When occupying vehicle and being located at distributing area, k1=1；
ω is the different direction regional effect factor, whenWhen inscribe, j-th in the efficient communication region of target vehicle When neighbours' vehicle is located at front search coverage, 1 ∈ of ω=ω [0.8750,1.0434), whenWhen inscribe, target vehicle has When j-th of neighbours' vehicle in effect communication zone is located behind search coverage, 2 ∈ of ω=ω [0.4375,0.5217), whenWhen inscribe, when j-th of neighbours' vehicle in the efficient communication region of target vehicle is located at left search coverage, 3 ∈ of ω=ω [0.1823,0.1980), whenWhen inscribe, j-th of neighbours' vehicle in the efficient communication region of target vehicle is located at right spy When surveying region, 4 ∈ of ω=ω [0.1823,0.1980).
Further, in another embodiment, existWhen inscribe j-th of neighbours' vehicle in the repulsive area of target vehicle When acceleration occurs reversed, the value of ω increases Δ ω, and Δ ω=0.1 × ω.
In road traffic, it is the sign of vehicle abnormality driving that the acceleration direction of vehicle, which mutates, to ensure target Vehicle is not in the process of moving by the security threat from surrounding neighbours vehicle, when carrying out speed guiding to target vehicle, Security risk that may be present around is fully considered, when target vehicle detection has neighbours' vehicle to accelerate in repulsive area When spending the variation in direction, ω will produce an incremental change Delta ω, i.e. influence of the neighbours of abnormal driving to target vehicle will Become larger, show the repulsive force of bigger, target vehicle will be far from the neighbours' vehicle for being abnormal driving behavior, improve target carriage Safety under steam.
The method of the present invention considers in different zones, different neighbours' vehicles to the influence power of target vehicle not yet Together, when neighbours' vehicle is abnormal driving behavior, can cause to change to the influence power of target vehicle, by influencing it The update of the factor recommends suitable speed, ensure that efficient, the safe driving of vehicle, while lifting road for target vehicle in real time Road passage rate reduces the generation of driving accident.
Embodiment
Table 1 is parameter setting used in the present embodiment.
Table 1
ω1 ω2 ω3 ω4 C1j C2 R2 f
0.9592 0.4796 0.1901 0.1901 1000 1000 5(m) 1(Hz)
Table 2 is for particular link under same time, and the passage rate of road counts.Experimental data in addition to testing vehicle its Experiment all has identical initial velocity and initial position to its vehicle every time, and it is reasonable that the car speed of speed recommended models, which is not used, The random velocity of value range.
Table 2
Method according to the present invention randomly selects 4 and 8 vehicles and does simulating, verifying successively, and plane is established straight where road Angular coordinate system, using road length travel as y-coordinate, obtains the vehicle when number of vehicles is 4 using road lateral displacement as x coordinate Driving trace figure and number of vehicles be 8 when track of vehicle figure, referring to Fig. 3 and Fig. 4.It can be with according to the driving trace figure of vehicle It was found that vehicle is at traveling initial stage, interlaced between track of vehicle, fluctuation is bigger, mainly influenced between by vehicle compared with Greatly.Through iteration after a period of time, reach unanimity between track of vehicle.When changing number of vehicles, track of vehicle reaches unanimity The iterations passed through will be different, and research finds that the fluctuation of traveling initial stage track is larger when number of vehicles increases, required The iterations wanted increase, this is because the difference of the original state of vehicle can cause influencing each other for vehicle to become larger.Due to first The position of vehicle, speed and direction are all set at random when beginningization, and track of vehicle is during being never stabilized to stable, meeting There is different track situations, but according to the setting of formula in algorithm, is bound to finally tending towards stability between each vehicle.
In a particular embodiment, vehicle on road when driving, obtain traveling number in real time from itself and surrounding vehicles According to, the influence power that vehicle is subject to is calculated according to the mathematical formulae in method, to solve vehicle previous moment by Influence force effect under, best speed of operation of the vehicle at current time.Analysis of this method under car networking environment is more accurate Really, have it is of overall importance, the recommendation of speed of overall importance is more scientific and reasonable, while lower relative to other technologies cost, for adopting It is relatively low with the system maintenance cost of this method.

Claims (3)

1. a kind of speed bootstrap technique, this method is for obtaining speed of the target vehicle at moment t, which is characterized in that including Following steps：
Step 1：When data acquiring frequency is f, the efficient communication region S of target vehicle under moment t is divided into collision detection area Domain S1, repulsive area S2With distributing area S3, S1+S2+S3=S；Meanwhile before the efficient communication region S of target vehicle is divided into Square search coverage S4, rear search coverage S5, left search coverage S6With right search coverage S7, S4+S5+S6+S7=S；
Wherein, efficient communication region S is using the geometric center of target vehicle as the center of circle, and using R as the border circular areas of radius, R is mesh Mark the communication radius of mobile unit in vehicle；
Collision detection region S1It is using the geometric center of target vehicle as the center of circle, with R1For the border circular areas of radius, and R1=L/2, L is the length of target vehicle；
Repulsive area S2It is using the geometric center of target vehicle as the center of circle, with R2Collision detection area is removed for the border circular areas of radius Domain S1The annular region formed afterwards；
Distributing area S3For efficient communication region ScomRemove collision detection region S1With repulsive area S2The annular region formed afterwards；
Front search coverage S4It is using the geometric center of target vehicle as the center of circle, using R as radius, immediately ahead of target vehicle or so The sector region formed within the scope of each 45 ° of both sides；
Rear search coverage S5It is using the geometric center of target vehicle as the center of circle, using R as radius, in target vehicle dead astern or so The sector region formed within the scope of each 45 ° of both sides；
Left search coverage S6It is front search coverage S in efficient communication region4Left margin and rear search coverage S5The left side Sector region between boundary；
Right search coverage S7It is front search coverage S in efficient communication region4Right margin and rear search coverage S5The right Sector region between boundary；
Step 2, the speed of target vehicle under moment t is calculated
In formula,For the acceleration of target vehicle, f is data acquiring frequency,Exist for target vehicleWhen inscribe Speed；
The acceleration of target vehicleIt is calculated using formula (2)：
In formula, m is the quality of target vehicle；It is all neighbours' vehicles in the efficient communication region of target vehicle to target carriage Generate influence power；
The influence power that all vehicles in the efficient communication region of target vehicle generate target vehicleIt is calculated using formula (3)：
In formula,ForWhen inscribe the speed of j-th of neighbours' vehicle in the efficient communication region of target vehicle, kjForWhen inscribe coefficient that j-th of neighbours' vehicle in the efficient communication region of target vehicle generates target vehicle because Son, N beWhen inscribe the sum of neighbours' vehicle in the efficient communication region of target vehicle,Target vehicle existsWhen the speed inscribed, djForWhen inscribe j-th of neighbours' vehicle and mesh in the efficient communication region of target vehicle Mark the distance of vehicle；C1jForThe inverse of the produced order of magnitude, C2It isThe inverse of the generated order of magnitude.
2. speed bootstrap technique as described in claim 1, which is characterized in that in the step 2When inscribe target The coefficient factor k that j-th of neighbours' vehicle in the efficient communication region of vehicle generates target vehiclej, calculation formula is：
kj=k1 × ω (4)
In formula, k1 be repulsive area and distributing area impact factor, whenWhen inscribe in the efficient communication region of target vehicle J-th of neighbours' vehicle when being located at repulsive area, k1=-1, when j-th of neighbours' vehicle in the efficient communication region of target vehicle Be located at distributing area when, k1=1；
ω is the different direction regional effect factor, whenWhen inscribe j-th of neighbour in the efficient communication region of target vehicle When vehicle is located at front search coverage, ω ∈ [0.8750,1.0434), whenWhen inscribe the efficient communication area of target vehicle When j-th of neighbours' vehicle in domain is located behind search coverage, ω ∈ [0.4375,0.5217), whenWhen inscribe target carriage Efficient communication region in j-th of neighbours' vehicle when being located at left search coverage, ω ∈ [0.1823,0.1980), when When inscribe in the efficient communication region of target vehicle j-th of neighbours' vehicle when being located at right search coverage, ω ∈ [0.1823, 0.1980)。
3. speed bootstrap technique as claimed in claim 2, which is characterized in thatWhen inscribe the efficient communication of target vehicle When j-th of neighbours' vehicle acceleration in region occurs reversed, the value of ω increases Δ ω, and Δ ω=0.1 × ω.
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Cited By (1)

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Publication number Priority date Publication date Assignee Title
CN108791306B (en) * 2018-03-28 2020-04-24 长安大学 Vehicle speed guiding method

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Publication number Priority date Publication date Assignee Title
JP2006349595A (en) * 2005-06-20 2006-12-28 Nec Corp Route guide system
CN102549633A (en) * 2009-10-14 2012-07-04 罗伯特·博世有限公司 Method for determining at least one area in which a vehicle can drive in the surroundings of a motor vehicle
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