CN108791306B - Vehicle speed guiding method - Google Patents

Vehicle speed guiding method Download PDF

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CN108791306B
CN108791306B CN201810263975.1A CN201810263975A CN108791306B CN 108791306 B CN108791306 B CN 108791306B CN 201810263975 A CN201810263975 A CN 201810263975A CN 108791306 B CN108791306 B CN 108791306B
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target vehicle
vehicle
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CN108791306A (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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    • 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 vehicle speed guiding method, which is used for calculating the influence of neighbor vehicles on a target vehicle in real time according to the running state change of the target vehicle in different detection areas, so that the vehicle can run more reasonably and safely under the influence of surrounding vehicles. The method comprehensively utilizes the running conditions of surrounding vehicles, so that the calculation result is more accurate and reasonable, the real-time performance is higher, the driving environment can be more efficiently adjusted, and the traffic rate of roads is improved.

Description

Vehicle speed guiding method
Technical Field
The invention belongs to the field of car networking and relates to a car speed guiding method.
Background
The car networking is based on an in-car network, an inter-car network and a wide area network, and is assisted by various sensors, so that information interaction and sharing inside the vehicles, among the vehicles and between the vehicles and the internet are realized, and the capabilities of road traffic control and road traffic safety are improved.
In recent years, the problems of traffic safety and congestion on expressways frequently appear in the public vision, and how to reduce the occurrence of accidents in technical means becomes a research hotspot problem due to the fact that a considerable part of accident causes are caused by too high speed. The traditional mode has certain limitation, cannot effectively synchronize the current environment and the surrounding vehicle information to target vehicles, and is particularly important in extreme weather (rainy days, heavy fog, night and the like).
Disclosure of Invention
In view of the problems in the prior art, an object of the present invention is to provide a vehicle speed guidance method, which obtains information of surrounding vehicles to guide the driving speed of the vehicle, thereby improving the traffic rate of the road while ensuring safety.
In order to achieve the purpose, the invention adopts the following technical scheme:
a vehicle speed guidance method for obtaining a speed of a target vehicle at a time t, comprising the steps of:
step 1: when the data acquisition frequency is f, dividing the effective communication area S of the target vehicle at the moment t into collision detection areas S1Repelling region S2And an attraction area S3，S1+S2+S3(ii) S; meanwhile, the effective communication area S of the target vehicle is divided into a forward detection area S4Rear detection zone S5Left detection zone S6And a right detection region S7，S4+S5+S6+S7＝S；
The effective communication area S is a circular area which takes the geometric center of the target vehicle as the center of a circle and R as the radius, and R is the communication radius of the vehicle-mounted equipment in the target vehicle;
collision detection area S1Using the geometric center of the target vehicle as the center of a circle and R as the center of a circle1Is a circular area of radius, and R1L/2, L being the length of the target vehicle;
repelling region S2Using the geometric center of the target vehicle as the center of a circle and R as the center of a circle2Eliminating the collision detection zone S for a circular area of radius1A post-formed annular region;
suction area S3Removing collision detection zone S for effective communication zone S1And a repulsive area S2A post-formed annular region;
front detection zone S4The geometric center of the target vehicle is used as the center of a circle and R is used as halfSector areas formed in 45-degree ranges on the left side and the right side of the right front of the target vehicle;
rear detection zone S5The method comprises the following steps of forming sector areas in 45-degree ranges on the left side and the right side of the right rear of a target vehicle by taking the geometric center of the target vehicle as the center of a circle and R as the radius;
left detection zone S6Is a forward detection area S within the effective communication area4Left boundary and rear detection zone S of5A sector area between the left borders of (a);
right detection region S7Is a forward detection area S within the effective communication area4Right boundary and rear detection zone S5A sector area between the right borders of;
step 2, calculating the speed of the target vehicle at the moment t
Figure GDA0002314207140000021
Figure GDA0002314207140000022
In the formula (I), the compound is shown in the specification,
Figure GDA0002314207140000031
acceleration of the target vehicle, f data acquisition frequency,
Figure GDA0002314207140000032
is a target vehicle
Figure GDA0002314207140000033
Speed at time;
acceleration of target vehicle
Figure GDA00023142071400000318
Calculating by using the formula (2):
Figure GDA0002314207140000034
wherein m is the target vehicleThe mass of the vehicle;
Figure GDA0002314207140000035
influence on the target vehicle is generated by all neighbor vehicles in the effective communication area of the target vehicle;
influence of all vehicles within the effective communication area of the target vehicle on the target vehicle
Figure GDA0002314207140000036
Calculating by using formula (3):
Figure GDA0002314207140000037
in the formula (I), the compound is shown in the specification,
Figure GDA0002314207140000038
is at the same time
Figure GDA0002314207140000039
Speed, k, of the jth neighbor vehicle within the target vehicle's effective communication area at timejIs at the same time
Figure GDA00023142071400000310
Coefficient factors generated by the jth neighbor vehicle in the effective communication area of the target vehicle to the target vehicle at the moment, N is
Figure GDA00023142071400000311
The total number of neighbor vehicles within the target vehicle's effective communication area at that time,
Figure GDA00023142071400000312
the target vehicle is
Figure GDA00023142071400000313
Velocity at the moment, djIs at the same time
Figure GDA00023142071400000314
Within the effective communication area of the target vehicle at the momentThe distance between the jth neighbor vehicle and the target vehicle; c1jIs composed of
Figure GDA00023142071400000315
Reciprocal of the order of magnitude, C2Is that
Figure GDA00023142071400000316
The inverse of the order of magnitude produced.
Optionally, in said step 2
Figure GDA00023142071400000317
Coefficient factor k generated by jth neighbor vehicle in effective communication area of target vehicle to target vehicle at momentjThe calculation formula is as follows:
kj＝k1×ω (4)
wherein k1 is the influence factor of the repulsive area and attractive area
Figure GDA0002314207140000041
When the jth neighbor vehicle in the effective communication area of the target vehicle is located in the repulsion area at the moment, k1 is equal to-1, and when the jth neighbor vehicle in the effective communication area of the target vehicle is located in the attraction area, k1 is equal to 1;
omega is the influence factor of different azimuth areas when
Figure GDA0002314207140000042
When the jth neighbor vehicle in the target vehicle's effective communication area at that time is located in the forward detection area, ω ∈ [0.8750,1.0434) ], when
Figure GDA0002314207140000043
When the jth neighbor vehicle in the effective communication area of the target vehicle is positioned in the rear detection area under the moment, omega belongs to [0.4375,0.5217) ], when
Figure GDA0002314207140000044
When the jth neighbor vehicle in the effective communication area of the target vehicle is positioned in the left detection area at the moment, omega epsilon to[0.1823,0.1980) when
Figure GDA0002314207140000045
And when the jth neighbor vehicle in the effective communication area of the target vehicle at the moment is positioned in the right detection area, the omega belongs to the [0.1823,0.1980 ].
Optionally, in
Figure GDA0002314207140000046
When the acceleration of the jth neighbor vehicle in the effective communication area of the target vehicle is reversed at the moment, the value of ω is increased by Δ ω, and Δ ω is 0.1 × ω.
Compared with the prior art, the invention has the following technical effects: according to the invention, the influence of the neighbor vehicle on the target vehicle is calculated in real time according to the running state change of the target vehicle in different detection areas, so that the vehicle can run more reasonably and safely under the influence of surrounding vehicles. The method comprehensively utilizes the running conditions of surrounding vehicles, so that the calculation result is more accurate and reasonable, the real-time performance is higher, the driving environment can be more efficiently adjusted, and the traffic rate of roads is improved.
Drawings
Fig. 1 is a diagram of an effective communication area division of the present invention;
FIG. 2 is another active communication area division diagram of the present invention;
FIG. 3 is a trajectory diagram of a vehicle with a number of vehicles of 4 in an embodiment of the present invention;
fig. 4 is a track diagram of a vehicle when the number of vehicles is 8 in the embodiment of the present invention.
Detailed Description
The invention provides a vehicle speed guiding method, which is used for acquiring the speed of a target vehicle at a moment t and realizing the purpose of vehicle speed guiding of the target vehicle, and specifically comprises the following steps:
step 1 of dividing an effective communication area S of a target vehicle at time t into collision detection areas S1Repelling region S2And an attraction area S3，S1+S2+S3See fig. 1; dividing the effective communication area S of the target vehicle into a forward detection area S4Rear detection zone S5Left detection zone S6And a right detection region S7See FIG. 2, S4+S5+S6+S7＝S；
The effective communication area S is a circular area which takes the geometric center of the target vehicle as the center of a circle and R as the radius, and R is the communication radius of the vehicle-mounted equipment in the target vehicle;
collision detection area S1Using the geometric center of the target vehicle as the center of a circle and R as the center of a circle1Is a circular area of radius, and R1L/2, L being the length of the target vehicle;
repelling region S2Using the geometric center of the target vehicle as the center of a circle and R as the center of a circle2Eliminating the collision detection zone S for a circular area of radius1A post-formed annular region;
suction area S3Removing collision detection zone S for effective communication zone S1And a repulsive area S2A post-formed annular region;
front detection zone S4The method comprises the following steps of forming sector areas in 45-degree ranges on the left side and the right side in front of a target vehicle by taking the geometric center of the target vehicle as the center of a circle and R as the radius;
rear detection zone S5The method comprises the following steps of forming sector areas in 45-degree ranges on the left side and the right side of the right rear of a target vehicle by taking the geometric center of the target vehicle as the center of a circle and R as the radius;
left detection zone S6Is a forward detection area S within the effective communication area4Left boundary and rear detection zone S of5A sector area between the left borders of (a);
right detection region S7Is a forward detection area S within the effective communication area4Right boundary and rear detection zone S5The sector area between the right borders of (a).
Step 2, calculating the speed of the target vehicle at the moment t
Figure GDA0002314207140000061
The formula used is as follows:
Figure GDA0002314207140000062
wherein the content of the first and second substances,
Figure GDA0002314207140000063
acceleration of the target vehicle, f data acquisition frequency,
Figure GDA0002314207140000064
is a target vehicle
Figure GDA0002314207140000065
The velocity at the moment, which is a known value. In the present embodiment, it is preferred that,
Figure GDA0002314207140000066
where τ is the redundant time, which includes the human reaction time and the mechanical transmission time of the vehicle.
Wherein the acceleration of the target vehicle
Figure GDA0002314207140000067
Calculated using the following formula:
Figure GDA0002314207140000068
in the above formula, m is the mass of the target vehicle;
Figure GDA0002314207140000069
influence on the target vehicle is generated by all neighbor vehicles in the effective communication area of the target vehicle;
influence of all vehicles within the effective communication area of the target vehicle on the target vehicle
Figure GDA00023142071400000613
Calculated using the following formula:
Figure GDA00023142071400000610
wherein the content of the first and second substances,
Figure GDA00023142071400000611
is at the same time
Figure GDA00023142071400000612
At time, the speed, k, of the jth neighbor vehicle within the target vehicle's effective communication zonejIs at the same time
Figure GDA0002314207140000071
At the moment, the coefficient factor of the jth neighbor vehicle in the effective communication area of the target vehicle to the target vehicle is generated, and N is the coefficient factor of the jth neighbor vehicle in the effective communication area of the target vehicle
Figure GDA0002314207140000072
The total number of neighboring vehicles within the target vehicle's effective communication area at that time,
Figure GDA0002314207140000073
the target vehicle is
Figure GDA0002314207140000074
Velocity at the moment, djIs at the same time
Figure GDA0002314207140000075
At the moment, the distance between the jth neighbor vehicle in the effective communication area of the target vehicle and the target vehicle; c1jIs composed of
Figure GDA0002314207140000076
The reciprocal of the resulting order; c2Is that
Figure GDA0002314207140000077
The inverse of the order of magnitude produced.
In this embodiment, the influence of all vehicles in the effective communication area of the target vehicle on the target vehicle is used
Figure GDA0002314207140000078
The acceleration is calculated. In a real scene, the acting force between two objects is determined according to the gravitational theorem, that is, the acting force between two objects is inversely proportional to the square of the distance between the two objects. The vehicle is used as a real physical entity, and the position relation between the target vehicle and the surrounding vehicles is directly related to the acting force of the target vehicle from the surrounding vehicles, including the magnitude of the acting force and the repulsive force or attractive force, so that the formula (2) can accord with Newton's third theorem in an actual scene, and a universal gravitation mechanical model is introduced into the formula (2). After the universal gravitation mechanical model is introduced, the movement of the vehicle in the vehicle networking environment is more consistent with reality, and the safety and the reasonability of the movement of the vehicle in a group are ensured.
In particular, in yet another embodiment, in
Figure GDA0002314207140000079
At the moment, the coefficient factor k generated by the jth neighbor vehicle in the effective communication area of the target vehicle to the target vehiclejThe calculation formula is as follows:
kj＝k1×ω (4)
wherein k1 is the influence factor of the repulsive area and attractive area
Figure GDA00023142071400000710
At that moment, when the jth neighbor vehicle in the effective communication area of the target vehicle is located in the repulsion area, k1 is equal to-1, and when the jth neighbor vehicle in the effective communication area of the target vehicle is located in the attraction area, k1 is equal to 1;
omega is the influence factor of different azimuth areas when
Figure GDA0002314207140000081
At that moment, when the jth neighbor vehicle in the effective communication area of the target vehicle is located in the forward detection area, ω 1 ∈ [0.8750,1.0434) ], when
Figure GDA0002314207140000082
At time, when the jth neighbor vehicle in the effective communication area of the target vehicle is located in the rear detection area, ω ═ ω 2 ∈ [0.4375,0.5217), when
Figure GDA0002314207140000083
At that moment, when the jth neighbor vehicle in the effective communication area of the target vehicle is located in the left detection area, ω ═ ω 3 ∈ [0.1823,0.1980), when
Figure GDA0002314207140000084
At that time, when the jth neighbor vehicle in the effective communication area of the target vehicle is located in the right detection area, ω ═ ω 4 ∈ [0.1823, 0.1980).
Further, in yet another embodiment, in
Figure GDA0002314207140000085
When the acceleration of the jth neighbor vehicle in the rejection area of the target vehicle is reversed at a moment, the value of ω is increased by Δ ω, and Δ ω is 0.1 × ω.
In road traffic, sudden change of the acceleration direction of a vehicle is a sign of abnormal driving of the vehicle, potential safety hazards possibly existing around are fully considered when the target vehicle is guided by the speed of the target vehicle in order to ensure that the target vehicle is not threatened by safety of neighboring vehicles in the driving process, when the target vehicle detects that the neighboring vehicles in a exclusion area change the acceleration direction, an incremental change delta omega is generated by omega, namely the influence of the neighbors in abnormal driving on the target vehicle is increased, a larger repulsive force is expressed, the target vehicle is far away from the neighboring vehicles in abnormal driving, and the safety of the target vehicle in driving is improved.
The method of the invention considers that the influence of different neighbor vehicles on the target vehicle is different in different areas, when the neighbor vehicles have abnormal driving behaviors, the influence on the target vehicle is changed, and reasonable speed is recommended for the target vehicle in real time by updating the influence factors, so that the high-efficiency and safe driving of the vehicle is ensured, the road traffic rate is improved, and the occurrence of driving accidents is reduced.
Examples
Table 1 shows the parameter settings used in this example.
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 the traffic rate statistics for a given road at the same time. Experimental data other vehicles than the test vehicle had the same initial speed and initial position for each experiment, and the vehicle speed without the speed recommendation model was a random speed of a reasonable range of values.
TABLE 2
Figure GDA0002314207140000091
According to the method, 4 and 8 vehicles are randomly selected in sequence to perform simulation verification, a rectangular coordinate system is established on a plane where a road is located, the transverse displacement of the road is used as an x coordinate, the longitudinal displacement of the road is used as a y coordinate, and a driving track graph of the vehicles when the number of the vehicles is 4 and a vehicle track graph when the number of the vehicles is 8 are obtained, and the driving track graph and the vehicle track graph are shown in fig. 3 and 4. According to the driving track diagram of the vehicle, the vehicle tracks are mutually staggered in the initial driving stage of the vehicle, the volatility is high, and the influence of the vehicles is large. Over a period of iterations, the vehicle trajectories tend to be consistent. When the number of vehicles is changed, the number of iterations through which the vehicle trajectories tend to be consistent is different, and studies have found that the initial travel trajectory fluctuates greatly when the number of vehicles increases, and the number of iterations required increases because the mutual influence of the vehicles becomes large due to the difference in the initial states of the vehicles. Because the position, the speed and the direction of the vehicle are randomly set during initialization, different track conditions can occur in the process of changing the track of the vehicle from unstable to stable, but the vehicles can always tend to be stable finally according to the setting of a formula in an algorithm.
In a specific embodiment, when a vehicle runs on a road, real-time running data is obtained from the vehicle and surrounding vehicles, and the influence force of the vehicle is calculated according to a mathematical formula in the method, so that the optimal running speed of the vehicle at the current moment is solved under the influence force of the vehicle at the previous moment. The method is more accurate in analysis in the Internet of vehicles environment, has global property, is more scientific and reasonable in global speed recommendation, is lower in cost compared with other technologies, and is lower in system maintenance cost.

Claims (3)

1. A vehicle speed guidance method for obtaining a speed of a target vehicle at a time t, characterized by comprising the steps of:
step 1: when the data acquisition frequency is f, dividing the effective communication area S of the target vehicle at the moment t into collision detection areas S1Repelling region S2And an attraction area S3，S1+S2+S3(ii) S; meanwhile, the effective communication area S of the target vehicle is divided into a forward detection area S4Rear detection zone S5Left detection zone S6And a right detection region S7，S4+S5+S6+S7＝S；
The effective communication area S is a circular area which takes the geometric center of the target vehicle as the center of a circle and R as the radius, and R is the communication radius of the vehicle-mounted equipment in the target vehicle;
collision detection area S1Using the geometric center of the target vehicle as the center of a circle and R as the center of a circle1Is a circular area of radius, and R1L/2, L being the length of the target vehicle;
repelling region S2Using the geometric center of the target vehicle as the center of a circle and R as the center of a circle2Eliminating the collision detection zone S for a circular area of radius1A post-formed annular region;
suction area S3Removing collision detection zone S for effective communication zone S1And a repulsive area S2A post-formed annular region;
front detection zone S4The method comprises the following steps of forming sector areas in 45-degree ranges on the left side and the right side in front of a target vehicle by taking the geometric center of the target vehicle as the center of a circle and R as the radius;
rear detection zone S5The method comprises the following steps of forming sector areas in 45-degree ranges on the left side and the right side of the right rear of a target vehicle by taking the geometric center of the target vehicle as the center of a circle and R as the radius;
left detection zone S6Is a forward detection area S within the effective communication area4Left boundary and rear detection zone S of5A sector area between the left borders of (a);
right detection region S7Is a forward detection area S within the effective communication area4Right boundary and rear detection zone S5A sector area between the right borders of;
step 2, calculating the speed of the target vehicle at the moment t
Figure FDA0002314207130000021
Figure FDA0002314207130000022
In the formula (I), the compound is shown in the specification,
Figure FDA0002314207130000023
acceleration of the target vehicle, f data acquisition frequency,
Figure FDA0002314207130000024
is a target vehicle
Figure FDA0002314207130000025
Speed at time;
acceleration of target vehicle
Figure FDA0002314207130000026
Calculating by using the formula (2):
Figure FDA0002314207130000027
wherein m is the mass of the target vehicle;
Figure FDA0002314207130000028
influence on the target vehicle is generated by all neighbor vehicles in the effective communication area of the target vehicle;
influence of all vehicles within the effective communication area of the target vehicle on the target vehicle
Figure FDA0002314207130000029
Calculating by using formula (3):
Figure FDA00023142071300000210
in the formula (I), the compound is shown in the specification,
Figure FDA00023142071300000211
is at the same time
Figure FDA00023142071300000212
Speed, k, of the jth neighbor vehicle within the target vehicle's effective communication area at timejIs at the same time
Figure FDA00023142071300000213
Coefficient factors generated by the jth neighbor vehicle in the effective communication area of the target vehicle to the target vehicle at the moment, N is
Figure FDA00023142071300000214
The total number of neighbor vehicles within the target vehicle's effective communication area at that time,
Figure FDA00023142071300000215
the target vehicle is
Figure FDA00023142071300000216
Velocity at the moment, djIs at the same time
Figure FDA00023142071300000217
The distance between the jth neighbor vehicle in the effective communication area of the target vehicle and the target vehicle at the moment; c1jIs composed of
Figure FDA00023142071300000218
Reciprocal of the order of magnitude, C2Is that
Figure FDA0002314207130000031
The inverse of the order of magnitude produced.
2. The vehicle speed guidance method according to claim 1, characterized in that in step 2
Figure FDA0002314207130000032
Coefficient factor k generated by jth neighbor vehicle in effective communication area of target vehicle to target vehicle at momentjThe calculation formula is as follows:
kj＝k1×ω (4)
wherein k1 is the influence factor of the repulsive area and attractive area
Figure FDA0002314207130000033
When the jth neighbor vehicle in the effective communication area of the target vehicle is located in the repulsion area at the moment, k1 is equal to-1, and when the jth neighbor vehicle in the effective communication area of the target vehicle is located in the attraction area, k1 is equal to 1;
omega is the influence factor of different azimuth areas when
Figure FDA0002314207130000034
When the jth neighbor vehicle in the target vehicle's effective communication area at that time is located in the forward detection area, ω ∈ [0.8750,1.0434) ], when
Figure FDA0002314207130000035
When the jth neighbor vehicle in the effective communication area of the target vehicle is positioned in the rear detection area under the moment, omega belongs to [0.4375,0.5217) ], when
Figure FDA0002314207130000036
When the jth neighbor vehicle in the target vehicle's effective communication zone at that time is in the left detection zone, ω ∈ [0.1823,0.1980) ], when
Figure FDA0002314207130000037
And when the jth neighbor vehicle in the effective communication area of the target vehicle at the moment is positioned in the right detection area, the omega belongs to the [0.1823,0.1980 ].
3. The vehicle speed guidance method according to claim 2, characterized in that
Figure FDA0002314207130000038
When the acceleration of the jth neighbor vehicle in the effective communication area of the target vehicle is reversed at the moment, the value of ω is increased by Δ ω, and Δ ω is 0.1 × ω.
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CN108791306A (en) * 2018-03-28 2018-11-13 长安大学 A kind of speed bootstrap technique

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