CN108986488A - Ring road imports collaboration track and determines method and apparatus under a kind of truck traffic environment - Google Patents
Ring road imports collaboration track and determines method and apparatus under a kind of truck traffic environment Download PDFInfo
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- G—PHYSICS
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- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
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Abstract
Collaboration track, which is imported, the invention discloses ring road under a kind of truck traffic environment determines method and apparatus, the method by traversing main road vehicle one by one, judge whether ring road vehicle can smoothly import some main road vehicle and cause to be more than the influence for receiving range to the operation of main road vehicle before and not, searches for suitable lane-change gap and calculate corresponding ring road vehicle and main road vehicle running track；Ring road vehicle parking waits if not searching suitable lane-change gap；If searching suitable lane-change gap, the main road vehicle after ring road vehicle and remittance point is run according to calculated track, so that ring road vehicle imports main road.Compared with prior art, the present invention, so that ring road vehicle smoothly imports main road and to make main road wagon flow be affected as small as possible, can reach local dynamic optimal effect by calculating ring road automotive vehicle and main road automotive vehicle cooperation motion profile.
Description
Technical field
The invention belongs to ring roads in traffic signalization to import control field, and in particular to circle under a kind of truck traffic environment
Road imports collaboration track and determines method and apparatus.
Background technique
With the investment energetically of each city traffic infrastructure, especially grow to even greater heights to the enthusiasm of through street construction.
Skeleton of the through street as urban road system, carries the major commuter flow in city, and urban traffic blocking can be effectively relieved,
The operational efficiency and service level of city road network are promoted, it is unimpeded, quick, comfortable, convenient to have the characteristics that.But as city is handed over
The increasingly sharp increase of flux, city expressway are losing it and are fast and efficiently acting on, and handle bad instead as urban transportation system
Congested nodes in system.The service efficiency that urban expressing system how is improved using effective control method, reinforces urban expressing system
Traffic control, restore its due function, have become the most important thing of city traffic problems to be solved.
If the geometry designs of through street are reasonable, the acceleration lane near Entrance ramp can generally guarantee to drive into acceleration vehicle
Main line wagon flow is imported to the vehicle safety in road, but cannot be guaranteed that drive into vehicle does not produce main line wagon flow during importing main line
Raw " extruding " or retardation.If " importing control " of certain forms can be taken, " extruding " can be reduced or blocked, avoided
There is the case where main line vehicle is forced changing Lane.
Under classical scenario, ring road vehicle judges main road vehicle flowrate by driver itself, finds suitable gap insertion
Main road wagon flow.But the range of observation of people, judges limited accuracy at computing capability, it occur frequently that ring road vehicle can not import main road,
Or the case where main road causes main road wagon flow to block is imported by force.
With the development of artificial intelligence and car networking, collaborative truck system enters the visual field of people.Collaborative truck system is
Refer to that being based on the technologies such as wireless communication, sensor measuring obtains information of vehicles, carries out information exchange and shared, intelligence between realization vehicle
Collaboration and cooperation, the germline for reaching Optimum utilization system resource, improving traffic safety, the target for alleviating traffic congestion
System.
But existing research is that safe early warning and lane-change prompt are provided for merging area vehicle mostly, to towards truck traffic environment
Lower automatic driving vehicle cooperative control method research is less, even if providing control method, also can not quantitatively provide accurate
The running track of ring road remittance vehicle and main road wagon flow.
Summary of the invention
Goal of the invention: with the development of autonomous driving vehicle and car networking, it is an object of that present invention to provide a kind of vehicle vehicles
Ring road imports collaboration track and determines method and apparatus under communication environment, is assisted by calculating ring road automotive vehicle and main road automotive vehicle
Deploy resultant motion track so that ring road vehicle smoothly imports main road and that main road wagon flow is affected is as small as possible.
Technical solution: for achieving the above object, the present invention adopts the following technical scheme:
Ring road imports collaboration track and determines method under a kind of truck traffic environment, comprising the following steps:
(1) ring road on main road is imported to the vehicle of point upstream to swim over to the sequence number consecutively of upstream from down, from second
Vehicle starts successively to traverse, and searches for suitable lane-change gap；Wherein judge to whether there is insertion position between each car and front truck
Method include:
(1.1) C is setiWith Ci-1Middle has more one with ViThe virtual vehicle C of speed travelingu, use IDM following-speed model meter
Calculate CiAcceleration aiWith virtual vehicle CuAcceleration au；Wherein road car number based on i；
(1.2) if aiWith auNot less than the threshold value of setting, then step (1.3) are continued to execute, otherwise it is assumed that current vehicle is not
There are insertion positions, carry out the judgement of next vehicle；
(1.3) judge ring road vehicle C0Whether the side with the rear car of insertion position progress collaborative variation speed can be passed through
Formula achievees the purpose that smoothly to import main road, method particularly includes:
Ring road is straightened parallel with main line, establishes planar two dimensional coordinate system, horizontal axis is time shaft t, and the longitudinal axis is distance axis y；
If C0Accelerated with constant acceleration, obtains C0Running track y0(t), if virtual vehicle CuAlways situated in CiWith Ci-1
Middle obtains virtual vehicle CuRunning track yu(t)；
Calculate parabola y0(t) with straight line yu(t) whether intersection point when tangent meets three constraint conditions: acceleration limitation 0
≤a≤am, lane-change position limit L1≤yu(t)≤L2D is limited with main road vehicle deceleration degreemin≤d≤1；Wherein amFor most greatly
Speed, [L1,L2] be can lane-change position y-axis range, d be main road vehicles speed reduction coefficient, dminFor the reduction coefficient of setting
Threshold value；
Illustrate C if meeting0In CiInsertion will not cause to significantly affect to main road before, enter step (3), otherwise it is assumed that
Insertion position is not present in current vehicle, carries out the judgement of next vehicle；
(2) if vehicle traversal terminates to fail to search suitable insertion position, C0It is waited for parking in ring road inlet；
(3)C0D × V is accelerated to acceleration a stabilizationi, CiIt is decelerated to d × Vi, C0Keep speed d × ViAnd smoothly import master
Road.
It with current time is t=0, C in two-dimensional coordinate system preferably, in the step (1.3)0Position point is y
=0, ring road vehicle C0Running trackVirtual vehicle CuRunning track Wherein, bmFor
Main road vehicle CiAllow deceleration, SiFor main road vehicles CiSpace headway.
Preferably, obtaining intersection point by solving following equation in the step (1.3):
yu(t)=y0(t)
The specific Expansion Solution of equation is obtained
By three constraints conversions at using t and Δ t as the constraint of variable, using Δ t as horizontal axis, t is the flat square of the longitudinal axis
In coordinate system, look for whether that there are feasible solutions.
Preferably, C in step (1.1)iAnd CuAcceleration aiWith auCalculation formula are as follows:
Wherein, v0For ideal drive speed, s0For static safe distance, T is safe time interval, and a is acceleration from rest, b
For comfortable deceleration, δ > 0 is acceleration index, viFor the speed of i-th vehicle, SiFor the space headway of i-th vehicle.
A kind of computer equipment disclosed in another aspect of the present invention, including memory, processor and storage are on a memory
And the computer program that can be run on a processor, the computer program realize that the ring road converges when being loaded on processor
Enter track is cooperateed with to determine method.
The utility model has the advantages that ring road vehicle under the conditions of truck traffic, surmounted the range of observation of human operators, computing capability,
Judge the constraint of accuracy.Remittance control strategy according to the present invention, ring road vehicle and main road wagon flow are according to accurately calculating
Track operation, it is possible to reduce " extrudings " or retardance the occurrence of, avoid the occurrence of the case where main line vehicle is forced changing Lane, reality
While existing ring road vehicle imports main road, the interference that main road wagon flow is subject to is as low as possible, reaches local dynamic optimal effect.
Detailed description of the invention
Fig. 1 is ring road geometric shape, vehicle coordinate, apart from schematic diagram.
Fig. 2 is the track schematic diagram that virtual vehicle and ring road import the vehicle coordinated movement of various economic factors.
Specific embodiment
The present invention is further illustrated in the following with reference to the drawings and specific embodiments.
Ring road imports collaboration track and determines method under a kind of truck traffic environment disclosed by the embodiments of the present invention, and use is this
The scene of method is that all vehicles are all full-automatic driving vehicle on road, realizes that lane-change imports by the communication between vehicle
Collaboration.This method judges whether ring road vehicle can smoothly import before some main road vehicle simultaneously by traversing main road vehicle one by one
And not to the operation of main road vehicle cause be more than 10% influence, search for suitable lane-change gap and calculate corresponding ring road vehicle
With main road vehicle running track；Ring road vehicle parking waits if not searching suitable lane-change gap；If searching suitable lane-change
Gap, then ring road vehicle is run with the main road vehicle after remittance point according to calculated track, so that ring road vehicle imports main road.
As shown in Figure 1, setting full-automatic driving vehicle (number C on current ring road0) speed be V0, distance allowance lane change
The minimum distance in area is L1, the length for permitting lane change area is L0, the maximum distance that distance permits lane change area is L2=L1+L0；Main road
Upper ring road imports the full-automatic driving vehicle of point upstream, to swim over to the sequence number consecutively of upstream from down as C1、C2……Cn。Cn
For the farthest vehicle of within H meters of ring road catchment area (empirical value of H is 500), C0With C1、C2……CnIt is automatic to establish communication
Connection.
The ring road of the embodiment of the present invention imports collaboration track and determines that method specifically comprises the following steps:
1) from C2Start, traverses C2、C3……Cn, repeat 11) to 19) step, to search for suitable lane-change gap.
The vehicle in main road fleet is traversed, suitable insertion rear car is found, two layers of decision condition: first layer is mainly executed, between judgement
Whether gap size is sufficient；The second layer, if meeting first layer, judge ring road vehicle whether can by the rear car with insertion position into
The mode of row collaborative variation speed achievees the purpose that smoothly to import main road.
11) car number that label currently traverses is Ci, (2≤i≤n), with front truck Ci-1Space headway be Si,
Current vehicle speed is Vi, the minimum distance that distance permits lane change area is Yi；
12) following scene judgement is carried out:
If 121) CiWith Ci-1Middle has more one suddenly with ViThe virtual vehicle C of speed travelingu, calculate CiAcceleration
aiWith virtual vehicle CuAcceleration au；
This step calculates C using IDM following-speed modeliAnd CuAcceleration aiWith au；
Wherein, v0For ideal drive speed (default 35m/s), s0For static safe distance (default 10m), T is safety time
Interval (default 2s), a are acceleration from rest (default 2m/s2), b is comfortable deceleration (default 1m/s2), δ > 0 is acceleration index
(being defaulted as 2), viFor the speed of i-th vehicle, SiFor the space headway of i-th vehicle.
If 122) aiWith auIt is not less than -1m/s2, then continue to execute step 13), otherwise terminate this be recycled into it is next
Secondary circulation traverses vehicle Ci+1；
13) virtual vehicle C is setuHolding and CiIdentical speed traveling, virtual vehicle CuAlways situated in CiPrecedingPlace；
14) ring road is straightened parallel with main line, establishes planar two dimensional coordinate system, horizontal axis is time shaft t, is with current time
T=0, the longitudinal axis are distance axis y, C0Position point is y=0；Determine following coordinate:
141) calculate can lane-change position y-axis range [L1,L2]；
142) virtual vehicle C when calculating t=0uY-coordinate
15) C is set0Current vehicle speed is V0, peak acceleration am, C0Accelerated with constant acceleration, obtains C0Running track0≤a≤am；
16) main road vehicle C is setiCooperate C0Remittance pre-decelerating, the biggest impact degree that main road vehicle is subject to be 10%,
Speed is minimum to reduce to 0.9Vi；Speed reduction coefficient is d, 0.9≤d≤1.Main road vehicle CiAllow deceleration be bm；It calculates empty
Quasi- track of vehicle:
161) it calculates from ViIt is decelerated to d × ViRequired time
162) C this period that slows down is calculatediThe distance of advance
163) setting virtual vehicle can be always situated in CiPrecedingPlace, obtains virtual vehicle CuRunning track
17) following equation is solved:
yu(t)=y0(t)
18) whether the solution that judgement is found out meets three constraint conditions:
Acceleration limits 0≤a≤am；
Lane-change position limits L1≤yu(t)≤L2；
The limitation of main road vehicle deceleration degree, 0.9≤d≤1；
19) if the t calculated and a, d meet above-mentioned constraint condition, illustrate C0In CiInsertion will not make to main road before
At significantly affecting, circulation is jumped out, is entered step 3)；Otherwise enter next round to recycle；
2) if vehicle traversal terminates, fail to search suitable insertion position, then C0It is waited for parking in ring road inlet；
3)C0D × V is accelerated to acceleration a stabilizationi, CiIt is decelerated to d × Vi, C0Keep speed d × ViAnd smoothly import master
Road.
When determining second layer condition, essence is to calculate parabola y0With straight line yuWhether intersection point when tangent meets three about
Beam condition: acceleration limitation, the limitation of lane-change position and the limitation of main road vehicle deceleration degree.
yu(t)=y0(t)
The specific Expansion Solution of equation is obtained
Three are constrained
0.9≤d≤1
0≤a≤am
L1≤yu(t)≤L2
Arrangement is
I.e. according to the relationship of above-mentioned t and Δ t, using Δ t as horizontal axis, t is in the plane right-angle coordinate of the longitudinal axis, and searching is
It is no that there are feasible solutions.
Feasible solution if it exists illustrates C0In CiInsertion will not cause to significantly affect to main road before, terminate traversal, C0And Ci
Mode, which is advanced until, according to schedule converges, and sees Fig. 2.Otherwise enter next round and determine circulation.
Based on the same technical idea, the embodiment of the invention discloses a kind of computer equipments, including memory, processor
And the computer program that can be run on a memory and on a processor is stored, which is loaded on real when processor
Ring road described in existing above-described embodiment imports collaboration track and determines method.
Claims (5)
1. ring road imports collaboration track and determines method under a kind of truck traffic environment, which comprises the following steps:
(1) ring road on main road is imported to the vehicle of point upstream to swim over to the sequence number consecutively of upstream from down, is opened from second car
Beginning successively traverses, and searches for suitable lane-change gap；Wherein judge the side with the presence or absence of insertion position between each car and front truck
Method includes:
(1.1) C is setiWith Ci-1Middle has more one with ViThe virtual vehicle C of speed travelingu, C is calculated using IDM following-speed modeli
Acceleration aiWith virtual vehicle CuAcceleration au；Wherein road car number based on i；
(1.2) if aiWith auNot less than the threshold value of setting, then step (1.3) are continued to execute, otherwise it is assumed that current vehicle is not present
Insertion position carries out the judgement of next vehicle；
(1.3) judge ring road vehicle C0Whether can be reached by way of carrying out collaborative variation speed with the rear car of insertion position
The purpose of main road is smoothly imported, method particularly includes:
Ring road is straightened parallel with main line, establishes planar two dimensional coordinate system, horizontal axis is time shaft t, and the longitudinal axis is distance axis y；
If C0Accelerated with constant acceleration, obtains C0Running track y0(t), if virtual vehicle CuAlways situated in CiWith Ci-1Center
Between, obtain virtual vehicle CuRunning track yu(t)；
Calculate parabola y0(t) with straight line yu(t) whether intersection point when tangent meets three constraint conditions: acceleration limits 0≤a
≤am, lane-change position limit L1≤yu(t)≤L2D is limited with main road vehicle deceleration degreemin≤d≤1；Wherein amAccelerate for maximum
Degree, [L1,L2] be can lane-change position y-axis range, d be main road vehicles speed reduction coefficient, dminFor the reduction coefficient threshold of setting
Value；
Illustrate C if meeting0In CiInsertion will not cause to significantly affect to main road before, (3) be entered step, otherwise it is assumed that currently
Insertion position is not present in vehicle, carries out the judgement of next vehicle；
(2) if vehicle traversal terminates to fail to search suitable insertion position, C0It is waited for parking in ring road inlet；
(3)C0D × V is accelerated to acceleration a stabilizationi, CiIt is decelerated to d × Vi, C0Keep speed d × ViAnd smoothly import main road.
2. ring road imports collaboration track and determines that method, feature exist under a kind of truck traffic environment according to claim 1
In with current time being t=0, C in two-dimensional coordinate system in the step (1.3)0Position point is y=0, ring road vehicle C0
Running trackVirtual vehicle CuRunning track Wherein, bmFor
Main road vehicle CiAllow deceleration, SiFor main road vehicles CiSpace headway.
3. ring road imports collaboration track and determines that method, feature exist under a kind of truck traffic environment according to claim 2
In obtaining intersection point by solving following equation in the step (1.3):
yu(t)=y0(t)
The specific Expansion Solution of equation is obtained
By three constraints conversions at using t and Δ t as the constraint of variable, using Δ t as horizontal axis, t is the plane rectangular coordinates of the longitudinal axis
In system, look for whether that there are feasible solutions.
4. ring road imports collaboration track and determines that method, feature exist under a kind of truck traffic environment according to claim 1
In C in step (1.1)iAnd CuAcceleration aiWith auCalculation formula are as follows:
Wherein, v0For ideal drive speed, s0For static safe distance, T is safe time interval, a0For acceleration from rest, b is
Comfortable deceleration, δ > 0 are acceleration index, viFor the speed of i-th vehicle, SiFor the space headway of i-th vehicle.
5. a kind of computer equipment including memory, processor and stores the meter that can be run on a memory and on a processor
Calculation machine program, which is characterized in that the computer program realizes any one of -4 institute according to claim 1 when being loaded on processor
The ring road stated imports collaboration track and determines method.
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| CN110379193A (en) * | 2019-07-08 | 2019-10-25 | 华为技术有限公司 | The conduct programming method and conduct programming device of automatic driving vehicle |
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| CN110853378A (en) * | 2019-11-19 | 2020-02-28 | 中国联合网络通信集团有限公司 | Vehicle ramp afflux management method and system |
| WO2020147390A1 (en) * | 2019-01-16 | 2020-07-23 | 北京百度网讯科技有限公司 | Vehicle control method and device |
| CN111754774A (en) * | 2020-07-02 | 2020-10-09 | 清华大学 | Safe self-organizing traffic control method for intelligent network-connected automobile at expressway ramp port |
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| CN110379193A (en) * | 2019-07-08 | 2019-10-25 | 华为技术有限公司 | The conduct programming method and conduct programming device of automatic driving vehicle |
| CN110570049B (en) * | 2019-09-19 | 2022-04-29 | 西南交通大学 | Expressway mixed traffic flow convergence collaborative optimization bottom layer control method |
| CN110570049A (en) * | 2019-09-19 | 2019-12-13 | 西南交通大学 | expressway mixed traffic flow convergence collaborative optimization bottom layer control method |
| CN110660213A (en) * | 2019-10-11 | 2020-01-07 | 中国联合网络通信集团有限公司 | Ramp vehicle merging method, road side equipment and vehicle |
| CN110853378A (en) * | 2019-11-19 | 2020-02-28 | 中国联合网络通信集团有限公司 | Vehicle ramp afflux management method and system |
| CN111754774A (en) * | 2020-07-02 | 2020-10-09 | 清华大学 | Safe self-organizing traffic control method for intelligent network-connected automobile at expressway ramp port |
| CN111754774B (en) * | 2020-07-02 | 2022-04-19 | 清华大学 | Safe self-organizing traffic control method for intelligent network-connected automobile at expressway ramp port |
| CN112233413A (en) * | 2020-07-20 | 2021-01-15 | 北方工业大学 | Multilane space-time trajectory optimization method for intelligent networked vehicle |
| CN112233413B (en) * | 2020-07-20 | 2022-03-29 | 北方工业大学 | Multilane space-time trajectory optimization method for intelligent networked vehicle |
| CN114677858B (en) * | 2020-12-24 | 2024-04-02 | 长沙智能驾驶研究院有限公司 | Vehicle management method, device, equipment and computer storage medium |
| CN114677858A (en) * | 2020-12-24 | 2022-06-28 | 长沙智能驾驶研究院有限公司 | Vehicle management method, device, equipment and computer storage medium |
| CN112750318A (en) * | 2020-12-30 | 2021-05-04 | 山东高速信息集团有限公司 | Ramp confluence control method and system based on edge cloud |
| CN113327441B (en) * | 2021-02-04 | 2022-03-08 | 长沙理工大学 | Network-connection automatic vehicle speed control and track optimization method based on highway confluence area |
| CN113327441A (en) * | 2021-02-04 | 2021-08-31 | 长沙理工大学 | Network-connection automatic vehicle speed control and track optimization method based on highway confluence area |
| CN115578865A (en) * | 2022-09-28 | 2023-01-06 | 东南大学 | Automatic driving vehicle convergence gap selection optimization method based on artificial intelligence |
| CN115578865B (en) * | 2022-09-28 | 2023-08-29 | 东南大学 | Automatic driving vehicle converging gap selection optimization method based on artificial intelligence |
| CN116386385A (en) * | 2023-02-17 | 2023-07-04 | 东南大学 | Intelligent network-connected vehicle ramp-up and ramp-up control protocol based on mixed traffic flow |
| CN116386385B (en) * | 2023-02-17 | 2024-03-26 | 东南大学 | Intelligent network-connected vehicle ramp-up and ramp-up control protocol based on mixed traffic flow |
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