CN108986488B - Method and equipment for determining ramp merging cooperative track in vehicle-vehicle communication environment - Google Patents

Method and equipment for determining ramp merging cooperative track in vehicle-vehicle communication environment Download PDF

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CN108986488B
CN108986488B CN201810810596.XA CN201810810596A CN108986488B CN 108986488 B CN108986488 B CN 108986488B CN 201810810596 A CN201810810596 A CN 201810810596A CN 108986488 B CN108986488 B CN 108986488B
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ramp
main road
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acceleration
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CN108986488A (en
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王昊
姚东成
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Southeast University
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Nanjing Duarte Traffic Technology Co Ltd
Southeast University
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    • G08SIGNALLING
    • G08GTRAFFIC CONTROL SYSTEMS
    • G08G1/00Traffic control systems for road vehicles
    • G08G1/07Controlling traffic signals
    • G08G1/075Ramp control

Abstract

The invention discloses a method and equipment for determining ramp merging cooperative track in a vehicle-vehicle communication environment, wherein the method comprises the steps of traversing main road vehicles one by one, judging whether ramp vehicles can smoothly merge into a certain main road vehicle and do not cause the influence exceeding an acceptance range on the operation of the main road vehicle, searching a proper lane changing gap and calculating the corresponding operation tracks of the ramp vehicles and the main road vehicle; if the appropriate lane changing gap is not searched, stopping the ramp vehicle for waiting; and if the suitable lane changing gap is searched, the ramp vehicles and the main road vehicles after the merging point run according to the calculated track, so that the ramp vehicles merge into the main road. Compared with the prior art, the method can enable the ramp vehicles to smoothly converge into the main road and enable the main road traffic flow to be influenced as little as possible by calculating the coordinated and matched motion track of the ramp automatic vehicles and the main road automatic vehicles, and achieves the local dynamic optimal effect.

Description

Method and equipment for determining ramp merging cooperative track in vehicle-vehicle communication environment
Technical Field
The invention belongs to the field of ramp afflux control in traffic signal control, and particularly relates to a method and equipment for determining a ramp afflux cooperative track in a vehicle-vehicle communication environment.
Background
With the great investment of the infrastructure of the traffic of various big cities, the enthusiasm of the construction of express ways is increased day by day. The expressway is used as a framework of an urban road system, bears main traffic flow of a city, can effectively relieve urban traffic jam, improves the running efficiency and the service level of an urban road network, and has the characteristics of smoothness, quickness, comfort and convenience. However, with the increasing and rapid increase of urban traffic, urban expressways lose their quick and efficient functions, and the processing is not good, but rather, the expressways become congestion nodes in urban traffic systems. How to adopt an effective control method to improve the use efficiency of an expressway system, strengthen the traffic control of the expressway system and recover the due functions of the expressway system becomes important for solving the traffic problems in cities.
If the geometric design of the expressway is reasonable, the acceleration lanes near the entrance ramp can generally ensure that vehicles driving into the acceleration lanes can safely merge into the main line traffic flow, but cannot ensure that the driving vehicles do not generate extrusion or retardation on the main line traffic flow in the process of merging into the main line. If some form of "merge control" can be taken, then "squeeze" or drag can be reduced, avoiding situations where the main line vehicle is forced to change lanes.
Under the traditional scene, the ramp vehicle judges the main road traffic flow through the driver, and searches for a proper gap to insert the main road traffic flow. However, the observation range, the calculation capability and the judgment accuracy of people are limited, and the situation that vehicles on a ramp cannot converge into a main road or forcibly converge into the main road to cause traffic jam of the main road often occurs.
With the development of artificial intelligence and car networking, car-car cooperative systems enter the field of vision of people. The vehicle-vehicle cooperation system is a system which acquires vehicle information based on technologies such as wireless communication, sensing detection and the like, performs information interaction and sharing, realizes intelligent cooperation and cooperation between vehicles, and achieves the aims of optimizing and utilizing system resources, improving road traffic safety and relieving traffic jam.
However, most of the existing researches provide safety early warning and lane change prompt for vehicles in a confluence area, the research on the cooperative control method of the automatic driving vehicles in the communication environment of the vehicles and the vehicles in the opposite directions is less, and even if the control method is provided, the accurate running tracks of vehicles merged into the ramp and main road traffic flow cannot be quantitatively provided.
Disclosure of Invention
The purpose of the invention is as follows: with the development of the automatic driving automobile and the car networking, the invention aims to provide a method and equipment for determining a ramp merging cooperative track in a car-to-car communication environment.
The technical scheme is as follows: in order to achieve the purpose, the invention adopts the following technical scheme:
a method for determining a ramp merging cooperative track in a vehicle-vehicle communication environment comprises the following steps:
(1) sequentially numbering vehicles on the upstream of the merging point of the ramp on the main road in the sequence from the downstream to the upstream, sequentially traversing from a second vehicle, and searching for a proper lane changing gap; the method for judging whether the insertion position exists between each vehicle and the front vehicle comprises the following steps:
(1.1) setting CiAnd Ci-1One more V is arranged in the middleiVirtual vehicle C traveling at speeduCalculating C using IDM following modeliAcceleration a ofiAnd virtual vehicle CuAcceleration a ofu(ii) a Wherein i is the serial number of the vehicles on the main road;
(1.2) if aiAnd auIf the current vehicle is not smaller than the set threshold value, continuing to execute the step (1.3), otherwise, judging that the current vehicle does not have an insertion position, and judging the next vehicle;
(1.3) judging the ramp vehicle C0Whether the speed can be changed in a coordinated manner with a rear vehicle at an insertion position or not is achieved, the purpose of smoothly merging into a main road is achieved, and the specific method is as follows:
straightening a ramp to be parallel to a main line, and establishing a planar two-dimensional coordinate system, wherein the horizontal axis is a time axis t, and the vertical axis is a distance axis y;
is provided with C0Accelerated at constant acceleration to obtain C0Is of0(t) setting a virtual vehicle CuIs always located at CiAnd Ci-1In the middle of the center, a virtual vehicle C is obtaineduIs ofu(t);
Calculating parabola y0(t) and line yu(t) whether the intersection point at the time of tangency satisfies three constraint conditions: acceleration limit of 0-amLane change position limit L1≤yu(t)≤L2And main road vehicle deceleration degree limit dminD is not less than 1; wherein a ismFor maximum acceleration, [ L ]1,L2]Y-axis range for lane-changing position, d is main road vehicle speed reduction factor, dminIs a set reduction coefficient threshold value;
if satisfied, it indicates C0At CiThe previous insertion does not cause obvious influence on the main road, the step (3) is carried out, otherwise, the current vehicle is considered to have no insertion position, and the judgment of the next vehicle is carried out;
(2) if the vehicle cannot search a proper insertion position after traversing is finished, C0Stopping at the entrance of the ramp for waiting;
(3)C0stably accelerating to dXV with acceleration ai,CiDecelerating to d × Vi,C0Keeping vehicle speed dXViAnd smoothly merge into the main road.
Preferably, in the step (1.3), C is set to 0 in the two-dimensional coordinate system when t is the current time point0The position point is y is equal to 0, and the ramp vehicle C0Run of (2)
Figure BDA0001739043080000031
Virtual vehicle CuRun of (2)
Figure BDA0001739043080000032
Figure BDA0001739043080000033
Wherein, bmFor the main road vehicle CiAllowable deceleration of, SiFor the main road vehicle CiThe distance between the car heads.
Preferably, in step (1.3), the intersection point is obtained by solving the following equation:
yu(t)=y0(t)
Figure BDA0001739043080000034
the equation is developed and solved specifically
Figure BDA0001739043080000035
Converting the three constraints into constraints with t and delta t as variables, and searching whether a feasible solution exists in a plane rectangular coordinate system with delta t as a horizontal axis and t as a vertical axis.
Preferably, step (1.1) is CiAnd CuAcceleration a ofiAnd auThe calculation formula is as follows:
Figure BDA0001739043080000036
Figure BDA0001739043080000037
wherein v is0Ideal driving speed, s0For a stationary safety distance, T a safety time interval, a starting acceleration, b a comfort deceleration, δ>0 is an acceleration index, viIs the speed of the ith vehicle, SiThe head distance of the ith vehicle.
The invention discloses computer equipment in another aspect, which comprises a memory, a processor and a computer program stored on the memory and capable of running on the processor, wherein the computer program realizes the ramp merging collaborative trajectory determination method when being loaded to the processor.
Has the advantages that: the ramp vehicle exceeds the constraints of the observation range, the calculation capability and the judgment accuracy of human drivers under the vehicle-vehicle communication condition. According to the convergence control strategy of the invention, the ramp vehicles and the main road traffic flow run according to the accurately calculated track, thereby reducing the occurrence of 'extrusion' or retardation, avoiding the situation that the main line vehicle is forced to change lanes, realizing that the main road traffic flow is interfered as low as possible while the ramp vehicles converge into the main road, and achieving the local dynamic optimal effect.
Drawings
Fig. 1 is a schematic diagram of ramp geometry, vehicle coordinates, and distance.
Fig. 2 is a schematic diagram of the coordinate movement of the virtual vehicle and the ramp merging vehicle.
Detailed Description
The invention is further described with reference to the following figures and specific embodiments.
The embodiment of the invention discloses a method for determining a ramp merging collaborative track in a vehicle-vehicle communication environment. The method comprises the steps of traversing main road vehicles one by one, judging whether ramp vehicles can smoothly converge into a certain main road vehicle and do not influence the operation of the main road vehicle by more than 10%, searching a proper lane change gap and calculating the corresponding running tracks of the ramp vehicles and the main road vehicle; if the appropriate lane changing gap is not searched, stopping the ramp vehicle for waiting; and if the suitable lane changing gap is searched, the ramp vehicles and the main road vehicles after the merging point run according to the calculated track, so that the ramp vehicles merge into the main road.
As shown in FIG. 1, let us assume that a fully-automatically driven vehicle (numbered C) is on the current ramp0) Has a velocity of V0The shortest distance from the allowable lane change zone is L1The length of the permitted lane change zone is L0The farthest distance from the allowable lane-changing area is L2=L1+L0(ii) a The fully-automatic driving vehicles on the main road at the upstream of the junction point of the ramp are sequentially numbered as C from downstream to upstream1、C2……Cn。CnThe farthest vehicle within H meters from the ramp merging area (empirical value of H is 500), C0And C1、C2……CnAnd automatically establishing communication connection.
The method for determining the ramp merging collaborative track in the embodiment of the invention specifically comprises the following steps:
1) from C2Start, traverse C2、C3……CnAnd repeatedly executing the steps 11) to 19) to search for a proper lane change gap. Namely, traversing the vehicles in the main road fleet, searching for a proper inserted vehicle, and mainly executing two layers of judgment conditions: the first layer is used for judging whether the size of the gap is sufficient or not; and if the second layer meets the first layer, judging whether the ramp vehicle can change speed in a coordinated manner with the rear vehicle in the insertion position, thereby achieving the purpose of smoothly converging into the main road.
11) Marking the number of the currently traversed vehicle as Ci(i is more than or equal to 2 and less than or equal to n) which is connected with the front vehicle Ci-1Head interval of SiAt a current vehicle speed ViWith a minimum distance Y from the zone of permitted lane changei
12) The following scenario judgment is carried out:
121) if CiAnd Ci-1Suddenly increase one more V in the middleiVirtual vehicle C traveling at speeduCalculating CiAcceleration a ofiAnd virtual vehicle CuAcceleration a ofu
This step uses the IDM following model to calculate CiAnd CuAcceleration a ofiAnd au
Figure BDA0001739043080000051
Figure BDA0001739043080000052
Wherein v is0Ideal driving speed (default 35m/s), s0A static safety distance (default 10m), T a safety time interval (default 2s), a breakaway acceleration (default 2 m/s)2) B is comfort deceleration (default 1 m/s)2),δ>0 is the acceleration index (default 2), viIs the speed of the ith vehicle, SiThe head distance of the ith vehicle.
122) If aiAnd auAre not less than-1 m/s2If yes, the step 13) is continuously executed, otherwise, the loop is ended, the next loop is entered, and the vehicle C is traversedi+1
13) Let virtual vehicle CuRetention and CiRunning at the same speed, virtual vehicle CuIs always located at CiFront stage
Figure BDA0001739043080000053
At least one of (1) and (b);
14) straightening a ramp to be parallel to a main line, establishing a planar two-dimensional coordinate system, wherein the horizontal axis is a time axis t, the current time is t-0, and the vertical axis is a distance axis y, C0The position point is y which is 0; the following coordinates were determined:
141) calculating y-axis range [ L ] of lane-changing position1,L2];
142) Virtual vehicle C when t is calculated to be 0uY coordinate of
Figure BDA0001739043080000054
15) Is provided with C0The current vehicle speed is V0At the mostA large acceleration of am,C0Accelerated at constant acceleration to obtain C0Run of (2)
Figure BDA0001739043080000055
0≤a≤am
16) Vehicle C with main roadiCoordination C0The maximum influence degree of the main road vehicle is 10 percent, and the speed is reduced to 0.9V at the minimumi(ii) a The speed reduction coefficient is d, and d is more than or equal to 0.9 and less than or equal to 1. Main road vehicle CiIs bm(ii) a Calculating a virtual vehicle trajectory:
161) calculate from ViDecelerating to d × ViRequired time of
Figure BDA0001739043080000056
162) Calculating the time C of decelerationiDistance of advance
Figure BDA0001739043080000057
163) If the virtual vehicle will always be at CiFront stage
Figure BDA0001739043080000058
Get a virtual vehicle CuRun of (2)
Figure BDA0001739043080000059
17) Solving the following equation:
yu(t)=y0(t)
Figure BDA0001739043080000061
18) judging whether the solved solution meets three constraint conditions:
acceleration limit of 0-am
Lane change position limit L1≤yu(t)≤L2
The deceleration degree of the vehicle on the main road is limited, and d is more than or equal to 0.9 and less than or equal to 1;
19) if the calculated t, a and d satisfy the constraint conditions, then C is indicated0At CiThe previous insertion does not cause obvious influence on the main path, and the loop is skipped to enter the step 3); otherwise, entering the next cycle;
2) if the vehicle is traversed and the proper inserting position cannot be searched, C0Stopping at the entrance of the ramp for waiting;
3)C0stably accelerating to dXV with acceleration ai,CiDecelerating to d × Vi,C0Keeping vehicle speed dXViAnd smoothly merge into the main road.
When the second layer condition is determined, the essence is to calculate the parabola y0And a straight line yuWhether the intersection point at the time of tangency satisfies three constraint conditions: acceleration limit, lane change position limit, and main road vehicle deceleration degree limit.
yu(t)=y0(t)
Figure BDA0001739043080000062
The equation is developed and solved specifically
Figure BDA0001739043080000063
Constrain three
0.9≤d≤1
0≤a≤am
L1≤yu(t)≤L2
Is arranged into
Figure BDA0001739043080000064
Figure BDA0001739043080000065
Figure BDA0001739043080000066
Figure BDA0001739043080000071
That is, according to the relationship between t and Δ t, whether a feasible solution exists is found in a rectangular plane coordinate system with Δ t as the horizontal axis and t as the vertical axis.
If a feasible solution exists, illustrate C0At CiBefore insertion does not cause obvious influence on main path, end traversal, C0And CiProgress is planned until confluence, see fig. 2. Otherwise, entering the next judgment cycle.
Based on the same technical concept, the embodiment of the invention discloses a computer device, which comprises a memory, a processor and a computer program stored on the memory and capable of running on the processor, wherein the computer program is loaded to the processor to realize the ramp merging collaborative trajectory determination method described in the embodiment.

Claims (5)

1. A method for determining a ramp merging cooperative track in a vehicle-vehicle communication environment is characterized by comprising the following steps:
(1) sequentially numbering vehicles on the upstream of the merging point of the ramp on the main road in the sequence from the downstream to the upstream, sequentially traversing from a second vehicle, and searching for a proper lane changing gap; the method for judging whether the insertion position exists between each vehicle and the front vehicle comprises the following steps:
(1.1) setting CiAnd Ci-1One more speed V is added in the middleiVirtual vehicle C that is travelinguCalculating C using IDM following modeliAcceleration a ofiAnd virtual vehicle CuAcceleration a ofu(ii) a Wherein i is the serial number of the vehicles on the main road;
(1.2) if aiAnd auIf the current vehicle is not smaller than the set threshold value, continuing to execute the step (1.3), otherwise, judging that the current vehicle does not have an insertion position, and judging the next vehicle;
(1.3) judging the ramp vehicle C0Whether the speed can be changed in a coordinated manner with a rear vehicle at an insertion position or not is achieved, the purpose of smoothly merging into a main road is achieved, and the specific method is as follows:
straightening a ramp to be parallel to a main line, and establishing a planar two-dimensional coordinate system, wherein the horizontal axis is a time axis t, and the vertical axis is a distance axis y;
is provided with C0Accelerated at constant acceleration to obtain C0Is of0(t) setting a virtual vehicle CuIs always located at CiAnd Ci-1In the middle of the center, a virtual vehicle C is obtaineduIs ofu(t);
Calculating parabola y0(t) and line yu(t) whether the intersection point at the time of tangency satisfies three constraint conditions: acceleration limit of 0-amLane change position limit L1≤yu(t)≤L2And main road vehicle deceleration degree limit dminD is not less than 1; wherein a ismFor maximum acceleration, [ L ]1,L2]Y-axis extent for lane-changing position, L1Is C0Minimum distance, L, from permitted lane-change zone2Is C0The farthest distance from the permitted lane-changing area, d is the speed reduction coefficient of the vehicle on the main road, dminIs a set reduction coefficient threshold value;
if satisfied, it indicates C0At CiThe previous insertion does not cause obvious influence on the main road, the step (3) is carried out, otherwise, the current vehicle is considered to have no insertion position, and the judgment of the next vehicle is carried out;
(2) if the vehicle cannot search a proper insertion position after traversing is finished, C0Stopping at the entrance of the ramp for waiting;
(3)C0stably accelerating to dXV with acceleration ai,CiDecelerating to d × Vi,C0Keeping vehicle speed dXViAnd smoothly merge into the main road.
2. The method for determining the ramp-in cooperative track in the vehicle-vehicle communication environment according to claim 1, wherein in the step (1.3), the two-dimensional path is determinedC in the coordinate system with the current time t equal to 00The position point is y is equal to 0, and the ramp vehicle C0Run of (2)
Figure FDA0002295708620000011
Virtual vehicle CuRun of (2)
Figure FDA0002295708620000021
Figure FDA0002295708620000022
Wherein, bmFor the main road vehicle CiAllowable deceleration of, SiFor the main road vehicle CiDistance between heads of cars, YiFor the main road vehicle CiThe closest distance from the permitted lane change zone.
3. The method for determining the ramp-in cooperative track in the vehicle-vehicle communication environment according to claim 2, wherein the intersection point is obtained in the step (1.3) by solving the following equation:
yu(t)=y0(t)
Figure FDA0002295708620000023
the equation is developed and solved specifically
Figure FDA0002295708620000024
Converting the three constraints into constraints with t and delta t as variables, and searching whether a feasible solution exists in a plane rectangular coordinate system with delta t as a horizontal axis and t as a vertical axis.
4. The method for determining the ramp-in cooperative track in the vehicle-vehicle communication environment according to claim 1, wherein step (1.1) is CiAnd CuAcceleration a ofiAnd auThe calculation formula is as follows:
Figure FDA0002295708620000025
Figure FDA0002295708620000026
wherein v is0Ideal driving speed, s0For a stationary safety distance, T is a safety time interval, a0For starting acceleration, b for comfort deceleration, delta>0 is an acceleration index, viIs the speed of the ith vehicle, SiThe head distance of the ith vehicle.
5. A computer device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, characterized in that the computer program, when loaded into the processor, implements the method for determining a ramp-in cooperative trajectory according to any of claims 1-4.
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