CN110070707A - A method of realizing that cooperating type adaptive learning algorithms fleet forms a team and separates - Google Patents
A method of realizing that cooperating type adaptive learning algorithms fleet forms a team and separates Download PDFInfo
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- CN110070707A CN110070707A CN201910408336.4A CN201910408336A CN110070707A CN 110070707 A CN110070707 A CN 110070707A CN 201910408336 A CN201910408336 A CN 201910408336A CN 110070707 A CN110070707 A CN 110070707A
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Abstract
The present invention relates to it is a kind of realize cooperating type adaptive learning algorithms fleet form a team with isolated method, comprise the following steps: step 1) defines associated critical distance, safe distance and upper length limit of forming a team etc.；Step 2 vehicle will be sent to other vehicles and receive from car state around drives the addition fleet or the information for leaving fleet that vehicle is sent；Step 3) detection identification vehicle distances and vehicle-periphery；Step 4) control system analyzes each vehicle by rule is made by oneself received information, and implementing result is fed back to communication system, and communication system issues execution information to each vehicle.The present invention has formulated fleet and has formed a team several to make rule by oneself with what is separated, fleet is added including single unit vehicle, fleet and fleet form a team, single unit vehicle is detached from fleet, fleet is separated into multiple fleets, forming a team and separating for cooperating type adaptive learning algorithms fleet may be implemented in this way.
Description
Technical field
The present invention relates to traffic administrations, collaboration driving field, and in particular to a kind of realization cooperating type adaptive learning algorithms
Fleet forms a team and isolated method.
Background technique
Dispensing of cooperating type adaptive learning algorithms (CACC) vehicle on real road will cause road vehicle and mix row, and
The dispensing of different specific weight CACC vehicle influences phase not to the utmost caused by the traffic flow parameters such as the traffic capacity, the time headway of road
Together.Also, CACC vehicle can not carry out large-scale field test in a short time.
CACC vehicle mean delay, speed deviation and in terms of, relative to common vehicle have
There is apparent advantage.CACC system can be based on car networking technology, by truck traffic, realize cooperating type queue control and more
Accurate gap control reduces traffic energy consumption so as to shorten space headway, improves traffic efficiency and road passage capability, mesh
Before have become research hotspot.
In recent years, with the continuous development of cooperating type adaptive cruise control system, on the basis of guaranteeing safety
Shorten with the car speed fluctuation in distance of speeding, reduction queue, traffic safety can be improved, reduce energy consumption.But it is traditional
Entire fleet is controlled to accelerate to realize forming a team and separating for fleet with deceleration, everyday driver in fleet to be added, need through
The judgement time to wagon flow is spent, driver can be made to lose the best time for importing fleet, so that the road low efficiency of vehicle
Under, and spacing is unable to accurately control, the length of Ni Zuxin fleet with no restriction, do not limit by length of forming a team, and is easy to bring to traffic
Very big pressure, and the safe distance of adjacent vehicle is not set and critical distance of forming a team, the critical distance that can leave one's post etc., random group
Team with leave one's post, have very big traffic energy consumption problem, and cannot be guaranteed in traffic safety.In order to solve this problem,
Realize that cooperating type adaptive learning algorithms fleet forms a team and isolated method we have proposed a kind of.
Summary of the invention
It forms a team and divides the technical problem to be solved in the present invention is to provide a kind of realization cooperating type adaptive learning algorithms fleet
From method.By customized vehicle spacing and the quasi- group motorcade length upper limit, realizes and multiple vehicle groups, single unit vehicle are added
Fleet, fleet and fleet form a team, single unit vehicle is detached from fleet, fleet is separated into the control of multiple fleets, and then realize cooperating type
Adaptive learning algorithms fleet forming a team and separating.
Above-mentioned purpose that the invention is realized by the following technical scheme:
A method of realizing that cooperating type adaptive learning algorithms fleet forms a team and separates, including the following steps:
It is D that step 1), which defines and waits the safe distance of adjacent two vehicle in form a team fleet and Ni Zuxin fleet,s, and former fleet and quasi- group
The spacing of adjacent two vehicle is D in new fleet driving processs；It is D with the critical distance speeded and be traveled freelyFace, work as target vehicle
Preceding following distance be less than or equal to DFaceWhen, it is believed that the traveling of target vehicle will receive the influence of front vehicles, need to sail with speeding on；Allow
It is D that vehicle, which is speeded up to realize with the critical distance speeded,m, intend the new motorcade length upper limit D of groupLimit；The vehicle of single fleet to be added is quasi- to be added
When entering travelling fleet, setting is travelling motorcade length and is being denoted as LIt is former, Vehicle length to be added is denoted as L0；Intend forming a team N number of
Fleet by the sequencing of the new fleet of quasi- composition be denoted as respectively fleet 1, fleet 2 ..., fleet N, motorcade length is denoted as respectively
L1、L2、……、LN；The vehicle location of fleet N vehicle is denoted as PNH, the vehicle location of fleet's N trailer is denoted as PNT, P1HIndicate fleet 1
Head vehicle, P1TIndicate the trailer of fleet 1；The quasi- new motorcade length L of group of settingGroup= L1+ L2+……+ LN+DFace(N-1)；By quasi- group
At the sequencing of fleet, distance is denoted as L between previous fleet's trailer and latter fleet head vehicleX, i.e. LXFor P(N-1)TWith PNHBetween
Distance；The distance between setting 2 vehicles of 1 trailer of fleet and fleet are denoted as LX1, the distance between 3 vehicles of 2 trailer of fleet and fleet
It is denoted as LX2, the distance between fleet's N-1 trailer and fleet N vehicle are denoted as LX(N-1)；
Communication equipment in step 2 cooperating type adaptive learning algorithms (CACC) fleet on vehicle will be from car state information, request
The information for being added or leaving one's post is sent to other vehicles in fleet, and receive around drive vehicle send addition fleet or from
The execution result information of driving team or control system publication；
Millimetre-wave radar, vehicle-mounted camera and global position system detection identification vehicle distances and vehicle in step 3) sensor-based system
Ambient enviroment；Sensor-based system mainly includes millimetre-wave radar, vehicle-mounted camera and mobile satellite location equipment, millimetre-wave radar master
It is responsible for the detection in longitudinal orientation, calculates Ben Che at a distance from front truck；Vehicle-mounted camera is mainly responsible for the identification of lateral orientation,
Perceive the traffic information in front of left-hand lane, right-hand lane and this vehicle lane；Global position system mainly measure from vehicle with
Interconnect position and the range information of vehicle；
Step 4) control system is analyzed by receiving the information of sensor-based system and communication system by rule is made by oneself, and will be executed
As a result communication system is fed back to, communication system issues execution information to the communication apparatus on vehicle, Jin Ergai according to implementing result
Become driving states, realizes forming a team and with speeding for fleet；The control system mainly includes processor, actuator.
Preferably, the rule of making by oneself in the step 4) includes:
Rule 1: the fleet travelled is added in single unit vehicle
Rule 1.1: the fleet travelled is added in single unit vehicle, and tail portion is added in default and all vehicles travel in a lane
It is upper: the length L of Ni Zuxin fleetGroup=original motorcade length LIt is former+ Vehicle length L to be added0+ DFace, fleet's trailer and vehicle to be added
Distance La, while meeting quasi- group motorcade length LGroupNo more than DFaceWith fleet's trailer and vehicle distances L to be addedaNo more than Dm's
In the case of, the fleet travelled can be just added in single unit vehicle；
1) judge LGroup
LGroup> DLimitWhen, fleet cannot be added in vehicle to be added；
LGroup≤DLimitWhen, fleet can be added in vehicle to be added；
2) judge La
La≤DFaceWhen, vehicle to be added may be implemented to sail with speeding on, and fleet is added；
DFace< La≤DmWhen, vehicle to be added can accelerate pursue fleet's trailer, meet with speed distance in the case where realize
It is sailed with speeding on；
La> DmWhen, do not consider situation of forming a team；
Rule 1.2: the fleet travelled is added in single unit vehicle, and tail portion is added in default and vehicle to be added is located at adjacent lane:
The vehicle meeting lane change of fleet to be added, the length L of Ni Zuxin fleetGroup=original motorcade length LIt is former+ Vehicle length L to be added0+ DFace、
Vertical range D between fleet's trailer and single unit vehicleIt is single, while meeting quasi- group motorcade length LGroupNo more than DFaceWith fleet's trailer with
Vehicle distances D to be addedIt is singleNo more than DmIn the case where, the fleet travelled can be just added in single unit vehicle:
1) judge LGroup
LGroup> DLimitWhen, fleet cannot be added in vehicle to be added；
LGroup≤DLimitWhen, fleet can be added in vehicle to be added；
2) judge DIt is single
DIt is single≤DFaceWhen, to be added vehicle change lane forms fleet's traveling, judges that fleet is to be added at this time after change lane
The distance between vehicle and former fleet trailer accelerate or slow down until meeting with operating range of speeding；
DFace< DIt is single≤DmWhen, vehicle to be added accelerates pursuit, meet with speed distance in the case where change lane realization form a team to go
It sails；
DIt is single> DmWhen, do not consider situation of forming a team；
Rule 1.3: the fleet that is travelling is added in single unit vehicle, default the fleet that vehicle to be added is positive in traveling be located at it is adjacent
Among the fleet that lane and addition are travelling: the vehicle meeting lane change of fleet to be added, the length L of Ni Zuxin fleetGroup=original fleet
Length LIt is former+ Vehicle length L to be added0+DFace, spacing D before and after insertion position between the twoIt inserts, vehicle to be added and adjacent front truck
Between vertical range DIt hangs down, while meeting the following conditions and can form a team
1) judge LGroup
LGroup> DLimitWhen, fleet cannot be added in vehicle to be added；
LGroup≤DLimitWhen, fleet can be added in vehicle to be added；
2) judge DIt insertsWith DIt hangs down
2DFace< DIt inserts≤DmAnd Ds< DIt hangs down≤DFace, both meet condition change lane can be realized and carry out insertion fleet, be inserted into vehicle
According to insertion the distance between rear vehicle and front and back vehicle after team, carries out rear car acceleration and reach satisfaction with operating range of speeding, completion group
Team；
Regular 2:N fleet is in same lane one new fleet of quasi- composition, and N >=2, N are positive integer: LX1、LX2、……、
LX(N-1)With LGroup: setting fleet 1, fleet 2 ..., fleet N be arranged successively, the length L of Ni Zuxin fleetGroup= L1+ L2+……+
LN+DFace(N-1), it needs to judge its LGroupSize and LX1、LX2、……、LX(N-1)Size, meeting the following conditions can form a team:
1) judge LGroup
LGroup> DLimitWhen, then it not can be carried out and form a team more than the quasi- upper limit of forming a team of fleet after being added；
LGroup≤DLimitWhen, Ze Liangge fleet can form a new fleet；
2) judge LX
LX≤DFaceWhen, then fleet to be added may be implemented that fleet is added with speeding；
DFace< LX≤DmWhen, then navigator's vehicle of fleet to be added can accelerate to pursue the trailer of previous fleet, meet with distance of speeding
In the case where realize and sailed with speeding on；
LX> DmWhen, do not consider situation of forming a team；
Rule 3: single unit vehicle is detached from fleet
Rule 3.1: single unit vehicle is detached from fleet, and it is L at a distance from previous vehicle of fleet's trailer and its that default, which is detached from fleet's trailer,b；
Judge Lb:
Ds< Lb≤DFaceWhen, the fleet travelled integrally accelerates, and makes LbReach with distance of speeding；
Lb> DFaceWhen, fleet's trailer, which becomes, is traveled freely vehicle, is detached from fleet, fleet's trailer can continue in former lanes at this time
It can also lane-change traveling；
Rule 3.2: single unit vehicle is detached from fleet, other vehicle derailing fleets in addition to navigator's vehicle and trailer, and is detached from and arrives phase
Adjacent lane sets the quasi- spacing for being detached from vehicle and adjacent front truck as DBefore de-, intend being detached from vehicle and the spacing of adjacent rear car being DAfter de-
Judge DBefore de-、DAfter de-
Ds< DBefore de-≤DFaceWhen, the quasi- vehicle front vehicle that is detached from integrally accelerates, and the quasi- rear of vehicle vehicle that is detached from integrally slows down, and makes DBefore de-
Reach the critical distance with speeding and being traveled freely, DAfter de-Reach the critical distance with speeding and being traveled freely；
DBefore de-> DFaceAnd DAfter de-> DFaceWhen, after the quasi- vehicle that is detached from will not continue to and then adjacent front truck traveling, and quasi- disengaging vehicle is adjacent
Vehicle will not continue to and then intend being detached from vehicle driving, intends being detached from vehicle at this time to adjacent lane lane change completion disengaging, after disengaging, intends de-
Integrally accelerate to reach with a distance from speeding from fleet after vehicle, continue with speeding；
Rule 4: it defines when fleet faces ring road and is separated into Liang Ge fleet:
Rule 4.1: former fleet navigator vehicle subsequent vehicle adjacent thereto forms new fleet A, other vehicles of former fleet form new fleet B, vehicle
Team's A trailer and fleet B vehicle distance Lc:
Judge Lc:
Lc>DFaceWhen, then the trailer of fleet A and the head Che Junke of fleet B are traveled freely, and navigator's vehicle of fleet A and B continue with phase
Answer vehicle driving；
Ds<Lc≤DFaceWhen, then fleet A integrally accelerates, and makes Lc>DFace；
Rule 4.2: former fleet navigator vehicle and its non-adjacent subsequent vehicle form new fleet A, other vehicles of former fleet form new fleet B,
The distance L of former fleet navigator Che Yuyuan fleet second card:
Judge Ld:
Ld>DFaceWhen, navigator Che Yuyuan fleet, Ze Yuan fleet second car can be traveled freely, it is separated by ring road, and
Subsequent vehicle in fleet A is less than or equal to D at a distance from front truckFace, the subsequent vehicle in fleet B is less than or equal to D at a distance from front truckFace；
Ld≤DFaceWhen, the acceleration of Ze Yuan fleet navigator's vehicle reaches to be separated with speeding and carrying out fleet after the critical value being traveled freely again.
The beneficial effects of the present invention are:
1, the safe distance of customized adjacent two vehicle of the present invention is Ds, it is D with the critical distance speeded and be traveled freelyFaceAnd permit
Perhaps vehicle accelerates may be implemented with the critical distance speeded to be Dm, on the one hand set the critical distance that can be left one's post and what can be formed a team face
Boundary's distance can reduce traffic energy consumption when forming a team and leaving one's post in this way and improve the current rate of traffic, on the other hand setting peace
Full distance can limit vehicle following distance, it is ensured that traffic safety.
2, the customized quasi- group of new motorcade length upper limit D of the present inventionLimit, the of length no more than limit formed a team can be made in this way,
It ensure that communication efficiency, reduce traffic pressure.
3, on the basis of increasing vehicle-carrying communication and vehicle and interconnecting, it can be realized cooperating type queue control and more accurate
Gap control reduces traffic energy consumption so as to shorten time headway, improves traffic efficiency and road passage capability.
4, by customized vehicle spacing and a quasi- group motorcade length upper limit, realize to single unit vehicle be added fleet, fleet with
Fleet forms a team, single unit vehicle is detached from fleet, fleet is separated into the control of multiple fleets, and then realizes the control of cooperating type adaptive cruise
Fleet processed forming a team and separating.
Detailed description of the invention
Fig. 1 is to realize that fleet forms a team and isolated structure chart.
Fig. 2 is the flow chart that fleet is added in single unit vehicle.
Fig. 3 is the flow chart that N number of fleet forms a Ge Xin fleet.
Fig. 4 is that fleet is added in single unit vehicle, and the schematic diagram of tail of the queue is added.
Fig. 5 is the schematic diagram that N number of fleet forms a Ge Xin fleet.
Fig. 6 single unit vehicle is detached from fleet's schematic diagram.
Fig. 7 fleet is separated into Liang Ge fleet schematic diagram a when facing ring road.
Fig. 8 fleet is separated into Liang Ge fleet schematic diagram b when facing ring road.
Fleet middle position schematic diagram is added in Fig. 9 single unit vehicle.
Specific embodiment
It is a kind of to the present invention to realize that cooperating type adaptive learning algorithms fleet forms a team and isolated method below in conjunction with attached drawing
It is further explained.
In cooperating type adaptive learning algorithms (CACC) fleet by the communication equipment on vehicle from car state information, ask
Be added or leave one's post other vehicles being sent in fleet in real time and the status information for receiving the transmitting of other vehicles are asked, is secondly utilized
Millimetre-wave radar vehicle-mounted camera and global position system detection identification vehicle distances and vehicle-periphery in sensor-based system,
Last control system is analyzed received information by given rule, and implementing result is fed back to communication system.
Sensor-based system mainly includes millimetre-wave radar, vehicle-mounted camera and mobile satellite location equipment, and millimetre-wave radar is main
It is responsible for the detection in longitudinal direction orientation, calculates Ben Che at a distance from front truck；Vehicle-mounted camera is mainly responsible for the identification of lateral orientation, sense
Know the traffic information in front of left-hand lane, right-hand lane and this vehicle lane；Global position system mainly measurement is from vehicle and mutually
Join position and the range information of vehicle.
Control system mainly includes processor, actuator, and control system is by receiving the letter of sensor-based system and communication system
Breath is analyzed by making rule by oneself, and implementing result is fed back to communication system, and communication system is issued according to implementing result and executed
Information changes driving states to the communication apparatus on vehicle, realizes forming a team and with speeding for fleet.
It is D that definition, which waits the safe distance of adjacent two vehicle in form a team fleet and Ni Zuxin fleet,s, and former fleet and quasi- group are new
The spacing of adjacent two vehicle is D in fleet's driving processs；It is D with the critical distance speeded and be traveled freelyFace, when target vehicle
Preceding following distance is less than or equal to DFaceWhen, it is believed that the traveling of target vehicle will receive the influence of front vehicles, need to sail with speeding on；Allow vehicle
Speeding up to realize with the critical distance speeded is Dm, intend the new motorcade length upper limit D of groupLimit；The vehicle of single fleet to be added is quasi- to be added
When travelling fleet, sets and travelling fleet as LIt is former, Vehicle length to be added is denoted as L0；The quasi- N number of fleet to form a team is by quasi-
Form new fleet sequencing be denoted as respectively fleet 1, fleet 2 ..., fleet N, motorcade length is denoted as L respectively1、L2、……、
LN；The vehicle location of fleet N vehicle is denoted as PNH, the vehicle location of fleet's N trailer is denoted as PNT, P1HIndicate the head vehicle of fleet 1, P1T
Indicate the trailer of fleet 1；The quasi- new motorcade length L of group of settingGroup= L1+ L2+……+ LN+DFace(N-1)；By the elder generation of quasi- composition fleet
Sequence afterwards, distance is denoted as L between previous fleet's trailer and latter fleet head vehicleX, i.e. LXFor P(N-1)TWith PNHBetween distance；Setting
The distance between 2 vehicles of 1 trailer of fleet and fleet are denoted as LX1, the distance between 3 vehicles of 2 trailer of fleet and fleet are denoted as LX2, vehicle
Team the distance between N-1 trailer and fleet N vehicle are denoted as LX(N-1)。
It includes following several rules that the present invention, which makes rule by oneself:
Rule 1: the fleet travelled is added in single unit vehicle
Rule 1.1: the fleet travelled is added in single unit vehicle, and tail portion is added in default and all vehicles travel in a lane
It is upper: the length L of Ni Zuxin fleetGroup=original motorcade length LIt is former+ Vehicle length L to be added0+ DFace, fleet's trailer and vehicle to be added
Distance La: while meeting quasi- group motorcade length LGroupNo more than DFaceWith fleet's trailer and vehicle distances L to be addedaNo more than Dm's
In the case of, the fleet travelled can be just added in single unit vehicle；
1) judge LGroup
LGroup> DLimitWhen, fleet cannot be added in vehicle to be added；
LGroup≤DLimitWhen, fleet can be added in vehicle to be added；
2) judge La
La≤DFaceWhen, vehicle to be added may be implemented to sail with speeding on, and fleet is added；
DFace< La≤DmWhen, vehicle to be added can accelerate pursue fleet's trailer, meet with speed distance in the case where realize
It is sailed with speeding on；
La> DmWhen, do not consider situation of forming a team；
Rule 1.2: the fleet travelled is added in single unit vehicle, and tail portion is added in default and vehicle to be added is located at adjacent lane:
The vehicle meeting lane change of fleet to be added, the length L of Ni Zuxin fleetGroup=original motorcade length LIt is former+ Vehicle length L to be added0+ DFace、
Vertical range D between fleet's trailer and single unit vehicleIt is single, while meeting quasi- group motorcade length LGroupNo more than DFaceWith fleet's trailer with
Vehicle distances D to be addedIt is singleNo more than DmIn the case where, the fleet travelled can be just added in single unit vehicle:
1) judge LGroup
LGroup> DLimitWhen, fleet cannot be added in vehicle to be added；
LGroup≤DLimitWhen, fleet can be added in vehicle to be added；
2) judge DIt is single
DIt is single≤DFaceWhen, to be added vehicle change lane forms fleet's traveling, judges that fleet is to be added at this time after change lane
The distance between vehicle and former fleet trailer accelerate or slow down until meeting with operating range of speeding；
DFace< DIt is single≤DmWhen, vehicle to be added accelerates pursuit, meet with speed distance in the case where change lane realization form a team to go
It sails；
DIt is single> DmWhen, do not consider situation of forming a team；
Rule 1.3: the fleet that is travelling is added in single unit vehicle, default the fleet that vehicle to be added is positive in traveling be located at it is adjacent
Among the fleet that lane and addition are travelling: the vehicle meeting lane change of fleet to be added, the length L of Ni Zuxin fleetGroup=original fleet
Length LIt is former+ Vehicle length L to be added0+ DFace, spacing D before and after insertion position between the twoIt inserts, vehicle to be added and adjacent front truck
Between vertical range DIt hangs down, while meeting the following conditions and can form a team
1) judge LGroup
LGroup> DLimitWhen, fleet cannot be added in vehicle to be added；
LGroup≤DLimitWhen, fleet can be added in vehicle to be added；
2) judge DIt insertsWith DIt hangs down
2DFace< DIt inserts≤DmAnd Ds< DIt hangs down≤DFace, both meet condition change lane can be realized and carry out insertion fleet, be inserted into vehicle
According to insertion the distance between rear vehicle and front and back vehicle after team, carries out integrated regulation and reach satisfaction with operating range of speeding, completion group
Team；
Regular 2:N fleet is in same lane one new fleet of quasi- composition, and N >=2, N are positive integer: LX1、LX2、……、
LX(N-1)With LGroup: setting fleet 1, fleet 2 ..., fleet N be arranged successively, the length L of Ni Zuxin fleetGroup= L1+ L2+……+
LN+DFace(N-1), it needs to judge its LGroupSize and LX1、LX2、……、LX(N-1)Size, meeting the following conditions can form a team:
1) judge LGroup
LGroup> DLimitWhen, then it not can be carried out and form a team more than the quasi- upper limit of forming a team of fleet after being added；
LGroup≤DLimitWhen, Ze Liangge fleet can form a new fleet；
2) judge LX
LX≤DFaceWhen, then fleet to be added may be implemented that fleet is added with speeding；
DFace< LX≤DmWhen, then navigator's vehicle of fleet to be added can accelerate to pursue the trailer of previous fleet, meet with distance of speeding
In the case where realize and sailed with speeding on；
LX> DmWhen, do not consider situation of forming a team；
Rule 3: single unit vehicle is detached from fleet
Rule 3.1: single unit vehicle is detached from fleet, and it is L at a distance from previous vehicle of fleet's trailer and its that default, which is detached from fleet's trailer,b；
Judge Lb:
Ds< Lb≤DFaceWhen, the fleet travelled integrally accelerates, and makes LbReach with distance of speeding；
Lb> DFaceWhen, fleet's trailer, which becomes, is traveled freely vehicle, is detached from fleet, fleet's trailer can continue in former lanes at this time
It can also lane-change traveling；
Rule 3.2: single unit vehicle is detached from fleet, other vehicle derailing fleets in addition to navigator's vehicle and trailer, and is detached from and arrives phase
Adjacent lane sets the quasi- spacing for being detached from vehicle and adjacent front truck as DBefore de-, intend being detached from vehicle and the spacing of adjacent rear car being DAfter de-
Judge DBefore de-、DAfter de-
Ds< DBefore de-≤DFaceWhen, the quasi- vehicle front vehicle that is detached from integrally accelerates, and the quasi- rear of vehicle vehicle that is detached from integrally slows down, and makes DBefore de-
Reach the critical distance with speeding and being traveled freely, DAfter de-Reach the critical distance with speeding and being traveled freely；
DBefore de-> DFaceAnd DAfter de-> DFaceWhen, after the quasi- vehicle that is detached from will not continue to and then adjacent front truck traveling, and quasi- disengaging vehicle is adjacent
Vehicle will not continue to and then intend being detached from vehicle driving, intends being detached from vehicle at this time to adjacent lane lane change completion disengaging, after disengaging, intends de-
Integrally accelerate to reach with a distance from speeding from fleet after vehicle, continue with speeding；
Rule 4: it defines when fleet faces ring road and is separated into Liang Ge fleet:
Rule 4.1: former fleet navigator vehicle subsequent vehicle adjacent thereto forms new fleet A, other vehicles of former fleet form new fleet B, vehicle
Team's A trailer and fleet B vehicle distance Lc:
Judge Lc:
Lc>DFaceWhen, then the trailer of fleet A and the head Che Junke of fleet B are traveled freely, and navigator's vehicle of fleet A and B continue with phase
Answer vehicle driving；
Ds<Lc≤DFaceWhen, then fleet A integrally accelerates, and makes Lc>DFace；
Rule 4.2: former fleet navigator vehicle and its non-adjacent subsequent vehicle form new fleet A, other vehicles of former fleet form new fleet B,
The distance L of former fleet navigator Che Yuyuan fleet second card:
Judge Ld:
Ld>DFaceWhen, navigator Che Yuyuan fleet, Ze Yuan fleet second car can be traveled freely, it is separated by ring road, and
Subsequent vehicle in fleet A is less than or equal to D at a distance from front truckFace, the subsequent vehicle in fleet B is less than or equal to D at a distance from front truckFace；
Ld≤DFaceWhen, the acceleration of Ze Yuan fleet navigator's vehicle reaches to be separated with speeding and carrying out fleet after the critical value being traveled freely again.
Setting the vehicle of cooperating type adaptive learning algorithms fleet in this embodiment is trolley, sets trolley
Length be 4.5 meters.Ds=50 meters, DFace=80 meters, Dm=200 meters, DLimit=1000 meters, i.e. minimum safe distance between two vehicles is 50
Rice, with speeding with the critical distance freely driven to be 80 meters, two vehicles distance can be detached from fleet and freely drive, be less than more than 80 meters
80 meters, then can only follow the bus traveling, fleet cannot be detached from.Freely driving distance of the vehicle away from fleet's trailer is more than 200 meters, then does not examine
Fleet can be added by considering it, just consider that fleet is added in it less than 200 meters.
Embodiment 1:
Fleet is added in single unit vehicle, and fleet tail portion is added in default and all vehicles travel on a lane, referring to attached drawing 4:
Assuming that there are 10 vehicles in the fleet travelled, the spacing of adjacent two vehicle is safe distance Ds=50 meters, then LIt is former=10×4.5
+ (10-1) × 50=900 meter, LGroup=LIt is former+ 80+4.5=984.5 meter, quasi- minimum range of forming a team.
Only meet quasi- group motorcade length L at the same timeGroupNo more than 1000 meters and fleet's trailer and vehicle distances L to be addeda
In the case where 200 meters, the fleet travelled can be just added in single unit vehicle.
LGroup=984.5 meters < 1000 meters, meets quasi- group motorcade length and be no more than 1000 meters.
1) LaAt=60 meters, vehicle to be added may be implemented to sail with speeding on, and fleet is added.
2) LaAt=120 meters, vehicle to be added can accelerate pursue fleet's trailer, meet with speed distance in the case where
Realization is sailed with speeding on.
3) LaAt=210 meters, single unit vehicle does not consider that fleet is added,.
Embodiment 2:
Fleet is added in single unit vehicle, defaults that the fleet that vehicle to be added is positive in traveling is located at adjacent lane and addition is travelling
Fleet among, referring to attached drawing 9:
When single unit vehicle is added among the fleet travelled, vehicle to be added first is necessarily in adjacent lane, by each vehicle
Communication apparatus between, band are added vehicle and send the request of addition fleet, and the fleet travelled, which receives, is added asking for fleet
Feedback is made after asking, for example has the fleet of 4 vehicles travelling at present, and respectively No. 1 vehicle, No. 2 vehicles, No. 3 vehicles, No. 4 vehicles are to be added
Entering vehicle is No. 5 vehicles, and No. 5 vehicle requests are added between No. 2 vehicles and No. 3 vehicles, whether first determines whether quasi- group of motorcade length after being added
It is D more than allowing vehicle to speed up to realize with the critical distance speededm, intend group motorcade length LGroup=168+80+4.5=252.5 meter.Note:
Former motorcade length 168=4.5 × 4+50 × 3 meter.Only meet quasi- group motorcade length at the same time and is no more than 1000 meters and 160 meters of <
DIt inserts≤ 200 meters and 50 meters of < DIt hangs downIn the case where≤80 meters, vehicle ability change lane to be added enters fleet.
LGroup=168+80+4.5=252.5 meter meet quasi- group motorcade length and are no more than 1000 meters.
No. 3 vehicles integrally slow down with No. 4 vehicles or No. 1 vehicle integrally accelerates with No. 2 vehicles, so that 160 meters of < DIt inserts≤ 200 meters, 5
Number vehicle accelerates or is slowed down on adjacent lane so that 50 meters of < DIt hangs down≤ 80 meters, fleet is added in No. 5 vehicle change lanes at this time, is added
After fleet, distance between No. 5 vehicles and No. 2 vehicles, No. 3 vehicles is calculated by sensor-based system, is integrally accelerated by rear fleet or preceding
Fleet integrally slows down, and meets and sails with speeding to can be realized with freely exercise 80 meters of critical distance with speeding on, one new vehicle of composition
Team.
Embodiment 3:
N number of fleet is in same lane one new fleet of quasi- composition, and N >=2, N are positive integer, referring to attached drawing 5:
When multiple fleets form a team, it is assumed that the quasi- fleet to form a team has 4, and former motorcade length is respectively L1、L2、L3、L4, and it is each
There are 4 vehicles in fleet, intends group motorcade length LGroup=168 × 4+80 × 3=912 meter.Note: former 168 meters=4.5 × 4+50 of motorcade length
× 3 meters.
Only meet at the same time quasi- group motorcade length be no more than 1000 meters and previous fleet's trailer and latter fleet vehicle it
Between distance LXIn the case where 200 meters, Liang Ge fleet could form a new fleet.
LGroup=912 meters < 1000 meters, meets quasi- group motorcade length and be no more than 1000 meters.
Assuming that LX1=90, LX2=100, LX3=120,4 fleets are the L in the range of permission of speedingX1≤ 200, LX2≤
200, LX3≤ 200, then this four fleets can form a new fleet.
Assuming that LX1=90, LX2=100, LX3=210, preceding 3 fleets be with permission of speeding in the range of, preceding 3 fleets can group
At a new fleet, the 4th fleet does not consider that fleet is added in it.
Assuming that LX1=210, LX2=100, LX3=120, L2、L3、L4It can form a team, L1Do not consider to form a team.
Assuming that LX1=90, LX2=210, LX3=120, L1、L2It can form a team to form X, L3、L4Can form a team to be formed Y, but X with
Y does not consider that it forms a team again.
Embodiment 4:
Single unit vehicle is detached from fleet, and default is detached from trailer, referring to attached drawing 6:
There are 8 vehicles in the fleet travelled, and the spacing of adjacent two vehicle is 50 meters of safe distance, fleet's trailer and its previous vehicle
Distance be Lb。
1) LbAt=70 meters, the continuation of fleet's trailer travels in former fleet, and former fleet can integrally accelerate in addition to trailer or vehicle
The deceleration of tail of the queue vehicle makes Lb> 80.
2) LbAt=90 meters, it is greater than with speeding and 80 meters of critical distance freely driven, fleet's trailer can be detached from fleet,
Change lane is directly freely exercised on former lane.
Embodiment 5:
Fleet is separated into Liang Ge fleet when facing ring road, it is assumed that there are 5 vehicles in the fleet travelled:
1) the 1st, No. 2 vehicle in former fleet needs lower ring road, and the 3rd, 4, No. 5 vehicle in former fleet needs to continue in former lane uplink
It sails, the 1st, No. 2 vehicle forms fleet A in former fleet, and the 3rd, 4, No. 5 vehicle forms fleet B, fleet's A trailer and fleet B head in former fleet
The distance L of vehiclec, referring to attached drawing 7:
1.1) LcAt=65 meters, fleet A can integrally accelerate, in LcAfter 80 meters, former fleet can just be separated into Liang Ge fleet.
1.2) LcAt=85 meters, No. 3 vehicle, can not sail with speeding in the Tou Chejiyuan fleet of fleet B, can be with former vehicle
The 4th, No. 5 vehicle continuation travels on former lane in team.At this point, the smooth exit ramp of fleet A.
2) the 1st, No. 3 vehicle in former fleet needs lower ring road, and the 2nd, 4, No. 5 vehicle in former fleet is needed in former lane uplink
It sails.The 1st, No. 3 vehicle of former fleet forms fleet A, and the 2nd, 4, No. 5 vehicle forms fleet B, former fleet navigator Che Yuyuan fleet in former fleet
The distance L of No. 2 vehicled, referring to attached drawing 8:
2.1) LdAt=65 meters, former fleet navigator vehicle can accelerate, in LdAfter 80 meters, former fleet can just be separated into Liang Ge fleet.
2.2) LdAt=85 meters, No. 2 vehicle can not continue to sail with speeding in former fleet, can be detached from former fleet as fleet B
Navigator's vehicle.At this point, distance is less than or equal to 80+80=160 meter between the 2nd, No. 4 vehicle in former fleet, being less than allows vehicle to accelerate
Realize that with the critical distance speeded be 200 meters, distance is less than or equal to 80 meters between the 4th, No. 5 vehicle, and No. 4 vehicle and No. 5 vehicle can be with
Accelerate with upper No. 2 vehicle of speeding.The distance between No. 1 vehicle and No. 3 vehicle in fleet A be less than or equal to 85+80=165 meter, the 3rd
Number vehicle can accelerate to keep up with No. 1 vehicle, the smooth exit ramp of fleet A, and fleet B continuation travels on former lane.
Technical solution disclosed in the present invention program is not limited only to technological means disclosed in above embodiment, further includes
Technical solution consisting of any combination of the above technical features.It should be pointed out that for those skilled in the art
For, various improvements and modifications may be made without departing from the principle of the present invention, these improvements and modifications are also considered as
Protection scope of the present invention.
Claims (2)
1. a kind of realize that cooperating type adaptive learning algorithms fleet forms a team and isolated method, it is characterised in that: including following several
A step:
It is D that step 1), which defines and waits the safe distance of adjacent two vehicle in form a team fleet and Ni Zuxin fleet,s, and former fleet and quasi- group
The spacing of adjacent two vehicle is D in new fleet driving processs；It is D with the critical distance speeded and be traveled freelyFace, target vehicle
Preceding following distance is less than or equal to DFaceWhen, it is believed that the traveling of target vehicle will receive the influence of front vehicles, need to sail with speeding on；Allow vehicle
Speeding up to realize with the critical distance speeded is Dm, intend the new motorcade length upper limit D of groupLimit；The vehicle of single fleet to be added is quasi- to be added
When travelling fleet, setting is travelling motorcade length and is being denoted as LIt is former, Vehicle length to be added is denoted as L0；The quasi- N number of vehicle formed a team
Team by the sequencing of the new fleet of quasi- composition be denoted as respectively fleet 1, fleet 2 ..., fleet N, motorcade length is denoted as L respectively1、
L2、……、LN；The vehicle location of fleet N vehicle is denoted as PNH, the vehicle location of fleet's N trailer is denoted as PNT, such as: P1HIndicate fleet 1
Head vehicle, P1TIndicate the trailer of fleet 1；The quasi- new motorcade length L of group of settingGroup= L1+ L2+……+ LN+DFace(N-1)；By quasi- group
At the sequencing of fleet, distance is denoted as L between previous fleet's trailer and latter fleet head vehicleX, i.e. LXFor P(N-1)TWith PNHBetween
Distance；The distance between setting 2 vehicles of 1 trailer of fleet and fleet are denoted as LX1, the distance between 3 vehicles of 2 trailer of fleet and fleet
It is denoted as LX2, the distance between fleet's N-1 trailer and fleet N vehicle are denoted as LX(N-1)；
Communication equipment in step 2 cooperating type adaptive learning algorithms (CACC) fleet on vehicle will be from car state information, request
The information for being added or leaving one's post is sent to other vehicles in fleet, and receive around drive vehicle send addition fleet or from
The execution result information of driving team or control system publication；
Millimetre-wave radar, vehicle-mounted camera and global position system detection identification vehicle distances and vehicle in step 3) sensor-based system
Ambient enviroment；Sensor-based system mainly includes millimetre-wave radar, vehicle-mounted camera and mobile satellite location equipment, millimetre-wave radar master
It is responsible for the detection in longitudinal orientation, calculates Ben Che at a distance from front truck；Vehicle-mounted camera is mainly responsible for the identification of lateral orientation,
Perceive the traffic information in front of left-hand lane, right-hand lane and this vehicle lane；Global position system mainly measure from vehicle with
Interconnect position and the range information of vehicle；
Step 4) control system is analyzed by receiving the information of sensor-based system and communication system by rule is made by oneself, and will be executed
As a result communication system is fed back to, communication system issues execution information to the communication apparatus on vehicle, Jin Ergai according to implementing result
Become driving states, realizes forming a team and with speeding for fleet；The control system mainly includes processor, actuator.
2. it is according to claim 1 it is a kind of realize cooperating type adaptive learning algorithms fleet form a team with isolated method,
It is characterized in that, the rule of making by oneself in the step 4) includes:
Rule 1: the fleet travelled is added in single unit vehicle
Rule 1.1: the fleet travelled is added in single unit vehicle, and tail portion is added in default and all vehicles travel in a lane
On, the length L of Ni Zuxin fleetGroup=original motorcade length LIt is former+ Vehicle length L to be added0+ DFace, fleet's trailer and vehicle to be added
Distance La, while meeting quasi- group motorcade length LGroupNo more than DFaceWith fleet's trailer and vehicle distances L to be addedaNo more than Dm's
In the case of, the fleet travelled can be just added in single unit vehicle；
1) judge LGroup
LGroup> DLimitWhen, fleet cannot be added in vehicle to be added；
LGroup≤DLimitWhen, fleet can be added in vehicle to be added；
2) judge La
La≤DFaceWhen, vehicle to be added may be implemented to sail with speeding on, and fleet is added；
DFace< La≤DmWhen, vehicle to be added can accelerate pursue fleet's trailer, meet with speed distance in the case where realize with
It speeds on and sails；
La> DmWhen, do not consider situation of forming a team；
Rule 1.2: the fleet travelled is added in single unit vehicle, and tail portion is added in default and vehicle to be added is located at adjacent lane:
The vehicle meeting lane change of fleet to be added, the length L of Ni Zuxin fleetGroup=original motorcade length LIt is former+ Vehicle length L to be added0+ DFace、
Vertical range D between fleet's trailer and single unit vehicleIt is single, while meeting quasi- group motorcade length LGroupNo more than DFaceWith fleet's trailer with
Vehicle distances D to be addedIt is singleNo more than DmIn the case where, the fleet travelled can be just added in single unit vehicle:
1) judge LGroup
LGroup> DLimitWhen, fleet cannot be added in vehicle to be added；
LGroup≤DLimitWhen, fleet can be added in vehicle to be added；
2) judge DIt is single
DIt is single≤DFaceWhen, to be added vehicle change lane forms fleet's traveling, judges that fleet is to be added at this time after change lane
The distance between vehicle and former fleet trailer accelerate or slow down until meeting the critical distance with speeding and being traveled freely；
DFace< DIt is single≤DmWhen, vehicle to be added accelerates pursuit, meet with speed distance in the case where change lane realization form a team to go
It sails；
DIt is single> DmWhen, do not consider situation of forming a team；
Rule 1.3: the fleet that is travelling is added in single unit vehicle, default the fleet that vehicle to be added is positive in traveling be located at it is adjacent
Among the fleet that lane and addition are travelling: the vehicle meeting lane change of fleet to be added, the length L of Ni Zuxin fleetGroup=original fleet
Length LIt is former+ Vehicle length L to be added0+DFace, spacing D before and after insertion position between the twoIt inserts, vehicle to be added and adjacent front truck
Between vertical range DIt hangs down, while meeting the following conditions and can form a team
1) judge LGroup
LGroup> DLimitWhen, fleet cannot be added in vehicle to be added；
LGroup≤DLimitWhen, fleet can be added in vehicle to be added；
2) judge DIt insertsWith DIt hangs down
2DFace< DIt inserts≤DmAnd Ds< DIt hangs down≤DFace, both meet condition change lane can be realized and carry out insertion fleet, be inserted into vehicle
According to insertion the distance between rear vehicle and front and back vehicle after team, carries out rear car acceleration and reach satisfaction with operating range of speeding, completion group
Team；
Regular 2:N fleet is in same lane one new fleet of quasi- composition, and N >=2, N are positive integer: LX1、LX2、……、LX(N-1)
With LGroup: setting fleet 1, fleet 2 ..., fleet N be arranged successively, the length L of Ni Zuxin fleetGroup= L1+ L2+……+ LN+DFace
(N-1), it needs to judge its LGroupSize and LX1、LX2、……、LX(N-1)Size, meeting the following conditions can form a team:
1) judge LGroup
LGroup> DLimitWhen, then it not can be carried out and form a team more than the quasi- upper limit of forming a team of fleet after being added；
LGroup≤DLimitWhen, Ze Liangge fleet can form a new fleet；
2) judge LX
LX≤DFaceWhen, then fleet to be added may be implemented that fleet is added with speeding；
DFace< LX≤DmWhen, then navigator's vehicle of fleet to be added can accelerate to pursue the trailer of previous fleet, meet with distance of speeding
In the case of realize and sailed with speeding on；
LX> DmWhen, do not consider situation of forming a team；
Rule 3: single unit vehicle is detached from fleet
Rule 3.1: single unit vehicle is detached from fleet, and it is L at a distance from previous vehicle of fleet's trailer and its that default, which is detached from fleet's trailer,b；
Judge Lb:
Ds< Lb≤DFaceWhen, the fleet travelled integrally accelerates or fleet's trailer slows down, and makes LbReach with speeding and being traveled freely
Critical distance；
Lb> DFaceWhen, fleet's trailer, which becomes, is traveled freely vehicle, is detached from fleet, fleet's trailer can continue in former lanes at this time
It can also lane-change traveling；
Rule 3.2: single unit vehicle is detached from fleet, other vehicle derailing fleets in addition to navigator's vehicle and trailer, and is detached from and arrives phase
Adjacent lane sets the quasi- spacing for being detached from vehicle and adjacent front truck as DBefore de-, intend being detached from vehicle and the spacing of adjacent rear car being DAfter de-
Judge DBefore de-、DAfter de-
Ds< DBefore de-≤DFaceWhen, the quasi- vehicle front vehicle that is detached from integrally accelerates, and the quasi- rear of vehicle vehicle that is detached from integrally slows down, and makes DBefore de-
Reach the critical distance with speeding and being traveled freely, DAfter de-Reach the critical distance with speeding and being traveled freely；
DBefore de-> DFaceAnd DAfter de-> DFaceWhen, after the quasi- vehicle that is detached from will not continue to and then adjacent front truck traveling, and quasi- disengaging vehicle is adjacent
Vehicle will not continue to and then intend being detached from vehicle driving, intends being detached from vehicle at this time to adjacent lane lane change completion disengaging, after disengaging, intends de-
Integrally accelerate to reach the critical distance with speeding and being traveled freely from fleet after vehicle, continue with speeding；
Rule 4: it defines when fleet faces ring road and is separated into Liang Ge fleet:
Rule 4.1: former fleet navigator vehicle subsequent vehicle adjacent thereto forms new fleet A, other vehicles of former fleet form new fleet B, vehicle
Team's A trailer and fleet B vehicle distance Lc:
Judge Lc:
Lc>DFaceWhen, then the trailer of fleet A and the head Che Junke of fleet B are traveled freely, and navigator's vehicle of fleet A and B continue with phase
Answer vehicle driving；
Ds<Lc≤DFaceWhen, then fleet A integrally accelerates, and makes Lc>DFace；
Rule 4.2: former fleet navigator vehicle and its non-adjacent subsequent vehicle form new fleet A, other vehicles of former fleet form new fleet B,
The distance L of former fleet navigator Che Yuyuan fleet second card:
Judge Ld:
Ld>DFaceWhen, navigator Che Yuyuan fleet, Ze Yuan fleet second car can be traveled freely, and be separated by ring road, and vehicle
Subsequent vehicle in team A is less than or equal to D at a distance from front truckFace, the subsequent vehicle in fleet B is less than or equal to D at a distance from front truckFace；
Ld≤DFaceWhen, the acceleration of Ze Yuan fleet navigator's vehicle reaches to be separated with speeding and carrying out fleet after the critical value being traveled freely again.
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| CN115527359B (en) * | 2021-06-08 | 2024-04-09 | 中信科智联科技有限公司 | Vehicle formation driving method, controller and vehicle-mounted terminal |
| CN113487854A (en) * | 2021-06-30 | 2021-10-08 | 吉林大学 | Pre-formation management system and method for vehicle cooperative formation on expressway |
| CN114187771A (en) * | 2021-12-09 | 2022-03-15 | 山东大学 | Bus driving control method and system based on cooperative adaptive cruise control |
| CN114495556B (en) * | 2022-01-19 | 2023-03-10 | 华中科技大学 | Method for setting optimal formation length for automatic driving under constraint of ramp spacing of highway |
| CN114495556A (en) * | 2022-01-19 | 2022-05-13 | 华中科技大学 | Method for setting optimal formation length for automatic driving under constraint of ramp spacing of expressway |
| CN115601954A (en) * | 2022-12-13 | 2023-01-13 | 西南交通大学（Cn） | Lane changing judgment method, device, equipment and medium for intelligent internet motorcade |
| CN115601954B (en) * | 2022-12-13 | 2023-03-31 | 西南交通大学 | Lane change judgment method, device, equipment and medium for intelligent networked fleet |
| CN117787513A (en) * | 2023-07-05 | 2024-03-29 | 南京博融汽车电子有限公司 | Intelligent vehicle-mounted equipment data supervision system and method based on big data |
| CN117787513B (en) * | 2023-07-05 | 2024-08-23 | 江苏合修信息科技有限公司 | Intelligent vehicle-mounted equipment data supervision system and method based on big data |
| CN118015819A (en) * | 2024-04-10 | 2024-05-10 | 济南卓伦智能交通技术有限公司 | Vehicle team collaborative driving method and system based on driving task |
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