CN110260872A - The dynamic based on GPS is overtaken other vehicles Trajectory Planning System under a kind of bus or train route cooperative surroundings - Google Patents

The dynamic based on GPS is overtaken other vehicles Trajectory Planning System under a kind of bus or train route cooperative surroundings Download PDF

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CN110260872A
CN110260872A CN201910371038.2A CN201910371038A CN110260872A CN 110260872 A CN110260872 A CN 110260872A CN 201910371038 A CN201910371038 A CN 201910371038A CN 110260872 A CN110260872 A CN 110260872A
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vehicle
vehicles
overtaking
module
passing
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CN110260872B (en
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丁恒
刘余洁
黄瑞文
周翔宇
夏开南
钱宇
郑小燕
柏海舰
张卫华
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Hefei University of Technology
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Hefei University of Technology
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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
    • G01C21/34—Route searching; Route guidance
    • G01C21/3407—Route searching; Route guidance specially adapted for specific applications
    • G01C21/3415—Dynamic re-routing, e.g. recalculating the route when the user deviates from calculated route or after detecting real-time traffic data or accidents
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
    • G01C21/34—Route searching; Route guidance
    • G01C21/3446—Details of route searching algorithms, e.g. Dijkstra, A*, arc-flags, using precalculated routes
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
    • G01C21/34—Route searching; Route guidance
    • G01C21/3453—Special cost functions, i.e. other than distance or default speed limit of road segments
    • G01C21/3492—Special cost functions, i.e. other than distance or default speed limit of road segments employing speed data or traffic data, e.g. real-time or historical
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
    • G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/42—Determining position
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/10—Internal combustion engine [ICE] based vehicles
    • Y02T10/40—Engine management systems

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  • Engineering & Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Traffic Control Systems (AREA)

Abstract

It overtakes other vehicles Trajectory Planning System the invention discloses the dynamic based on GPS under a kind of bus or train route cooperative surroundings, including car-mounted terminal, vehicle positioning module, roadside device, wherein vehicle positioning module obtains the information such as vehicle location, speed, acceleration, by the sending module in vehicle positioning module, above- mentioned information are sent to roadside device；Car-mounted terminal includes display module, sending module, receiving module, vehicle mounted guidance, wherein lane information needed for the vehicle safe driving in vehicle mounted guidance and system enabled instruction are transmitted to roadside device by the sending module in car-mounted terminal, receiving module in car-mounted terminal receives the track scheme of overtaking other vehicles that roadside device is sent, and display module shows track of overtaking other vehicles on car-mounted terminal screen；Central computing module in roadside device obtains track scheme of most preferably overtaking other vehicles according to Trajectory Arithmetic of overtaking other vehicles, and track scheme of most preferably overtaking other vehicles is sent to car-mounted terminal by the sending module of roadside device.

Description

The dynamic based on GPS is overtaken other vehicles Trajectory Planning System under a kind of bus or train route cooperative surroundings
Technical field
The present invention relates to ITS Information engineering field, the dynamic based on GPS under specifically a kind of bus or train route cooperative surroundings It overtakes other vehicles Trajectory Planning System.
Background technique
It overtakes other vehicles Trajectory Planning System, basic thought is to utilize network communication, GPS positioning etc. with bus or train route Synergy Technology, realizes vehicle in the trajectory planning function of overtaking other vehicles of long forthright section, to greatly improve road utilization rate, reduce vehicle because with It speeds the delay generated with queuing behavior.
Follow the bus traveling is a kind of common driving status of vehicle on road.Under the driving status, speed is lower on road The delay of front truck is easy rearward to transmit, and causes also to generate certain delay with the vehicle sailed that speeds on, and reduces the current effect of road network Rate and road utilization rate.Existing research is mostly theoretical method, the data deficiencies such as position and state parameter to move vehicle It makes full use of, it is difficult to be applied in practice.Under bus or train route cooperative surroundings, vehicle can be obtained in real time using GPS sensor The information such as position, speed transmit information to roadside device by wireless communication technique, and roadside device is according to vehicle to overtaking other vehicles Conditions of demand, according to priority sequentially carry out trajectory planning of overtaking other vehicles.For this purpose, being passed the present invention is based on bus or train route Synergy using GPS Sensor and control logic propose that a kind of intelligence is overtaken other vehicles Trajectory Planning System.
Summary of the invention
It overtakes other vehicles Trajectory Planning System the object of the present invention is to provide the dynamic based on GPS under a kind of bus or train route cooperative surroundings, with It realizes the prompt of passing behavior track and selection, improves overtake other vehicles safety and road utilization rate.
In order to achieve the above object, the technical scheme adopted by the invention is as follows:
The dynamic based on GPS is overtaken other vehicles Trajectory Planning System under a kind of bus or train route cooperative surroundings, it is characterised in that: including being set to Car-mounted terminal, vehicle positioning module in vehicle, and the roadside device of trackside is set, in which:
Roadside device includes central computing module, and connects the receiving module of central computing module, sending module and deposit Store up module；
Car-mounted terminal includes vehicle mounted guidance, and receiving module, sending module and the display module of connection vehicle mounted guidance；
Vehicle positioning module includes GPS sensor and sending module interconnected；
In the car-mounted terminal, vehicle mounted guidance is by the sending module of connection by lane information needed for vehicle safe driving It is sent with system enabled instruction to roadside device；Simultaneously in vehicle positioning module, GPS sensor obtain the position of vehicle, speed, It is sent by the sending module of connection to roadside device after acceleration information data；
Central computing module in roadside device is provided with trajectory planning algorithm program of dynamically overtaking other vehicles, and central computing module is logical Lane information needed for the receiving module connected receives the system enabled instruction of car-mounted terminal sending, vehicle safe driving is crossed, with And vehicle location, speed, acceleration information data that vehicle positioning module issues are received, and system is opened by central computing module Lane information, vehicle location, speed, acceleration information data storing needed for dynamic instruction, vehicle safe driving are in memory module In, the dynamic in central computing module overtakes other vehicles trajectory planning algorithm program after memory module reading system enabled instruction, then from In memory module read vehicle safe driving needed for lane information, vehicle location, speed, acceleration information data, finally by Trajectory planning algorithm program lane information according to needed for vehicle safe driving, vehicle location, the speed, acceleration of dynamically overtaking other vehicles are believed Breath data, which calculate, obtains track scheme information of most preferably overtaking other vehicles, and track scheme information of most preferably overtaking other vehicles is passed through connection by central computing module Sending module to car-mounted terminal send；
The vehicle mounted guidance of car-mounted terminal receives the track scheme of overtaking other vehicles that roadside device issues by the receiving module of connection, And by vehicle mounted guidance will overtake other vehicles track scheme be sent into display module show.
The dynamic based on GPS is overtaken other vehicles Trajectory Planning System under a kind of bus or train route cooperative surroundings, it is characterised in that: vehicle-mounted Track scheme information of most preferably overtaking other vehicles is converted to dynamic image data and voice data by the vehicle mounted guidance in terminal, and car-mounted terminal is logical Display module is crossed to show corresponding dynamic image and play corresponding voice prompting.
The dynamic based on GPS is overtaken other vehicles Trajectory Planning System under a kind of bus or train route cooperative surroundings, it is characterised in that: described The workflow for trajectory planning algorithm program of dynamically overtaking other vehicles is as follows:
(1) priority of overtaking other vehicles is included in system enabled instruction, suitable according to vehicle cut-ins priority first after system starting Sequence generates boot scheme, i.e. the high passing vehicle of priority is preferentially produced track scheme information of most preferably overtaking other vehicles, and wherein vehicle is excellent First grade can be preset as needed；
(2) it divides vehicle priority: setting passing vehicle as Bi, passing vehicle priority is p (Bi), passing vehicle priority p (Bi) and the quantity Q that overtakes other vehiclesi, passing distance si, allow space m of overtaking other vehiclesiIt is related, i=1,2,3 ..., wherein passing vehicle priority p(Bi) and the quantity Q that overtakes other vehiclesi, passing distance siIt is inversely proportional, and allows space m of overtaking other vehiclesiIt is directly proportional, i.e. p (Bi)=F (Qi,si,mi), For the position of each possible lane change, referred to as a possible lane change point；Wherein, F (Qi,si,mi) it is about the quantity Q that overtakes other vehiclesi, it is super Vehicle distance siWith allow space m of overtaking other vehiclesiProbability distribution function, determine that vehicle is preferential according to the size of probability-distribution function Grade；
(3) the quantity Q that overtakes other vehicles is determinedi: the position of vehicle is obtained according to the vehicle positioning module, roadside device is according to being connect The quantity of the vehicle positioning module information of receipts, obtains passing vehicle BiThe required vehicle fleet size for being more than, that is, quantity of overtaking other vehicles Qi；
(4) passing distance s is determinedi: it sets and is exceeded vehicle as A, as passing vehicle BiOnly surmount individually when being exceeded vehicle A, Passing distance siCalculation formula are as follows:
As passing vehicle BiSurmount it is multiple be exceeded vehicle be A when, passing distance siCalculation formula are as follows:
In formula (1), (2), s1Accelerate lane-change operating range to surmount vehicle vehicle B；s2For passing vehicle BiAt the uniform velocity and road row Sail distance；hA、hBRespectively with safe spacing of speeding between vehicle；hiFor the safe distance between vehicles in i-th of vehicle gap；lA、lBIt is respectively super Vehicle vehicle B and the length of wagon for being exceeded vehicle A；liFor the length of wagon of the i-th vehicle；For passing vehicle BiWhen lane-change starts Initial velocity, a be passing vehicle BiAcceleration, passing vehicle BiSpeed of overtaking other vehiclesvATo be exceeded vehicle The speed (assuming that the vehicle speed is constant) of A；
(5) determination allows space m of overtaking other vehiclesi: multidate information around passing vehicle is obtained by GPS positioning system, through excessive Analysis processing, obtains allowing space m of overtaking other vehiclesi；
(6) according to step (3), (4), (5) resulting quantity Q that overtakes other vehiclesi, passing distance siWith allow space m of overtaking other vehiclesi, pass through Step (2) judges the priority p (B of all passing vehiclesi), the high vehicle of priority is preferentially produced track of overtaking other vehicles.When item of overtaking other vehicles Part mi>siWhen meeting, which is denoted as 1, when being unsatisfactory for, node is denoted as 0, all 1 possibility of being denoted as become Road point is connected as track of most preferably overtaking other vehicles.
Compared with prior art, advantage of the present invention are as follows:
(1) safe distance needed for the present invention calculates vehicle cut-ins by the control program in Trajectory Planning System of overtaking other vehicles And suggest speed of operation, track of overtaking other vehicles is generated, to realize the safety traffic of passing vehicle, road vehicle delay is reduced, mentions High road passage capability.The present invention alleviates traffic congestion to a certain extent, improves road transport efficiency.
(2) the achievable real-time monitoring of the present invention, real-time Transmission induction information, and reality can be made according to current traffic condition When change, strong flexibility.
(3) the present invention is based on bus or train route cooperative surroundings, and vehicle-mounted GPS equipment is connected with remote control module, realize long-range real When monitoring system working condition.
Detailed description of the invention
Fig. 1 is present system calculation flow chart.
Fig. 2 is system module composition block diagram of the invention.
Fig. 3 is that the present invention overtakes other vehicles schematic diagram of a scenario.
Specific embodiment
Present invention will be further explained below with reference to the attached drawings and examples.
As shown in Fig. 2, the dynamic based on GPS is overtaken other vehicles Trajectory Planning System under a kind of bus or train route cooperative surroundings, including it is set to Car-mounted terminal, vehicle positioning module in vehicle, and the roadside device of trackside is set, in which:
Roadside device includes central computing module, and connects the receiving module of central computing module, sending module and deposit Store up module；
Car-mounted terminal includes vehicle mounted guidance, and receiving module, sending module and the display module of connection vehicle mounted guidance；
Vehicle positioning module includes GPS sensor and sending module interconnected；
As shown in Figure 1, in car-mounted terminal, vehicle mounted guidance is by the sending module of connection by vehicle needed for vehicle safe driving Road information and system enabled instruction are sent to roadside device；Simultaneously in vehicle positioning module, GPS sensor obtains the position of vehicle Set, after speed, acceleration information data by connection sending module to roadside device send；
Central computing module in roadside device is provided with trajectory planning algorithm program of dynamically overtaking other vehicles, and central computing module is logical Lane information needed for the receiving module connected receives the system enabled instruction of car-mounted terminal sending, vehicle safe driving is crossed, with And vehicle location, speed, acceleration information data that vehicle positioning module issues are received, and system is opened by central computing module Lane information, vehicle location, speed, acceleration information data storing needed for dynamic instruction, vehicle safe driving are in memory module In, the dynamic in central computing module overtakes other vehicles trajectory planning algorithm program after memory module reading system enabled instruction, then from In memory module read vehicle safe driving needed for lane information, vehicle location, speed, acceleration information data, finally by Trajectory planning algorithm program lane information according to needed for vehicle safe driving, vehicle location, the speed, acceleration of dynamically overtaking other vehicles are believed Breath data, which calculate, obtains track scheme information of most preferably overtaking other vehicles, and track scheme information of most preferably overtaking other vehicles is passed through connection by central computing module Sending module to car-mounted terminal send；
The vehicle mounted guidance of car-mounted terminal receives the track scheme of overtaking other vehicles that roadside device issues by the receiving module of connection, And by vehicle mounted guidance will overtake other vehicles track scheme be sent into display module show；
Track scheme information of most preferably overtaking other vehicles is converted to dynamic image data and voice number by the vehicle mounted guidance in car-mounted terminal According to car-mounted terminal shows corresponding dynamic image by display module and plays corresponding voice prompting.
In the present invention, the workflow for trajectory planning algorithm program of dynamically overtaking other vehicles is as follows:
(1) priority of overtaking other vehicles is included in system enabled instruction, suitable according to vehicle cut-ins priority first after system starting Sequence generates boot scheme, i.e. the high passing vehicle of priority is preferentially produced track scheme information of most preferably overtaking other vehicles, and wherein vehicle is excellent First grade can need to preset according to class of vehicle or management, such as ambulance, fire fighting truck, police car are the first priority；It is small-sized Car is the second priority；Motor van is third priority etc.；
(2) it divides vehicle priority: setting passing vehicle as Bi, passing vehicle priority is p (Bi), passing vehicle priority p (Bi) and the quantity Q that overtakes other vehiclesi, passing distance si, allow space m of overtaking other vehiclesiIt is related, i=1,2,3 ..., wherein passing vehicle priority p(Bi) and the quantity Q that overtakes other vehiclesi, passing distance siIt is inversely proportional, and allows space m of overtaking other vehiclesiIt is directly proportional, i.e. p (Bi)=F (Qi,si,mi), For the position of each possible lane change, referred to as a possible lane change point；Wherein, F (Qi,si,mi) it is about the quantity Q that overtakes other vehiclesi, it is super Vehicle distance siWith allow space m of overtaking other vehiclesiProbability distribution function, determine that vehicle is preferential according to the size of probability-distribution function Grade；
(3) the quantity Q that overtakes other vehicles is determinedi: the position of vehicle is obtained according to the vehicle positioning module, roadside device is according to being connect The quantity of the vehicle positioning module information of receipts, obtains passing vehicle BiThe required vehicle fleet size for being more than, that is, quantity of overtaking other vehicles Qi；
(4) passing distance s is determinedi: it sets and is exceeded vehicle as A；
As shown in figure 3, No. 1 vehicle position indicates that vehicle in front initial position occurs for passing behavior, dotted line expression is overtaken other vehicles Track.To guarantee No. 1 vehicle BiOvertaking process can be smoothly completed, following condition should be met:
A, before overtaking other vehicles, passing vehicle BiThere should be enough safe bus head spacing with vehicle A is exceeded, to prevent from being exceeded vehicle Slow down suddenly or occurs rear-end impact or oblique collision when emergency braking；
B, passing vehicle BiDuring surmounting, operating range be greater than be exceeded Che Yuan lanes distance to it is related Safe spacing and the sum of Vehicle length；
C, in overtaking process, speed of overtaking other vehicles will meet the speed limit condition of fast and the reasonable acceleration of vehicle；
D, after overtaking other vehicles, vehicle A and passing vehicle B are exceedediBetween should have enough space headways, to prevent from overtaking other vehicles Vehicle slows down suddenly or occurs when emergency braking rear-end impact or oblique collision；
For only surmounting bicycle, the distance that passing vehicle is travelled in overtaking process should meet following relational expression:
sB=s1+s2≥sA+hA+hB+lA+lB,
In formula: sBFor passing vehicle BiThe distance travelled in entire overtaking process；s1Accelerate lane-change for passing vehicle B Operating range；s2For passing vehicle BiAt the uniform velocity and road operating range；sATo be exceeded the distance that vehicle A is travelled；hA、hBRespectively With safe spacing of speeding between vehicle；hiFor the safe distance between vehicles in i-th of vehicle gap；lA、lBRespectively passing vehicle BiBe exceeded vehicle The length of wagon of A；；liFor the length of wagon of the i-th vehicle；
Passing vehicle BiTo guarantee that safety surmounts vehicle A, passing vehicle BiThe distance travelled in overtaking process should expire Sufficient above-mentioned relation formula, passing vehicle BiOvertaking process can be divided into 2 stages:
(1) accelerate the lane-change stage, lane-change starts passing vehicle BiWith initial velocityAccelerate to speed of overtaking other vehiclesAcceleration is a.This section of journey time is t1, operating range s1；
(2) at the uniform velocity and the road stage, passing vehicle BiWith speed of overtaking other vehiclesFormer lane is driven at a constant speed, completion was once overtaken other vehicles Journey.This section of journey time is t2, operating range s2；
In conclusion can obtain:
T=t1+t2,
sB=s1+s2,
Wherein:
It is exceeded the total operating range s of vehicle AA:
Above-mentioned formula is substituted into:
In formula, hBFor vehicle BiWhen with speeding with vehicle A needed for holding minimum safe spacing；
To guarantee safe enough, when this system only considers that be exceeded vehicle A stops suddenly, vehicle BiIt is necessary with vehicle A institute The minimum vehicular gap of holding, then:
In formula: taThe time for starting braking is reacted to for driver, it is affected by multiple factors, generally take 1.3~2.4s； amaxFor vehicle BiPeak acceleration, size is mainly related with the attachment coefficient on road surface, and meeting formula a=fg, (g is gravity acceleration Degree, value 9.8m/s2；F is coefficient of road adhesion, generally between 0.2~0.8)；d0For safety allowance, general value range exists 2~5m；
In conclusion passing vehicle BiThe distance travelled in overtaking process are as follows:
If passing vehicle BiNeed to be more than more and be continuously exceeded vehicle, it is similar with the above-mentioned bicycle that surmounts, then overtake other vehicles away from From need scenario to be considered is that
Be approximately considered each and be exceeded vehicle and travelled in passing time and be equidistant, then each be exceeded vehicle driving away from From are as follows:
It can similarly obtain:
Therefore passing distance are as follows:
(5) determination allows space m of overtaking other vehiclesi: multidate information around passing vehicle is obtained by GPS positioning system, through excessive Analysis processing, obtains allowing space m of overtaking other vehiclesi；
(6) according to step (3), (4), (5) resulting quantity Q that overtakes other vehiclesi, passing distance siWith allow space m of overtaking other vehiclesi, pass through Step (2) judges the priority p (B of all passing vehiclesi), the high vehicle of priority is preferentially produced track of overtaking other vehicles.When item of overtaking other vehicles Part mi>siWhen meeting, which is denoted as 1, when being unsatisfactory for, node is denoted as 0, all 1 possibility of being denoted as become Road point is connected as track of most preferably overtaking other vehicles.

Claims (3)

1. the dynamic based on GPS is overtaken other vehicles Trajectory Planning System under a kind of bus or train route cooperative surroundings, it is characterised in that: including being set to vehicle Car-mounted terminal, vehicle positioning module in, and the roadside device of trackside is set, in which:
Roadside device includes central computing module, and connects the receiving module, sending module and storage mould of central computing module Block；
Car-mounted terminal includes vehicle mounted guidance, and receiving module, sending module and the display module of connection vehicle mounted guidance；
Vehicle positioning module includes GPS sensor and sending module interconnected；
In the car-mounted terminal, vehicle mounted guidance by lane information needed for vehicle safe driving and is by the sending module of connection Enabled instruction of uniting is sent to roadside device；Simultaneously in vehicle positioning module, GPS sensor obtains the position of vehicle, speed, acceleration It is sent by the sending module of connection to roadside device after spending information data；
Central computing module in roadside device is provided with trajectory planning algorithm program of dynamically overtaking other vehicles, and central computing module passes through company Lane information needed for the receiving module connect receives the system enabled instruction of car-mounted terminal sending, vehicle safe driving, Yi Jijie Return the vehicle to the garage and knock off the vehicle location for carrying locating module sending, speed, acceleration information data, and is referred to system starting by central computing module Enable, lane information needed for vehicle safe driving, vehicle location, speed, acceleration information data storing in a storage module, in Centre computing module in dynamic overtake other vehicles trajectory planning algorithm program from memory module read system enabled instruction after, then from storage mould Lane information, vehicle location, speed, acceleration information data needed for reading vehicle safe driving in block, finally by dynamically surpassing Wheel paths planning algorithm program lane information according to needed for vehicle safe driving, vehicle location, speed, acceleration information data It calculates to obtain and most preferably overtake other vehicles track scheme information, central computing module will most preferably overtake other vehicles transmission of the track scheme information by connection Module is sent to car-mounted terminal；
Receiving module of the vehicle mounted guidance of car-mounted terminal by connection, the track scheme of overtaking other vehicles that reception roadside device issues, and by Vehicle mounted guidance will overtake other vehicles track scheme be sent into display module show.
2. the dynamic based on GPS is overtaken other vehicles Trajectory Planning System under a kind of bus or train route cooperative surroundings according to claim 1, special Sign is: track scheme information of most preferably overtaking other vehicles is converted to dynamic image data and voice number by the vehicle mounted guidance in car-mounted terminal According to car-mounted terminal shows corresponding dynamic image by display module and plays corresponding voice prompting.
3. the dynamic based on GPS is overtaken other vehicles Trajectory Planning System under a kind of bus or train route cooperative surroundings according to claim 1, special Sign is: the dynamic overtake other vehicles trajectory planning algorithm program workflow it is as follows:
(1) priority of overtaking other vehicles is included in system enabled instruction, raw according to vehicle cut-ins priority orders first after system starting At boot scheme, i.e. the high passing vehicle of priority is preferentially produced track scheme information of most preferably overtaking other vehicles, wherein the priority of vehicle It can preset as needed；
(2) it divides vehicle priority: setting passing vehicle as Bi, passing vehicle priority is p (Bi), passing vehicle priority p (Bi) With the quantity Q that overtakes other vehiclesi, passing distance si, allow space m of overtaking other vehiclesiIt is related, i=1,2,3 ..., wherein passing vehicle priority p (Bi) and the quantity Q that overtakes other vehiclesi, passing distance siIt is inversely proportional, and allows space m of overtaking other vehiclesiIt is directly proportional, i.e. p (Bi)=F (Qi,si,mi), it is right In the position of each possible lane change, a referred to as possible lane change point；Wherein, F (Qi,si,mi) it is about the quantity Q that overtakes other vehiclesi, overtake other vehicles Distance siWith allow space m of overtaking other vehiclesiProbability distribution function, vehicle priority is determined according to the size of probability-distribution function；
(3) the quantity Q that overtakes other vehicles is determinedi: the position of vehicle is obtained according to the vehicle positioning module, roadside device is received according to institute The quantity of vehicle positioning module information obtains passing vehicle BiThe required vehicle fleet size for being more than, that is, quantity of overtaking other vehicles Qi；
(4) passing distance s is determinedi: it sets and is exceeded vehicle as A, as passing vehicle BiOnly surmount individually when being exceeded vehicle A, overtakes other vehicles Distance siCalculation formula are as follows:
As passing vehicle BiSurmount it is multiple be exceeded vehicle be A when, passing distance siCalculation formula are as follows:
In formula (1), (2), s1Accelerate lane-change operating range to surmount vehicle vehicle B；s2For passing vehicle BiAt the uniform velocity and road traveling away from From；hA、hBRespectively with safe spacing of speeding between vehicle；hiFor the safe distance between vehicles in i-th of vehicle gap；lA、lBIt respectively overtakes other vehicles vehicle B and the length of wagon for being exceeded vehicle A；liFor the length of wagon of the i-th vehicle；For passing vehicle BiIt is first when lane-change starts Beginning speed, a are passing vehicle BiAcceleration, passing vehicle BiSpeed of overtaking other vehiclesvATo be exceeded vehicle A's Speed (assuming that the vehicle speed is constant)；
(5) determination allows space m of overtaking other vehiclesi: multidate information around passing vehicle is obtained by GPS positioning system, is located by analysis Reason, obtains allowing space m of overtaking other vehiclesi；
(6) according to step (3), (4), (5) resulting quantity Q that overtakes other vehiclesi, passing distance siWith allow space m of overtaking other vehiclesi, pass through step (2) judge the priority p (B of all passing vehiclesi), the high vehicle of priority is preferentially produced track of overtaking other vehicles.As the condition m that overtakes other vehiclesi> siWhen meeting, which is denoted as 1, when being unsatisfactory for, node is denoted as 0, it is all be denoted as 1 possibility lane change point It is connected as track of most preferably overtaking other vehicles.
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CN110907193A (en) * 2019-11-29 2020-03-24 北京京东乾石科技有限公司 Test method, device and system for formation driving of automatic driving vehicles
CN111735466A (en) * 2020-01-02 2020-10-02 北京京东乾石科技有限公司 Multi-vehicle collaborative trajectory planning method, device, equipment and storage medium
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