CN110264698B - Train running separation and recombination method - Google Patents
Train running separation and recombination method Download PDFInfo
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- CN110264698B CN110264698B CN201910555505.7A CN201910555505A CN110264698B CN 110264698 B CN110264698 B CN 110264698B CN 201910555505 A CN201910555505 A CN 201910555505A CN 110264698 B CN110264698 B CN 110264698B
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- G08G1/00—Traffic control systems for road vehicles
- G08G1/20—Monitoring the location of vehicles belonging to a group, e.g. fleet of vehicles, countable or determined number of vehicles
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Abstract
The invention discloses a separation and recombination method for train running, wherein a fleet consists of at least two units, and the frontmost unit is a leader unit; each unit is composed of at least 1 vehicle, the unit with only one vehicle is called a single vehicle unit, if more than 1 vehicle exists in the unit, the unit is called a multi-vehicle unit, the vehicle at the forefront in the multi-vehicle unit is a unit head vehicle, the unit head vehicle of the leading unit is called a queue head vehicle, all the unit head vehicles are dispatched by the queue head vehicle in a unified way, and the vehicles in the unit are dispatched by the corresponding unit head vehicle in a unified way; the train running separation and recombination method comprises the following strategies: a secure tracking policy; a safe lane change strategy; a queue build/join strategy; a queue separation policy and a maximum spacing limit policy. The invention can flexibly realize separation and recombination of the queue driving.
Description
Technical Field
The invention belongs to the technical field of automatic control and vehicle traffic, and particularly relates to a separation and recombination method for queue driving.
Background
The combination of automatic driving and traffic unified scheduling can realize the optimization of traffic efficiency and energy consumption, and the combination of semi-automatic driving and local traffic unified scheduling is used for queue driving, so that the traffic efficiency can be improved, the energy consumption can be reduced, and the method is one of the hot spots of research in the fields of automobiles, traffic and the like. The existing method for driving in a queue uniformly controls the whole motorcade as a whole, and lacks flexible separation and recombination scheduling, which may cause the motorcade to be long and influence public transport, or the motorcade is difficult to reorganize after being interrupted by other vehicles, and reduces traffic efficiency and influence use experience.
Therefore, it is necessary to develop a new method for separating and recombining the platooning.
Disclosure of Invention
Aiming at the defects of the existing queue driving method, the invention provides a flexible queue driving separation and recombination method.
The invention relates to a separation and recombination method for train running, wherein a fleet consists of at least two units, and the frontmost unit is a leader unit; each unit is composed of at least 1 vehicle, the unit with only one vehicle is called a single vehicle unit, if more than 1 vehicle exists in the unit, the unit is called a multi-vehicle unit, the vehicle at the forefront in the multi-vehicle unit is a unit head vehicle, the unit head vehicle of the leading unit is called a queue head vehicle, all the unit head vehicles are dispatched by the queue head vehicle in a unified way, and the vehicles in the unit are dispatched by the corresponding unit head vehicle in a unified way; the train running separation and recombination method comprises the following strategies:
a safe tracking strategy: the method comprises the following steps that all vehicles in a fleet keep the same track to run in the same lane, when part of the fleet is cut off due to interpolation of other vehicles or traffic management, the cut-off unit or vehicle runs along the track under the condition of ensuring safety, vehicles in front of the unit or vehicle in the fleet are not affected, and the vehicles behind the unit or vehicle in the fleet follow the unit or vehicle to adjust the speed and the distance between the vehicles;
the safe lane changing strategy comprises the following steps: the motorcade is switched under the condition that the vehicle in the adjacent lane cannot be avoided, the vehicles which are not shielded are normally switched, the motorcade behind the shielded vehicles is properly decelerated into the shielded vehicles after switching the lanes to reserve enough lane switching space in the longitudinal direction, and then the shielded vehicles complete lane switching under the safety condition;
queue build/join strategy: the vehicle/vehicle team puts forward a request for joining the queue, and the head vehicle of the queue decides whether the applicant can join the unit with the same destination or join the tail of the queue;
the queue separation strategy is as follows: the unit or the vehicles in the unit provide the departure application, the distance between the vehicles before and after the applicant is increased and the applicant is away, when the distance is stable, the driver of the applicant takes over the vehicles and changes lanes to leave the fleet, and then the other vehicles gradually recover the queue safety distance of normal driving;
maximum spacing constraint strategy: when the distance between two adjacent vehicles in the queue is larger than a certain value, the rear vehicle reminds the driver to take over and becomes a temporary queue head vehicle to form a new queue with the rear vehicle, and the new queue can be added into the original queue again or is separated from the original queue completely after being confirmed with the original queue.
Further, the safety tracking strategy specifically includes:
when the vehicle is detected to be cut off, judging whether the vehicle is a unit head vehicle;
if the unit head vehicle is the unit head vehicle, the unit head vehicle reports that the unit head vehicle is cut off to the queue head vehicle, the queue head vehicle schedules the cut-off unit head vehicle and the unit head vehicles behind the unit head vehicle to decelerate or stop for yielding, each unit head vehicle controls the vehicles in the unit vehicle to decelerate or stop, and when the cut-off scene disappears, the queue head vehicle schedules the cut-off unit head vehicle to return to a normal driving state;
if the unit head vehicle is not the unit head vehicle, the vehicle reports the truncation to the unit head vehicle of the unit, the unit head vehicle of the unit reports the truncation to the queue head vehicle, the unit head vehicle in the unit is dispatched to slow down or stop and yield the intercepted vehicle in the unit, and the queue head vehicle dispatches the unit head vehicle after the vehicle is truncated to slow down or stop and yield the unit head vehicle; and when the cut scene disappears, the vehicles in the unit head vehicle dispatching unit of the cut unit recover to the normal running state, and the unit head vehicles behind the train head vehicle dispatching cut vehicles recover to the normal running state.
Further, the secure lane change policy specifically includes:
the head cars of all the units are dispatched by the queue head car to change lanes;
when the vehicle detects that the vehicle is blocked, judging whether the vehicle is a unit head vehicle;
if the unit head car is the unit head car, the unit head car reports that the unit head car is blocked to the queue head car, the queue head car is dispatched to take the corresponding unit head car by the unblocked unit head car to complete lane changing, the unit head car behind the blocked unit is dispatched to slow down and reserve enough space, and the queue head car is dispatched to take the corresponding unit head car by the blocked unit head car to complete lane changing at the reserved space;
if the vehicle is not the unit head vehicle, the vehicle reports that the vehicle is blocked to the unit head vehicle of the unit where the vehicle is located, the unit head vehicle of the unit where the vehicle is located reports that the vehicle is blocked to the queue head vehicle, and the unblocked vehicle in the unit is dispatched to finish lane changing; the head cars of the unblocked units are dispatched by the queue head cars to lead the vehicles in the corresponding units to complete lane changing; enough space is reserved for vehicle deceleration after the blocked vehicle is dispatched in the unit head-up dispatching unit of the unit where the blocked vehicle is located; and the unit head vehicle of the unit where the blocked vehicle is located dispatches the blocked vehicle to complete lane changing at the reserved space.
Further, the queue building/adding strategy specifically comprises:
when a vehicle or a vehicle team head vehicle applies for joining the vehicle team from the vehicle or the vehicle team head vehicle; and determining whether to accept the enqueue application or not by the head vehicle of the queue, and if the head vehicle of the queue agrees to the joining of the applicant, giving an enqueue option to the applicant by the head vehicle of the queue according to the destination of each original unit and the setting of whether to accept a new member: independent unit formation/addition of a unit; if the applicant selects the independent unit, the head car of the applicant is dispatched by the head car of the queue and arranged at the end of the queue to become a new unit; if the applicant chooses to join a certain unit, the head car of the applicant is dispatched by the queue head car, and after the unit to be joined, the queue head car gives the direct dispatching right to the head car of the unit to be joined.
Further, the queue separation policy specifically includes:
judging the type of the applicant applying for separation, and if the applicant is a unit, applying for departure from the head vehicle of the queue by the unit;
the head vehicle of the queue determines whether to accept the request for departure; if the head vehicle of the queue agrees to the departure application; the front and rear unit head cars of the queue head car dispatching applicant take the corresponding unit to pull away the distance from the applicant; when the distance is enough, the head vehicle of the queue informs the applicant to take over and leave the queue, and the applicant changes the lane and leaves the queue; the unit head cars before and after the queue head car dispatching applicant restore the normal spacing;
if the applicant is a single vehicle, the single vehicle applies for departure from the unit head vehicle, the unit head vehicle reports to the queue head vehicle and determines whether to accept the departure application, if the unit head vehicle agrees to the departure application, the unit head vehicle reports to the queue head vehicle and obtains a priority departure scheduling qualification, and the single vehicles in front of and behind the applicant are scheduled to pull away the distance from the applicant; when the distance is enough, the unit head vehicle informs the applicant to take over and leave the queue, and the applicant changes the lane and leaves the queue; and the unit head cars before and after the unit head car dispatching applicant restore the normal distance, and return the prior queue leaving dispatching qualification to the queue head car.
Further, the queue destination and unit destination can not be exactly the same, and the destinations of vehicles within a unit are more concentrated.
The invention has the following advantages:
(1) the queue unit/vehicle following distance can be flexibly changed, and the local vehicle following safety is guaranteed;
(2) the queues can be separated temporarily due to objective factors (part of units or vehicles are shielded during traffic management/lane change such as other vehicle queue insertion/traffic lights and the like) and automatically restored again, so that the influence on the traffic environment is reduced while the safety is ensured;
(3) the queue destination and the unit destination can be not completely consistent, the destinations of vehicles in the unit are more centralized, and the separation and recombination are more convenient structurally;
(4) when the queue is interrupted due to objective factors and is difficult to automatically recover, the driver is reminded to take over the active separation queue, the safety is improved, meanwhile, the change of the traffic environment is automatically adapted, and the traffic operation efficiency is improved.
Drawings
FIG. 1 is a diagram of a queue for queuing travel in the present invention;
FIG. 2 is a schematic diagram of a safety tracking strategy according to the present invention;
FIG. 3 is a flowchart of a safety tracking strategy according to the present invention;
FIG. 4 is a schematic diagram of a secure lane-change policy of the present invention;
FIG. 5 is a flow chart of a secure lane change policy of the present invention;
FIG. 6 is a flow chart of a queue build/join strategy in accordance with the present invention;
fig. 7 is a flow chart of a queue splitting policy.
Detailed Description
The invention will be further explained with reference to the drawings.
In the embodiment, the train consists of at least two units, each unit consists of vehicles with the same or similar destinations, the whole train consists of a plurality of small trains with the same or similar stepped paths or the whole paths, and the destinations of the vehicles in the general units are more concentrated than the destinations of the whole train. The foremost unit is a leading unit; each unit is composed of at least 1 vehicle equipped with a vehicle-mounted system described below, the unit with only one vehicle is called a single vehicle unit, if there are more than 1 vehicle in the unit, the unit is called a multi-vehicle unit, the forwardmost vehicle in the multi-vehicle unit is a unit head vehicle, the unit head vehicle in the head unit is called a platoon head vehicle, and the platoon structure is shown in fig. 1. All unit head cars are dispatched by the queue head car in a unified mode, and vehicles in the unit are dispatched by the corresponding unit head cars in a unified mode.
The vehicle-mounted system generally comprises communication equipment, a generalized sensor (not limited to a camera, a laser radar, an ultrasonic radar and a V2X device), a vehicle-mounted bus (not limited to a CAN bus and an Ethernet bus), a control decision unit (not limited to a vehicle-mounted host computer and an industrial personal computer), positioning equipment (not limited to a differential GPS and an inertial navigation), and the like, CAN detect running state information such as the direction and the speed of a vehicle and other vehicles (including vehicles without the vehicle-mounted system) around the vehicle and road traffic information such as lane lines and traffic lights, CAN exchange data with other vehicles with the communication equipment, and has the capability of processing, deciding and controlling the vehicle.
The queue head vehicle limits and optimizes the total length of the fleet and the number of vehicles in the multi-vehicle unit according to road congestion conditions or traffic scheduling or the interrupted condition of the fleet so as to improve the overall traffic efficiency; when the vehicle runs normally, a certain distance is kept between the units, and a certain distance is kept between vehicles in the multi-vehicle unit. In addition to general driving conditions, the queue driving has the following two separated and recombined application scenes:
1. active separation and recombination:
1.1, when the motorcade changes lanes, the lanes beside are shielded by non-queue vehicles;
1.2, the unit or the vehicle in the unit actively applies for separation or recombination.
2. Passive separation and recombination:
2.1, inserting other vehicles, inserting queues and the like;
2.2, traffic management cutoff (such as traffic lights or restriction of clearance).
Aiming at the application scene of the queue running, the following methods for separating and recombining the fleet are designed:
(1) a safe tracking strategy: each vehicle in the fleet keeps the same track to run in the same lane, when part of fleets are cut off by other vehicles for queue insertion or traffic management (such as traffic lights), the cut-off unit or vehicle can decelerate or stop to avoid, the following fleets can decelerate or stop correspondingly, the track of the track can not be changed; and after the cut-off scene disappears, the queue restores to the normal driving state. A schematic diagram of this scenario is shown in fig. 2, and a flow chart of the process is shown in fig. 3.
(2) The safe lane changing strategy comprises the following steps: the motorcade changes lanes under the condition that vehicles in a lane beside the motorcade cannot be avoided, vehicles which are not blocked normally change lanes, the motorcade behind the blocked vehicles is properly decelerated into the blocked vehicles after lane changing to leave enough lane changing space in the longitudinal direction, then the blocked vehicles complete lane changing under the safety condition, the scene is schematically shown in fig. 4, and the process flow chart is shown in fig. 5.
(3) Queue build/join strategy: a vehicle/fleet (hereinafter referred to as an applicant) proposes a joining queue application, and a head-in-queue decision is made whether the applicant can join a unit with the same destination or join the tail of the queue; the flow is shown in fig. 4.
(4) The queue separation strategy is as follows: the unit or vehicles in the unit (hereinafter referred to as applicant) make a departure application, the vehicles before and after the applicant increase the distance from the applicant, when the distance is stable, the driver of the applicant can take over the vehicles and change the lane to leave the fleet, and then other vehicles gradually recover the queue safety distance of normal driving; the flow is shown in fig. 5.
(5) Maximum spacing constraint strategy: when the distance between two adjacent vehicles in the queue is larger than a certain value (cut off by multi-vehicle queue or traffic management, etc.), the rear vehicle reminds the driver to take over and becomes a temporary queue head vehicle to form a new queue with the rear vehicles, and the new queue can be added into the original queue again or is separated from the original queue completely after being confirmed with the original queue.
As shown in fig. 3, in the present embodiment, the safety tracking policy specifically includes:
when the vehicle x is detected to be cut off, judging whether the vehicle is a unit head vehicle;
if the unit head vehicle is the unit head vehicle, the unit head vehicle X reports that the unit head vehicle is cut off to the queue head vehicle, the queue head vehicle schedules the cut-off unit head vehicle and the unit head vehicles behind the unit head vehicle to decelerate or stop for yielding, each unit head vehicle controls the deceleration or stop of the vehicle in the unit vehicle, and when the cut-off scene disappears, the queue head vehicle schedules the cut-off unit head vehicle to return to a normal driving state;
if the vehicle is not the unit head vehicle, the vehicle X reports to the unit head vehicle X of the unit where the vehicle X is located to be cut off, the unit head vehicle X of the unit where the vehicle X is located reports to the queue head vehicle that the vehicle X is cut off and the vehicle which is cut off in the unit is dispatched to decelerate or stop for yielding, and the queue head vehicle dispatches the unit head vehicle which is behind the cut vehicle to decelerate or stop for yielding; and when the cut scene disappears, the vehicles in the unit head vehicle dispatching unit of the cut unit recover to the normal running state, and the unit head vehicles behind the train head vehicle dispatching cut vehicles recover to the normal running state.
As shown in fig. 5, in this embodiment, the secure lane change policy specifically includes:
the head cars of all the units are dispatched by the queue head car to change lanes;
when the vehicle x is detected to be blocked, judging whether the vehicle x is a unit head vehicle;
if the unit head car X is the unit head car X, the unit head car X reports that the unit head car X is blocked, the unit head car scheduling is not blocked, the unit head car carries the corresponding unit inner car to complete lane changing, the unit head car (the lane changing is completed) behind the blocked unit is scheduled to decelerate to reserve enough space, and the unit head car scheduling is blocked, the unit head car carries the corresponding unit inner car to complete lane changing at the reserved space;
if the vehicle is not the unit head vehicle, the vehicle X reports to the unit head vehicle X of the unit where the vehicle X is blocked, the unit head vehicle X of the unit where the vehicle X is located reports to the queue head vehicle that the vehicle X is blocked, and the unblocked vehicle in the unit is dispatched to finish lane changing; the head cars of the unblocked units are dispatched by the queue head cars to lead the vehicles in the corresponding units to complete lane changing; the unit head vehicle X of the unit where the blocked vehicle X is located dispatches the vehicle (which has finished changing lanes) in the unit to slow down and leave enough space; and the unit head vehicle X of the unit where the blocked vehicle X is located schedules the blocked vehicle X to complete lane changing at the reserved space.
As shown in fig. 6, in this embodiment, the queue building/adding policy specifically includes:
when a vehicle X or a fleet head vehicle X applies for joining the fleet to a fleet head vehicle; and determining whether to accept the enqueue application or not by the head vehicle of the queue, and if the head vehicle of the queue agrees to the joining of the applicant, giving an enqueue option to the applicant by the head vehicle of the queue according to the destination of each original unit and the setting of whether to accept a new member: independent unit formation/addition of a unit; if the applicant selects the independent unit, the head car of the applicant is dispatched by the head car of the queue and arranged at the end of the queue to become a new unit; if the applicant chooses to join a certain unit, the head car of the applicant is dispatched by the queue head car, and after the unit to be joined, the queue head car gives the direct dispatching right to the head car of the unit to be joined.
As shown in fig. 7, in this embodiment, the queue splitting policy specifically includes:
judging the type of the applicant applying for separation, and if the applicant is a unit, applying for departure from the head vehicle of the queue by the unit;
the head vehicle of the queue determines whether to accept the request for departure; if the head vehicle of the queue agrees to the departure application; the front and rear unit head cars of the queue head car dispatching applicant take the corresponding unit to pull away the distance from the applicant; when the distance is enough, the head vehicle of the queue informs the applicant to take over and leave the queue, and the applicant changes the lane and leaves the queue; the unit head cars before and after the queue head car dispatching applicant restore the normal spacing;
if the applicant is a single vehicle, the single vehicle applies for departure from the unit head vehicle, the unit head vehicle reports to the queue head vehicle and determines whether to accept the departure application, if the unit head vehicle agrees to the departure application, the unit head vehicle reports to the queue head vehicle and obtains a priority departure scheduling qualification, and the single vehicles in front of and behind the applicant are scheduled to pull away the distance from the applicant; when the distance is enough, the unit head vehicle informs the applicant to take over and leave the queue, and the applicant changes the lane and leaves the queue; and the unit head cars before and after the unit head car dispatching applicant restore the normal distance, and return the prior queue leaving dispatching qualification to the queue head car.
Claims (4)
1. A train running separation and recombination method is characterized in that: the motorcade consists of at least two units, wherein the foremost unit is a leader unit; each unit is composed of at least 1 vehicle, the unit with only one vehicle is called a single vehicle unit, if more than 1 vehicle exists in the unit, the unit is called a multi-vehicle unit, the vehicle at the forefront in the multi-vehicle unit is a unit head vehicle, the unit head vehicle of the leading unit is called a queue head vehicle, all the unit head vehicles are dispatched by the queue head vehicle in a unified way, and the vehicles in the unit are dispatched by the corresponding unit head vehicle in a unified way; the train running separation and recombination method comprises the following strategies:
a safe tracking strategy: the method comprises the following steps that all vehicles in a fleet keep the same track to run in the same lane, when part of the fleet is cut off due to interpolation of other vehicles or traffic management, the cut-off unit or vehicle runs along the track under the condition of ensuring safety, vehicles in front of the unit or vehicle in the fleet are not affected, and the vehicles behind the unit or vehicle in the fleet follow the unit or vehicle to adjust the speed and the distance between the vehicles; the method specifically comprises the following steps:
when the vehicle is detected to be cut off, judging whether the vehicle is a unit head vehicle;
if the unit head vehicle is the unit head vehicle, the unit head vehicle reports that the unit head vehicle is cut off to the queue head vehicle, the queue head vehicle schedules the cut-off unit head vehicle and the unit head vehicles behind the unit head vehicle to decelerate or stop for yielding, each unit head vehicle controls the vehicles in the unit vehicle to decelerate or stop, and when the cut-off scene disappears, the queue head vehicle schedules the cut-off unit head vehicle to return to a normal driving state;
if the unit head vehicle is not the unit head vehicle, the vehicle reports the truncation to the unit head vehicle of the unit, the unit head vehicle of the unit reports the truncation to the queue head vehicle, the unit head vehicle in the unit is dispatched to slow down or stop and yield the intercepted vehicle in the unit, and the queue head vehicle dispatches the unit head vehicle after the vehicle is truncated to slow down or stop and yield the unit head vehicle; when the cut-off scene disappears, vehicles in the unit head vehicle dispatching unit of the cut-off unit recover to a normal running state, and unit head vehicles behind the train head vehicle dispatching cut-off vehicles recover to a normal running state;
the safe lane changing strategy comprises the following steps: the motorcade is switched under the condition that the vehicle in the adjacent lane cannot be avoided, the vehicles which are not shielded are normally switched, the motorcade behind the shielded vehicles is properly decelerated into the shielded vehicles after switching the lanes to reserve enough lane switching space in the longitudinal direction, and then the shielded vehicles complete lane switching under the safety condition; the method specifically comprises the following steps:
the head cars of all the units are dispatched by the queue head car to change lanes;
when the vehicle detects that the vehicle is blocked, judging whether the vehicle is a unit head vehicle;
if the unit head car is the unit head car, the unit head car reports that the unit head car is blocked to the queue head car, the queue head car is dispatched to take the corresponding unit head car by the unblocked unit head car to complete lane changing, the unit head car behind the blocked unit is dispatched to slow down and reserve enough space, and the queue head car is dispatched to take the corresponding unit head car by the blocked unit head car to complete lane changing at the reserved space;
if the vehicle is not the unit head vehicle, the vehicle reports that the vehicle is blocked to the unit head vehicle of the unit where the vehicle is located, the unit head vehicle of the unit where the vehicle is located reports that the vehicle is blocked to the queue head vehicle, and the unblocked vehicle in the unit is dispatched to finish lane changing; the head cars of the unblocked units are dispatched by the queue head cars to lead the vehicles in the corresponding units to complete lane changing; enough space is reserved for vehicle deceleration after the blocked vehicle is dispatched in the unit head-up dispatching unit of the unit where the blocked vehicle is located; the unit head vehicle of the unit where the blocked vehicle is located dispatches the blocked vehicle to complete lane changing at the reserved space;
queue build/join strategy: the vehicle/vehicle team puts forward a request for joining the queue, and the head vehicle of the queue decides whether the applicant can join the unit with the same destination or join the tail of the queue;
the queue separation strategy is as follows: the unit or the vehicles in the unit provide the departure application, the distance between the vehicles before and after the applicant is increased and the applicant is away, when the distance is stable, the driver of the applicant takes over the vehicles and changes lanes to leave the fleet, and then the other vehicles gradually recover the queue safety distance of normal driving;
maximum spacing constraint strategy: when the distance between two adjacent vehicles in the queue is larger than a certain value, the rear vehicle reminds the driver to take over and becomes a temporary queue head vehicle to form a new queue with the rear vehicle, and the new queue can be added into the original queue again or is separated from the original queue completely after being confirmed with the original queue.
2. The platoon driving separation and reassembly method according to claim 1, wherein: the queue building/adding strategy specifically comprises the following steps:
when a vehicle or a vehicle team head vehicle applies for joining the vehicle team from the vehicle or the vehicle team head vehicle; and determining whether to accept the enqueue application or not by the head vehicle of the queue, and if the head vehicle of the queue agrees to the joining of the applicant, giving an enqueue option to the applicant by the head vehicle of the queue according to the destination of each original unit and the setting of whether to accept a new member: independent unit formation/addition of a unit; if the applicant selects the independent unit, the head car of the applicant is dispatched by the head car of the queue and arranged at the end of the queue to become a new unit; if the applicant chooses to join a certain unit, the head car of the applicant is dispatched by the queue head car, and after the unit to be joined, the queue head car gives the direct dispatching right to the head car of the unit to be joined.
3. The platoon driving separation and reassembly method according to claim 1 or 2, wherein: the queue separation strategy specifically comprises the following steps:
judging the type of the applicant applying for separation, if the applicant is a unit, applying for departure from the head vehicle of the queue by the unit,
the head vehicle of the queue determines whether to accept the request for departure; if the head vehicle of the queue agrees to the departure application; the front and rear unit head cars of the queue head car dispatching applicant take the corresponding unit to pull away the distance from the applicant; when the distance is enough, the head vehicle of the queue informs the applicant to take over and leave the queue, and the applicant changes the lane and leaves the queue; the unit head cars before and after the queue head car dispatching applicant restore the normal spacing;
if the applicant is a single vehicle, the single vehicle applies for departure from the unit head vehicle, the unit head vehicle reports to the queue head vehicle and determines whether to accept the departure application, if the unit head vehicle agrees to the departure application, the unit head vehicle reports to the queue head vehicle and obtains a priority departure scheduling qualification, and the single vehicles in front of and behind the applicant are scheduled to pull away the distance from the applicant; when the distance is enough, the unit head vehicle informs the applicant to take over and leave the queue, and the applicant changes the lane and leaves the queue; and the unit head cars before and after the unit head car dispatching applicant restore the normal distance, and return the prior queue leaving dispatching qualification to the queue head car.
4. The platoon driving separation and reassembly method according to claim 3, wherein: the queue destination and unit destination can not be exactly the same and the destinations of vehicles within a unit are more concentrated.
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| CN112101751A (en) * | 2020-08-31 | 2020-12-18 | 华南理工大学 | Public transport optimization method, system, device and storage medium |
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| CN113012434A (en) * | 2021-03-18 | 2021-06-22 | 大众问问(北京)信息科技有限公司 | Vehicle running control method and device and electronic equipment |
| CN113093764B (en) * | 2021-04-14 | 2022-03-11 | 吉林大学 | Control method based on mixed formation of commercial vehicle and passenger vehicle |
| CN113345215B (en) * | 2021-05-25 | 2024-10-01 | 腾讯科技（深圳）有限公司 | Vehicle formation driving control method and related equipment |
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