CN110329257A - A kind of more longitudinally controlled methods of car team team based on Che-Che Tongxin - Google Patents
A kind of more longitudinally controlled methods of car team team based on Che-Che Tongxin Download PDFInfo
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- CN110329257A CN110329257A CN201910549194.3A CN201910549194A CN110329257A CN 110329257 A CN110329257 A CN 110329257A CN 201910549194 A CN201910549194 A CN 201910549194A CN 110329257 A CN110329257 A CN 110329257A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
- B60W30/14—Adaptive cruise control
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
- B60W30/14—Adaptive cruise control
- B60W30/16—Control of distance between vehicles, e.g. keeping a distance to preceding vehicle
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
- B60W40/10—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to vehicle motion
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/01—Detecting movement of traffic to be counted or controlled
- G08G1/0104—Measuring and analyzing of parameters relative to traffic conditions
- G08G1/0108—Measuring and analyzing of parameters relative to traffic conditions based on the source of data
- G08G1/0112—Measuring and analyzing of parameters relative to traffic conditions based on the source of data from the vehicle, e.g. floating car data [FCD]
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/22—Platooning, i.e. convoy of communicating vehicles
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L67/00—Network arrangements or protocols for supporting network services or applications
- H04L67/01—Protocols
- H04L67/12—Protocols specially adapted for proprietary or special-purpose networking environments, e.g. medical networks, sensor networks, networks in vehicles or remote metering networks
Abstract
More longitudinally controlled methods of car team team based on Che-Che Tongxin that the invention discloses a kind of, the following steps are included: 1) perception of each vehicle is sent to its vehicle from vehicle movement state information and in a broadcast manner, after each vehicle receives his car state information, judge whether to meet the condition of forming a team；2) navigator's vehicle sending forms a team to request, and the vehicle for meeting the condition of forming a team starts to form a team；3) Che of each vehicle-vehicle communication equipment obtains respective sensor information, and is packaged into data flow and is broadcast to other vehicles；4) navigator's car state information, front truck status information and the sensor information of itself for respectively following the upper controller of vehicle to be obtained according to Che-vehicle communication equipment calculate the expectation acceleration and desired speed for coming from vehicle；5) it respectively follows the lower layer of vehicle to control and receive desired speed or acceleration from upper controller, completes control and tracking to longitudinal velocity is lined up.The method of the present invention can significantly improve adaptability of the fleet under complex working condition.
Description
Technical field
The present invention relates to automobile intelligent Driving control technology more particularly to a kind of more car team teams based on Che-Che Tongxin are vertical
To control method.
Background technique
Currently, the own hot spot and auto industry growth through becoming the research of world's Vehicle Engineering of intelligent driving technology is new
Power, many developed countries all incorporate it into the intelligent transportation system respectively given priority to.Intelligence based on car networking
Vehicle is driven to line up to cooperate by the communication between vehicle to complete the complex working condition that monomer intelligent vehicle can not adapt to, together
When it for alleviate congestion in road, improve self energy drive vehicle safety, enhance road the traffic capacity, have very significantly
Effect.
The direct-type control thought that vehicle is lined up at present is exactly that direct decision, which goes out, is according to desired two following distance or speed
Reach gas pedal and brake pedal information required for current traveling target, but since vehicle is one complicated non-thread
Property system, using direct-type control Quality Initiative can be made too long, and the change of vehicle parameter and external environment information can make be
The robustness of system is greatly affected, and is unfavorable for the stability of holding system, under extreme case, may cause thrashing.
Summary of the invention
The technical problem to be solved in the present invention is that for the defects in the prior art, providing a kind of based on Che-Che Tongxin
More longitudinally controlled methods of car team team.
The technical solution adopted by the present invention to solve the technical problems is: a kind of more car team teams based on Che-Che Tongxin are vertical
To control method, comprising the following steps:
1) perception of each vehicle is sent to its vehicle from vehicle movement state information and in a broadcast manner, and each vehicle receives his vehicle
After status information, by judging whether to meet the condition of forming a team compared with from vehicle motion state, the condition of forming a team include: each vehicle whether
In same lane line, whether each vehicle speed and acceleration are in given threshold, and whether adjacent two following distance is in given threshold
It is interior；
2) navigator's vehicle sending forms a team to request, and the vehicle for meeting the condition of forming a team starts to form a team, wherein navigator's vehicle is adaptive
Cruise mode control, following vehicle is cooperative intelligent driving mode；
3) Che of each vehicle-vehicle communication equipment obtains respective sensor information, and is packaged into data flow and is broadcast to other vehicles
?；
4) navigator's car state information for respectively following the upper controller of vehicle to be obtained according to Che-vehicle communication equipment, front truck shape
State information and the sensor information of itself calculate the expectation acceleration and desired speed for coming from vehicle；
5) it respectively follows the lower layer of vehicle to control and receive desired speed or acceleration from upper controller, completes to column
The control and tracking of team's longitudinal velocity.
According to the above scheme, the expectation acceleration and desired speed for respectively following vehicle are calculated in the step 4), specifically such as
Under:
I-th vehicle is calculated to the tracing control amount u of front trucki 1Are as follows:
ui 1=kdai-1+kp(vi-1-vi)+ki(xi-1-xi-hvi-L)
I-th vehicle is calculated to the tracing control amount u of navigator's vehiclei 2Are as follows:
ui 2=kda1+kp(v1-vi)+ki(x1-xi-(i-1)hvi-(i-1)L)
Calculate the expectation acceleration of i-th vehicle are as follows:
ui=α ui 1+(1-α)ui 2
Wherein, uiIndicate expectation acceleration, x1、v1、a1Indicate navigator's vehicle location, velocity and acceleration, xi-1、vi-1、ai
Indicate front vehicle position, velocity and acceleration, xi、viIt indicates from truck position and speed, α is front truck to from vehicle weighing factor coefficient, h
For when away from L is vehicle commander, kd、kp、kiThe respectively differential coefficient, proportionality coefficient and integral coefficient of PID controller；
Lower layer's controller receives the output control amount from upper controller, completes the tracking to speed.
According to the above scheme, upper controller receives the navigator's car state information obtained by communication equipment and preceding car state is believed
Breath, position, speed, acceleration including two vehicles；Onboard sensor measure from car state information, including position, speed, acceleration
Degree.
The beneficial effect comprise that: for fleet during cruise the sensitivity of Trajectory Tracking Control and robust
Property problem, lines up longitudinally controlled method the invention proposes a kind of vehicle based on Che-Che Tongxin, can significantly improve fleet and exist
Adaptability under complex working condition can make other vehicles faster by interconnecting between Che-vehicle communication equipment realization vehicle
Speed more accurately captures driving status from vehicle, ensure that the safe distance and speed between driving vehicle；With layered control
System can make each control with clearly defined objective, and functional independence, convenient for the adjusting of control parameter and the stabilization of whole system.It is prominent meeting with
When hair-like condition, each vehicle can capture rapidly pre-warning signal, make corresponding treatment measures, to substantially increase fleet
Safety and stability.
Detailed description of the invention
Present invention will be further explained below with reference to the attached drawings and examples, in attached drawing:
Fig. 1 is the method flow schematic diagram of the embodiment of the present invention；
Fig. 2 is the convoy schematic diagram of the embodiment of the present invention.
Specific embodiment
In order to make the objectives, technical solutions, and advantages of the present invention clearer, with reference to embodiments, to the present invention
It is further elaborated.It should be appreciated that described herein, specific examples are only used to explain the present invention, is not used to limit
The fixed present invention.
As depicted in figs. 1 and 2, a kind of more longitudinally controlled methods of car team team based on Che-Che Tongxin, comprising the following steps:
1) perception of each vehicle is sent to its vehicle from vehicle movement state information and in a broadcast manner, and each vehicle receives his vehicle
After status information, by judging whether to meet the condition of forming a team compared with from vehicle motion state, the condition of forming a team include: each vehicle whether
In same lane line, whether each vehicle speed and acceleration are in given threshold, and whether adjacent two following distance is in given threshold
It is interior；
2) navigator's vehicle sending forms a team to request, and the vehicle for meeting the condition of forming a team starts to form a team, wherein navigator's vehicle is adaptive
Cruise mode control, following vehicle is cooperative intelligent driving mode；
3) Che of each vehicle-vehicle communication equipment obtains respective sensor information, and is packaged into data flow and is broadcast to other vehicles
?；
4) navigator's car state information for respectively following the upper controller of vehicle to be obtained according to Che-vehicle communication equipment, front truck shape
State information and the sensor information of itself calculate the expectation acceleration and desired speed for coming from vehicle；
Wherein, upper controller receives the navigator's car state information and front truck status information obtained by communication equipment, including
The position of two vehicles, speed, acceleration；Onboard sensor measure from car state information, including position, speed, acceleration.
Information calculates the expectation acceleration and desired speed for respectively following vehicle based on the received, specific as follows:
I-th vehicle is calculated to the tracing control amount u of front trucki 1Are as follows:
ui 1=kdai-1+kp(vi-1-vi)+ki(xi-1-xi-hvi-L)
I-th vehicle is calculated to the tracing control amount u of navigator's vehiclei 2Are as follows:
ui 2=kda1+kp(v1-vi)+ki(x1-xi-(i-1)hvi-(i-1)L)
Calculate the expectation acceleration of i-th vehicle are as follows:
ui=α ui 1+(1-α)ui 2
Wherein, uiIndicate expectation acceleration, x1、v1、a1Indicate navigator's vehicle location, velocity and acceleration, xi-1、vi-1、ai
Indicate front vehicle position, velocity and acceleration, xi、viIt indicates from truck position and speed, α is front truck to from vehicle weighing factor coefficient, h
For when away from L is vehicle commander, kd、kp、kiThe respectively differential coefficient, proportionality coefficient and integral coefficient of PID controller；
To guarantee fleet's stability, need to analyze the item that fleet keeps stability with regard to Theory of Stability with Li Yapu
Part.If the transmission function of vehicle upper controller is as follows:
According to Li Yapu with regard to Theory of Stability, when following formula is set up, fleet can stablize:
Lower layer's controller receives the output control amount from upper controller, completes the tracking to speed.
Control system of the invention is divided into upper and lower two layers of controller architecture.Wherein, upper controller is missed according to two following distances
Difference and other car status informations calculate desired longitudinal acceleration of the vehicle, and lower layer's controller is then completed to vehicle-state
Tracking.Hierarchical control can make each submodule control with clearly defined objective, and functional independence between disparate modules, convenient for the tune of control parameter
The stabilization of section and whole system.In order to make selected controller frame better conform to convoy, upper and lower layer controller point
It does not need to meet claimed below:
For upper controller,
It can reflect the movement relation of this vehicle and front truck；
There is certain robustness to environmental disturbances；
The expectation acceleration of output should meet the subjective feeling of driver；
Multiple targets in vehicle travel process: such as safety, comfort can be taken into account.
For lower layer's controller,
Control system has quickly response；
Follow precision height；
Since vehicle is complicated nonlinear system, it is desirable that controller changes based on Che-Che Tongxin's vehicle parameter
Vehicle lines up longitudinally controlled method with certain anti-interference ability, has preferable robustness.
5) it respectively follows the lower layer of vehicle to control and receive desired speed or acceleration from upper controller, completes to column
The control and tracking of team's longitudinal velocity.
Using the method for the present invention, when vehicle is among being traveled freely, vehicle meeting automatic searching periphery can be communicated
Vehicle.After receiving vehicle data nearby, it will fusion is compared with self-sensor device data, once with self-sensor device
Information realization cooperative information " verification " then issues and forms a team to request.After forming a team successfully, navigator's vehicle is with adaptive learning algorithms mode
It drives, Following Car is with CACC mode automatic Pilot.
During Convoy driving, navigator's vehicle acquires this vehicle car status information, is sent to and several follows vehicle, Following Car
Navigator's vehicle and the car status information from vehicle sensor transmissions are received, simultaneously by message processing module parsing car status information
It is wrapped into data flow to be sent to controller and go out by Che-vehicle communication device broadcasts, by upper controller according to two vehicles
Interval error calculates desired vehicular longitudinal velocity, and lower layer's controller receives the control amount exported from upper controller, complete
The tracking of pairs of state of motion of vehicle.
When being unsatisfactory for the condition of fleet's Convoy driving, fleet is dismissed for entire fleet, and all vehicles become adaptive cruise
Driving mode.
When dequeue, Following Car adjusts simultaneously and preceding following distance, then when all spacing meet defined separation following distance
Dequeue success.
It should be understood that for those of ordinary skills, it can be modified or changed according to the above description,
And all these modifications and variations should all belong to the protection domain of appended claims of the present invention.
Claims (3)
1. a kind of more longitudinally controlled methods of car team team based on Che-Che Tongxin, which comprises the following steps:
1) perception of each vehicle is sent to its vehicle from vehicle movement state information and in a broadcast manner, and each vehicle receives his car state
After information, by judging whether to meet the condition of forming a team compared with from vehicle motion state, whether the condition of forming a team includes: each vehicle same
In one lane line, whether each vehicle speed and acceleration are in given threshold, and whether adjacent two following distance is in given threshold；
2) navigator's vehicle sending forms a team to request, and the vehicle for meeting the condition of forming a team starts to form a team, wherein navigator's vehicle is adaptive cruise
Control model, following vehicle is cooperative intelligent driving mode；
3) Che of each vehicle-vehicle communication equipment obtains respective sensor information, and is packaged into data flow and is broadcast to other vehicles；
4) navigator's car state information, the preceding car state for respectively following the upper controller of vehicle to be obtained according to Che-vehicle communication equipment are believed
Breath and the sensor information of itself, calculate the expectation acceleration and desired speed for coming from vehicle；
5) it respectively follows the lower layer of vehicle to control and receive desired speed or acceleration from upper controller, completes to lining up to indulge
Control and tracking to speed.
2. more longitudinally controlled methods of car team team according to claim 1 based on Che-Che Tongxin, which is characterized in that described
The expectation acceleration and desired speed for respectively following vehicle are calculated in step 4), specific as follows:
I-th vehicle is calculated to the tracing control amount u of front trucki 1Are as follows:
ui 1=kdai-1+kp(vi-1-vi)+ki(xi-1-xi-hvi-L)
I-th vehicle is calculated to the tracing control amount u of navigator's vehiclei 2Are as follows:
ui 2=kda1+kp(v1-vi)+ki(x1-xi-(i-1)hvi-(i-1)L)
Calculate the expectation acceleration of i-th vehicle are as follows:
ui=α ui 1+(1-α)ui 2
Wherein, uiIndicate expectation acceleration, x1、v1、a1Indicate navigator's vehicle location, velocity and acceleration, xi-1、vi-1、aiIt indicates
Front vehicle position, velocity and acceleration, xi、viIt indicates from truck position and speed, α is front truck to from vehicle weighing factor coefficient, when h is
Away from L is vehicle commander, kd、kp、kiThe respectively differential coefficient, proportionality coefficient and integral coefficient of PID controller.
3. more longitudinally controlled methods of car team team according to claim 1 based on Che-Che Tongxin, which is characterized in that described
Controller receives the navigator's car state information and front truck status information obtained by communication equipment to step 4) at the middle and upper levels, including two vehicles
Position, speed, acceleration；Onboard sensor measure from car state information, including position, speed, acceleration.
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| CN111332290A (en) * | 2020-03-24 | 2020-06-26 | 湖南大学 | Vehicle formation method and system based on feedforward-feedback control |
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| CN110838228A (en) * | 2019-10-18 | 2020-02-25 | 东南大学 | Intelligent interactive driving system and device for commercial truck fleet |
| CN110570648A (en) * | 2019-10-29 | 2019-12-13 | 北京百度网讯科技有限公司 | method, device and equipment for adjusting formation driving and computer readable storage medium |
| CN110827535A (en) * | 2019-10-30 | 2020-02-21 | 中南大学 | Nonlinear vehicle queue cooperative self-adaptive anti-interference longitudinal control method |
| CN111369782A (en) * | 2019-11-15 | 2020-07-03 | 北汽福田汽车股份有限公司 | Control method and control device for motorcade running, readable storage medium and vehicle |
| CN113060148B (en) * | 2019-12-16 | 2024-03-19 | 克诺尔商用车制动系统有限公司 | Method and device for determining driving characteristics of vehicles in a train and vehicle having such a device |
| CN113060148A (en) * | 2019-12-16 | 2021-07-02 | 克诺尔商用车制动系统有限公司 | Method and device for determining driving characteristics of vehicles in a train and vehicle having such a device |
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| CN113031576B (en) * | 2019-12-24 | 2022-12-27 | 北京图森智途科技有限公司 | Vehicle control method in automatic driving fleet, vehicle-mounted device and vehicle |
| CN113031576A (en) * | 2019-12-24 | 2021-06-25 | 北京图森智途科技有限公司 | Vehicle control method in automatic driving fleet, vehicle-mounted device and vehicle |
| CN111223323B (en) * | 2020-01-13 | 2021-06-15 | 深圳大学 | Vehicle queue cooperative driving method and related device |
| CN111223323A (en) * | 2020-01-13 | 2020-06-02 | 深圳大学 | Vehicle queue cooperative driving method and related device |
| CN111332290B (en) * | 2020-03-24 | 2021-06-01 | 湖南大学 | Vehicle formation method and system based on feedforward-feedback control |
| CN111332290A (en) * | 2020-03-24 | 2020-06-26 | 湖南大学 | Vehicle formation method and system based on feedforward-feedback control |
| CN111665843A (en) * | 2020-06-12 | 2020-09-15 | 湖南大学 | Vehicle queue control method and system considering failure of communication part |
| CN111703418A (en) * | 2020-06-17 | 2020-09-25 | 湖南大学 | Multi-vehicle distributed cooperative collision avoidance method and device based on vehicle-vehicle communication |
| CN112445229A (en) * | 2020-11-04 | 2021-03-05 | 清华大学 | Single-lane multi-queue hierarchical control method for piloting motorcade cooperation |
| CN112445229B (en) * | 2020-11-04 | 2021-10-26 | 清华大学 | Single-lane multi-queue hierarchical control method for piloting motorcade cooperation |
| CN112660126A (en) * | 2021-01-05 | 2021-04-16 | 北京汽车研究总院有限公司 | Vehicle cooperative control method and device for adaptive cruise and vehicle |
| CN113140104A (en) * | 2021-04-14 | 2021-07-20 | 武汉理工大学 | Vehicle queue tracking control method and device and computer readable storage medium |
| CN113147764A (en) * | 2021-06-01 | 2021-07-23 | 吉林大学 | Vehicle control method based on hybrid potential function of cooperative adaptive cruise system |
| CN113147764B (en) * | 2021-06-01 | 2022-08-16 | 吉林大学 | Vehicle control method based on hybrid potential function of cooperative adaptive cruise system |
| CN113734167A (en) * | 2021-09-10 | 2021-12-03 | 苏州智加科技有限公司 | Vehicle control method, device, terminal and storage medium |
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