CN111325967A - Intelligent networking automobile formation control method and device based on cooperative assignment - Google Patents
Intelligent networking automobile formation control method and device based on cooperative assignment Download PDFInfo
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- CN111325967A CN111325967A CN202010127808.1A CN202010127808A CN111325967A CN 111325967 A CN111325967 A CN 111325967A CN 202010127808 A CN202010127808 A CN 202010127808A CN 111325967 A CN111325967 A CN 111325967A
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Abstract
The invention discloses an intelligent networking automobile formation control method and device based on cooperative assignment, wherein the method comprises the following steps: s1, collecting the transverse and longitudinal position information of each vehicle; s2, judging the formation to which each vehicle belongs according to the vehicle-to-vehicle communication distance and the communication range covered by the roadside computing unit; s3, generating a desired formation; s4, calculating the distance from each vehicle to each target position in the multi-vehicle formation, and matching the vehicles with the target positions one by one according to the principle that the sum of the distances from each vehicle to each target position is minimum; s5, sending the matching result obtained in the step S4 to the corresponding vehicle; and S6, planning the track of the vehicle according to the received target position, controlling track tracking, and enabling the vehicle to reach the expected target position, thereby forming stable multi-vehicle formation. The invention can improve the traffic efficiency and the vehicle fuel economy and reduce the acceleration and deceleration caused by passive avoidance.
Description
Technical Field
The invention relates to the technical field of intelligent vehicle application, in particular to an intelligent networking vehicle formation control method and device based on cooperative assignment.
Background
The intellectualization and the networking of the automobile are the major trends of the development of the automobile industry at present, and compared with the traditional driver, the intelligent automobile has great advantages in the aspect of improving the traffic efficiency. The straight line section is a typical and important traffic scene, and vehicles keep running at a high speed on the road section and perform acceleration, deceleration and lane change according to requirements. However, since the speed and lane of the automobile are changed during the driving process, if each automobile only considers the driving behavior of the automobile, the traffic efficiency is difficult to be improved. For example, under the scenes of a ramp entrance and exit of an expressway, a road section with a small number of urban road lanes and the like, due to the lane changing and decelerating requirements of partial vehicles, traffic jam and confusion under a local scene are caused, and the passing efficiency of the whole traffic system is severely restricted.
The car networking technology provides possibility for multi-car cooperative driving. By means of vehicle-vehicle communication or edge calculation facilities, the vehicle can send own information in real time and acquire information of other vehicles, and further, the driving intentions of the other vehicles are predicted and correspond in advance, so that traffic jam and confusion are avoided.
Disclosure of Invention
It is an object of the present invention to provide a method and apparatus for intelligent networked vehicle formation control based on co-assignment that overcomes or at least alleviates at least one of the above-mentioned deficiencies of the prior art.
In order to achieve the above object, the present invention provides an intelligent networked automobile formation control method based on cooperative assignment, which includes:
s1, collecting the transverse and longitudinal position information of each vehicle;
s2, according to the longitudinal information obtained in the step S1, the formation to which each vehicle belongs is judged according to the vehicle-to-vehicle communication distance and the communication range covered by the roadside computing unit;
s3, generating an expected formation according to the number of vehicles in the formation to which the vehicles belong and the number of lanes of the current road, which are determined in the step S2;
s4, calculating the distance from each vehicle to each target position in the multi-vehicle formation according to the expected formation determined in the step S3, and performing one-to-one matching of the vehicles and the target positions on the basis of the principle that the sum of the distances from each vehicle to each target position corresponding to the distribution result is minimum; wherein, the "assignment result" is the coordinates of the target position that the vehicle should reach;
s5, sending the distribution result obtained in the step S4 to the corresponding vehicle;
and S6, planning the track of the vehicle according to the received target position, controlling track tracking, and enabling the vehicle to reach the expected target position, thereby forming stable multi-vehicle formation.
Further, the method for controlling formation of the cooperatively assigned intelligent networked automobiles further comprises the following steps:
s7, judging whether vehicles need to be driven out of the formation: each vehicle sends own request in real time, and the corresponding road side calculation unit receives the request of the vehicle driving off the formation in real time; if no vehicle needs to drive off the formation, the control cycle is finished, and the control cycle returns to S1 to restart the next cycle; if the vehicles need to drive out of the formation, the control of the vehicle driving out of the formation is carried out in S8;
and S8, coordinating each vehicle to control the vehicle to drive away from the formation.
Further, in the case where the vehicle drives off the convoy from the rear of the convoy, step S8 specifically includes:
s8-1, judging whether the vehicle needing to leave the formation collides with other vehicles not needing to leave the formation in the process of decelerating, driving and leaving the formation according to the position information of the vehicles in the formation, if so, entering S8-2, otherwise, entering S8-6;
s8-2, regenerating a new target position for a vehicle which does not need to leave and collides with the vehicle which needs to leave, and enabling the target position to be transversely changed to an adjacent lane, thereby giving a driving space for the vehicle which needs to drive away and form a formation;
s8-3, sending the redistributed positions to vehicles needing to yield;
s8-4, recalculating control input of each vehicle needing to be driven according to the new position and controlling the vehicle, wherein the specific steps of the step are consistent with those of S6 and S7;
s8-5, judging whether the vehicle needing to yield has already finished the yield according to the current position information of each vehicle, if yes, entering S8-6, otherwise, entering S8-4;
s8-6, calculating a new target position to be tracked in the process that the vehicle needing to leave the formation is driven to leave the formation;
s8-7, sending the new target position to be tracked by the vehicle needing to drive off the formation to the vehicle needing to drive off the formation;
s8-8, recalculating control input of the vehicles needing to leave the fleet according to the new positions and controlling the vehicles, wherein the specific steps of the step are consistent with those of S6 and S7;
s8-9, according to the request of whether each vehicle needs to leave and the current position information, judging whether the vehicles need to leave successfully, if so, ending the sub-process, otherwise, entering S8-8.
Further, in step S3, the desired formation includes staggered formation and parallel formation.
Further, in step S4, the calculation method of the longitudinal position of the staggered formation is shown in equation (1), and the calculation method of the lateral position is shown in equation (2):
in the formulae (1) and (2), i represents the number of the target position, and NlIndicating the number of lanes, LsRepresenting half of the following distance, x, in the same lanegiIndicating the longitudinal position, P, of the ith target position1(a) Is a polynomial function, the expression of which is shown as formula (3), ceil (a) is an upward rounding function, com (a) is a comparison function shown as formula (5), and mod (a, b) is a remainder function for calculating the remainder obtained by dividing a by b; y isgiIndicating the lateral position, P, of the ith target position2(a) Is a polynomial function as shown in equation (4):
P1(a)＝2a-2 (3)
P2(a)＝2a-1 (4)
further, in step S4, the calculation method of the longitudinal position of the parallel formation is expressed by equation (6), and the calculation method of the lateral position is expressed by equation (7):
ygi＝mod(i，Nl) (7)
in the formulae (6) and (7), i represents the number of the target position, and xgiIndicating the longitudinal position of the ith target position, ceil (a) being an upward rounding function, mod (a, b) being a remainder function for calculating the remainder of a divided by b, NlIndicating the number of lanes, LsRepresenting half of the following distance, y, in the same lanegiIndicating the lateral position of the ith target location.
The invention also provides a cooperative-assignment intelligent networking automobile formation control device, which comprises:
the roadside communication subunit is used for collecting the transverse and longitudinal position information of each vehicle through an on-board positioning unit on the vehicle;
the formation dividing unit is used for determining formation to which each vehicle belongs according to the longitudinal information of each vehicle and the vehicle-to-vehicle communication distance and the communication range covered by the roadside computing unit;
the formation assignment subunit is used for generating an expected formation according to the number of vehicles in the current formation and the number of lanes of the current road, calculating the distance from each vehicle in the multi-vehicle formation to each target position, and performing one-to-one matching of the vehicles and the target positions on the basis of the principle that the sum of the distances from each vehicle corresponding to the distribution result to each target position is minimum; here, the "assignment result" is coordinates of a target position to which the vehicle should arrive.
Further, the formation assignment subunit is further configured to determine whether any vehicle in the formation needs to be driven out of the formation: each vehicle sends own request in real time, and the corresponding road side calculation unit receives the request of the vehicle driving off the formation in real time; if no vehicle needs to drive off the formation, the control cycle is finished; and if the vehicles need to drive off the formation, coordinating the vehicles to control the driving off of the formation.
Further, when the formation assignment subunit determines that the vehicles drive out of the formation from the rear of the formation, the control method for coordinating the vehicles to drive out of the formation specifically includes:
firstly, judging whether a vehicle needing to leave a formation collides with other vehicles not needing to leave the formation in the process of decelerating and driving away the formation according to the position information of each vehicle in the formation, if so, regenerating a new target position for the vehicle not needing to leave the formation, which collides with the vehicle needing to leave the formation, so that the target position is transversely changed to an adjacent lane, thereby giving a driving-away space for the vehicle needing to drive away the formation, otherwise, calculating a new target position needing to be tracked in the process of driving away the vehicle needing to leave the formation; then, sending the redistributed positions to vehicles needing to yield; recalculating control input of each vehicle needing to be driven according to the new position, and controlling the vehicle; judging whether the vehicles needing to yield finish the yield according to the current position information of each vehicle, if so, calculating a new target position needing to be tracked in the process that the vehicles needing to leave the formation are driven away, otherwise, recalculating the control input of each vehicle needing to yield according to the new position and controlling the vehicle; thirdly, sending a new target position to be tracked by the vehicle needing to drive away from the formation to the vehicle needing to drive away from the formation, recalculating control input of the vehicle needing to leave from the formation according to the new position, and controlling the vehicle; and finally, judging whether the vehicles needing to be dequeued successfully dequeue according to the request whether the vehicles need to be dequeued and the current position information of the vehicles, if so, finishing the sub-process, otherwise, recalculating the control input of the vehicles needing to be dequeued according to the new position, and controlling the vehicles.
Further, the desired formation comprises staggered formation and parallel formation, wherein the calculation method of the longitudinal position of the staggered formation is shown in formula (1), and the calculation method of the transverse position is shown in formula (2):
in the formulae (1) and (2), i represents the number of the target position, and NlIndicating the number of lanes, LsRepresenting half of the following distance, x, in the same lanegiIndicating the longitudinal position, P, of the ith target position1(a) Is a polynomial function, the expression of which is shown as formula (3), ceil (a) is an upward rounding function, com (a) is a comparison function shown as formula (5), and mod (a, b) is a remainder function for calculating the remainder obtained by dividing a by b; y isgiIndicating the lateral position, P, of the ith target position2(a) Is a polynomial function as shown in equation (4):
P1(a)＝2a-2 (3)
P2(a)＝2a-1 (4)
the calculation method of the longitudinal position of the parallel formation is shown in the formula (6), and the calculation method of the transverse position is shown in the formula (7):
ygi＝mod(i，Nl) (7)
in the formulae (6) and (7), i represents the number of the target position, and xgiIndicating the longitudinal position of the ith target position, ceil (a) being an upward rounding function, mod (a, b) being a remainder function for calculating the remainder of a divided by b, NlIndicating the number of lanes, LsMeans the sameHalf of the following distance in a lane, ygiIndicating the lateral position of the ith target location.
The invention can improve the traffic efficiency and the vehicle fuel economy and reduce the acceleration and deceleration caused by passive avoidance.
Drawings
FIG. 1 illustrates the internal components and relationships of various systems provided by embodiments of the present invention;
FIG. 2 is a flowchart of a method for controlling formation of a co-assigned intelligent networked automobile according to an embodiment of the present invention;
FIGS. 3a and 3b are schematic diagrams of two formation geometries provided by embodiments of the present invention;
fig. 4 is a sub-flowchart of a vehicle driving-off formation part according to an embodiment of the present invention.
Detailed Description
The invention is described in detail below with reference to the figures and examples.
According to the invention, the vehicle group is divided into the formation by acquiring the vehicle position information, the vehicles in the formation are reasonably distributed, and the vehicles in the formation run in the formation at the same expected speed, so that the purposes of improving the traffic efficiency and the vehicle fuel economy and reducing the acceleration and deceleration caused by passive avoidance are achieved.
As shown in fig. 1, a system used in the intelligent networked automobile formation passing method provided by the embodiment of the invention includes a roadside computing unit and N vehicles (such as vehicle 1, vehicle 2, … …, and vehicle N shown in fig. 1) traveling on a lane. Each vehicle is an intelligent networking automobile, the state of the intelligent networking automobile is completely observable and controllable, and each vehicle is provided with a vehicle-mounted positioning unit, a vehicle-mounted communication unit, a vehicle-mounted central controller, a lower controller and an execution mechanism.
The roadside computing unit is a computing unit which centrally processes vehicle formation generation and assignment.
Specifically, the roadside computing unit includes a roadside communication subunit, a formation division subunit, and a formation assignment subunit. The following explains the functions of the sub-units in the roadside computing unit one by one through the description of the formation passing method provided by the embodiment of the invention.
And S1, collecting the positioning information of each vehicle, wherein the positioning information of each vehicle is collected by the vehicle-mounted positioning unit on the vehicle and is transmitted to the roadside communication subunit by the vehicle-mounted communication unit. The vehicle positioning information specifically includes lateral and longitudinal position information thereof, wherein: the transverse information is the number of the lane where the vehicle is located, and the lane number mode is as follows: one lane closest to the ramp is numbered lane number 1, where the default ramp is located on the right side of the main road, and the other lanes on the main road are numbered sequentially from right to left as 2,3 … …, M, where M refers to the number of lanes on the main road. The longitudinal distance refers to a travel distance of the vehicle in the lane direction. The longitudinal information is the longitudinal distance from the position of the vehicle to a certain road entrance. The vehicles in this step specifically include vehicles that are running on the main road and vehicles that run off the ramp and are about to merge into the main road.
And S2, the roadside communication subunit transmits the received vehicle positioning information acquired in S1 to the formation dividing subunit, and the formation dividing subunit determines the formation to which each vehicle belongs according to the vehicle-to-vehicle communication distance and the communication range covered by the roadside computing unit according to the longitudinal information of each vehicle. That is, vehicles in the same lane or different lanes belong to the same formation as long as the communication distance between the vehicles is within the communication range covered by the roadside calculation unit. Otherwise, the communication distance between the vehicles and the communication range covered by the road side calculation unit is different formation.
And S3, according to the formation to which the vehicles belong determined in the step S2, the formation assignment subunit calculates the expected formation form, namely the longitudinal position and the transverse position of each vehicle in the current formation according to the number of the vehicles in the current formation.
The formation is expected to take various forms, such as staggered formation as shown in fig. 3a, parallel formation as shown in fig. 3b, or formation in other shapes not shown in the figure.
The staggered formation provided in fig. 3a can provide convenience for behaviors such as collaborative lane changing of vehicles, and further improve safety, the calculation method of the longitudinal (front and rear) position of the staggered formation is shown as formula (1), and the calculation method of the transverse (left and right) position is shown as formula (2):
in the formulae (1) and (2), i represents the number of the target position, and xgiDenotes the longitudinal position of the ith target position, which means in particular the longitudinal distance, P, of the position from the foremost end of the formation1(a) Is a polynomial function with the expression shown in formula (3), ceil (a) is an upward integer-rounding function for obtaining the minimum integer not less than the independent variable, com (a) is a comparison function with the specific expression shown in formula (5), mod (a, b) is a remainder-taking function for calculating the remainder obtained by dividing a by b, a and b refer to different parameters or functions, NlIndicating the number of lanes, LsRepresenting half of the following distance, y, in the same lanegiThe lateral position of the ith target position is expressed by the lane number, P2(a) Is a polynomial function, and the specific expression thereof is shown in formula (4).
P1(a)＝2a-2 (3)
P2(a)＝2a-1 (4)
The calculation method for the longitudinal (front and back) position of the parallel formation provided in fig. 3b is shown in equation (6), and the calculation method for the lateral (left and right) position is shown in equation (7):
ygi＝mod(i，Nl) (7)
the descriptions of the parameters in the formulas (6) and (7) are the same as those in the formulas (1) and (2), and are not repeated herein.
And S4, the formation assignment subunit allocates the positions in the formation for each vehicle, and sends the allocation result to the roadside communication subunit.
Specifically, the method for the formation assignment subunit to allocate the position in the formation for each vehicle is as follows:
and calculating the cost of each vehicle to each target position in the formation, and matching the vehicles with the target positions one by using an allocation algorithm so as to minimize the total cost of the vehicles to reach the target positions.
Further, the cost may be set as an absolute distance, a lane change number or a longitudinal distance from the vehicle to the target position, and in the present embodiment, the absolute distance is selected as the allocation cost without loss of generality. The algorithms for the allocation problem include a variety of algorithms, and in this embodiment, the following hungarian algorithm is taken as an example to solve the allocation problem to be solved by this embodiment without loss of generality.
The process of the Hungarian algorithm is as follows:
s4-1, calculating the distribution cost of each vehicle to each target position, wherein the concrete form is as follows: calculating the absolute distance from each vehicle to each target position at one time to form a cost matrix
Formed as formula (8):
in the formula (6), cijIn order to assign the ith vehicle to the jth target location, i.e. the distance between the ith vehicle and the jth target location, N is the number of vehicles.
S4-2, pair
Respectively subtracting the minimum number of the row from each row of the matrix to obtain the matrix
S4-3, to
Respectively subtracting the minimum number of the column to obtain a matrix
S4-4, covering the matrix with minimal horizontal and vertical lines
If the sum of the numbers of horizontal and vertical lines is equal to N, the process proceeds to S4-5, otherwise, the process proceeds to S4-6.
S4-5, selecting matrix
All independent zero elements in (1). The definition of the independent zero element is: for a 0 in a matrix, if the other elements in the row and column where it is located are not 0, then the 0 is an independent zero element. The row number (vehicle number) and column number (target position number) of the selected independent zero element represent the distribution result. The result of this allocation is output and the algorithm ends.
S4-6, selected from S4-4,
the smallest element among the elements not covered by any straight line, the smallest element being subtracted from all the elements not covered, and the smallest element being added to all the elements covered by both the horizontal and vertical lines (i.e., covered twice), resulting in a matrix
Order to
Proceed to S4-2.
S5, the road side communication sub-unit sends the distribution result obtained in the step S4 to the corresponding vehicle, and the distribution result is received by the vehicle-mounted communication unit on the corresponding vehicle. The "assignment result" includes the lane number of the assignment position and the longitudinal position of the assignment position.
And S6, the vehicle-mounted communication unit on the vehicle transmits the received distribution result to the vehicle-mounted central controller of the vehicle, and the vehicle-mounted central controller plans the transverse and longitudinal movement of the vehicle according to the distribution result. Without loss of generality, the motion track of the vehicle can be planned by adopting a Bezier curve, and then the track tracking is carried out by using a PID controller. According to the track planning result, decoupling the motion input of the vehicle into a transverse front wheel corner and a longitudinal vehicle acceleration, sending the control input to a lower controller, and further specifically controlling an execution mechanism of the vehicle by the lower controller to complete track tracking.
In one embodiment, the formation passage method provided by the invention also can cause the member vehicles in the formation to drive away from the formation. Such as member vehicles in a formation driving off the formation from the rear of the formation, such as member vehicles in a formation driving off the formation from the front of the formation, and such as member vehicles in a formation driving off the formation from the side (left or right) of the formation. Wherein, the front is the vehicle running direction, and the reverse is the back; the left side of the "direction of travel" is "left", and vice versa "right". Therefore, the present invention further includes the following steps S7 and S8.
And S7, the formation assignment subunit judges whether vehicles in the formation need to drive out of the formation. Specifically, each vehicle sends its own request in real time, and the corresponding roadside computing unit receives the request for the vehicle to leave the formation in real time. If no vehicle needs to drive off the formation, the control cycle is finished, and the control cycle returns to S1 to restart the next cycle; if there is a vehicle that needs to be driven out of the convoy, the process proceeds to S8, and control is performed to drive out of the convoy.
And S8, the formation assignment subunit coordinates each vehicle to control the vehicle to drive away from the formation. The following description will mainly be made of the form of driving the vehicles off the formation from the rear and the front of the formation, wherein the flow of driving off the formation from the rear of the formation is shown in fig. 4.
And S8-1, judging whether the vehicle needing to leave the formation collides with other vehicles needing not to leave the formation in the process of decelerating, driving and leaving the formation according to the position information of the vehicles in the formation. If a conflict would occur, S8-2 is entered, otherwise S8-6 is entered.
And S8-2, regenerating a new target position for the vehicle which does not need to leave and collides with the vehicle which needs to leave, and enabling the target position to be transversely changed to an adjacent lane, thereby making room for the vehicle which needs to drive away and form a formation.
And S8-3, sending the reallocated positions to vehicles needing to yield.
And S8-4, recalculating the control input according to the new position by each vehicle needing to be driven, and controlling the vehicle, wherein the specific steps of the step are consistent with those of S6 and S7, and are not repeated herein.
And S8-5, judging whether the vehicle needing to yield has already finished the yield according to the current position information of each vehicle, if so, entering S8-6, otherwise, entering S8-4.
And S8-6, calculating the new target position to be tracked in the process of driving the vehicle to be dequeued away from the formation.
And S8-7, sending the new target position to be tracked by the vehicle needing to drive off the formation to the vehicle needing to drive off the formation.
And S8-8, recalculating the control input of the vehicle needing to leave the queue according to the new position and controlling the vehicle, wherein the specific steps of the step are consistent with those of S6 and S7 and are not repeated herein.
S8-9, according to the request of whether each vehicle needs to leave and the current position information, judging whether the vehicles need to leave successfully, if so, ending the sub-process, otherwise, entering S8-8.
If the vehicle is driven from the front of the formation, the main framework of the steps is not changed, and only the processes of vehicle deceleration and driving from the rear of the formation are replaced by vehicle acceleration and driving from the front of the formation.
Finally, it should be pointed out that: the above examples are only for illustrating the technical solutions of the present invention, and are not limited thereto. Those of ordinary skill in the art will understand that: modifications can be made to the technical solutions described in the foregoing embodiments, or some technical features may be equivalently replaced; such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present invention.
Claims (10)
1. An intelligent networking automobile formation control method based on cooperative assignment is characterized by comprising the following steps:
s1, collecting the transverse and longitudinal position information of each vehicle;
s2, according to the longitudinal information obtained in the step S1, the formation to which each vehicle belongs is judged according to the vehicle-to-vehicle communication distance and the communication range covered by the roadside computing unit;
s3, generating an expected formation according to the number of vehicles in the formation to which the vehicles belong and the number of lanes of the current road, which are determined in the step S2;
s4, calculating the distance from each vehicle to each target position in the multi-vehicle formation according to the expected formation determined in the step S3, and performing one-to-one matching of the vehicles and the target positions on the basis of the principle that the sum of the distances from each vehicle to each target position corresponding to the distribution result is minimum; wherein, the "assignment result" is the coordinates of the target position that the vehicle should reach;
s5, sending the distribution result obtained in the step S4 to the corresponding vehicle;
and S6, planning the track of the vehicle according to the received target position, controlling track tracking, and enabling the vehicle to reach the expected target position, thereby forming stable multi-vehicle formation.
2. The intelligent networked automobile formation control method based on cooperative assignment as claimed in claim 1, further comprising:
s7, judging whether vehicles need to be driven out of the formation: each vehicle sends own request in real time, and the corresponding road side calculation unit receives the request of the vehicle driving off the formation in real time; if no vehicle needs to drive off the formation, the control cycle is finished, and the control cycle returns to S1 to restart the next cycle; if the vehicles need to drive out of the formation, the control of the vehicle driving out of the formation is carried out in S8;
and S8, coordinating each vehicle to control the vehicle to drive away from the formation.
3. The method as claimed in claim 2, wherein in the case that the vehicle drives off the formation from behind the formation, the step S8 specifically includes:
s8-1, judging whether the vehicle needing to leave the formation collides with other vehicles not needing to leave the formation in the process of decelerating, driving and leaving the formation according to the position information of the vehicles in the formation, if so, entering S8-2, otherwise, entering S8-6;
s8-2, regenerating a new target position for a vehicle which does not need to leave and collides with the vehicle which needs to leave, and enabling the target position to be transversely changed to an adjacent lane, thereby giving a driving space for the vehicle which needs to drive away and form a formation;
s8-3, sending the redistributed positions to vehicles needing to yield;
s8-4, recalculating control input of each vehicle needing to be driven according to the new position and controlling the vehicle, wherein the specific steps of the step are consistent with those of S6 and S7;
s8-5, judging whether the vehicle needing to yield has already finished the yield according to the current position information of each vehicle, if yes, entering S8-6, otherwise, entering S8-4;
s8-6, calculating a new target position to be tracked in the process that the vehicle needing to leave the formation is driven to leave the formation;
s8-7, sending the new target position to be tracked by the vehicle needing to drive off the formation to the vehicle needing to drive off the formation;
s8-8, recalculating control input of the vehicles needing to leave the fleet according to the new positions and controlling the vehicles, wherein the specific steps of the step are consistent with those of S6 and S7;
s8-9, according to the request of whether each vehicle needs to leave and the current position information, judging whether the vehicles need to leave successfully, if so, ending the sub-process, otherwise, entering S8-8.
4. The intelligent networked automobile formation control method based on cooperative assignment as claimed in any one of claims 1 to 3, wherein in step S3, the desired formation comprises staggered formation and parallel formation.
5. The intelligent networked automobile formation control method based on cooperative assignment as claimed in claim 4, wherein in step S4, the calculation method of the longitudinal position of the staggered formation is as shown in formula (1), and the calculation method of the lateral position is as shown in formula (2):
in the formulae (1) and (2), i represents the number of the target position, and NlIndicating the number of lanes, LsRepresenting half of the following distance, x, in the same lanegiIndicating the longitudinal position, P, of the ith target position1(a) Is a polynomial function, the expression of which is shown as formula (3), ceil (a) is an upward rounding function, com (a) is a comparison function shown as formula (5), and mod (a, b) is a remainder function for calculating the remainder obtained by dividing a by b; y isgiIndicating the lateral position, P, of the ith target position2(a) Is a polynomial function as shown in equation (4):
P1(a)＝2a-2 (3)
P2(a)＝2a-1 (4)
6. the intelligent networked automobile formation control method based on cooperative assignment as claimed in claim 4, wherein in step S4, the calculation method of the longitudinal position of the parallel formation is as shown in equation (6), and the calculation method of the lateral position is as shown in equation (7):
ygi＝mod(i，Nl) (7)
in the formulae (6) and (7), i represents the number of the target position, and xgiIndicating the longitudinal position of the ith target position, ceil (a) being an upward rounding function, mod (a, b) being a remainder function for calculating the remainder of a divided by b, NlIndicating the number of lanes, LsRepresenting half of the following distance, y, in the same lanegiIndicating the lateral position of the ith target location.
7. An intelligent networked automobile formation control device based on cooperative assignment is characterized by comprising:
the roadside communication subunit is used for collecting the transverse and longitudinal position information of each vehicle through an on-board positioning unit on the vehicle;
the formation dividing unit is used for determining formation to which each vehicle belongs according to the longitudinal information of each vehicle and the vehicle-to-vehicle communication distance and the communication range covered by the roadside computing unit;
the formation assignment subunit is used for generating an expected formation according to the number of vehicles in the current formation and the number of lanes of the current road, calculating the distance from each vehicle in the multi-vehicle formation to each target position, and performing one-to-one matching of the vehicles and the target positions on the basis of the principle that the sum of the distances from each vehicle corresponding to the distribution result to each target position is minimum; here, the "assignment result" is coordinates of a target position to which the vehicle should arrive.
8. The intelligent networked automobile formation control device based on cooperative assignment as claimed in claim 7, wherein the formation assignment subunit is further configured to determine whether any vehicle in the formation needs to exit the formation: each vehicle sends own request in real time, and the corresponding road side calculation unit receives the request of the vehicle driving off the formation in real time; if no vehicle needs to drive off the formation, the control cycle is finished; and if the vehicles need to drive off the formation, coordinating the vehicles to control the driving off of the formation.
9. The device for controlling formation of intelligent networked automobiles according to claim 7, wherein the formation assignment subunit coordinates the vehicles to form a vehicle train when determining that the vehicles are driven off from the rear of the formation, and the method specifically comprises:
firstly, judging whether a vehicle needing to leave a formation collides with other vehicles not needing to leave the formation in the process of decelerating and driving away the formation according to the position information of each vehicle in the formation, if so, regenerating a new target position for the vehicle not needing to leave the formation, which collides with the vehicle needing to leave the formation, so that the target position is transversely changed to an adjacent lane, thereby giving a driving-away space for the vehicle needing to drive away the formation, otherwise, calculating a new target position needing to be tracked in the process of driving away the vehicle needing to leave the formation; then, sending the redistributed positions to vehicles needing to yield; recalculating control input of each vehicle needing to be driven according to the new position, and controlling the vehicle; judging whether the vehicles needing to yield finish the yield according to the current position information of each vehicle, if so, calculating a new target position needing to be tracked in the process that the vehicles needing to leave the formation are driven away, otherwise, recalculating the control input of each vehicle needing to yield according to the new position and controlling the vehicle; thirdly, sending a new target position to be tracked by the vehicle needing to drive away from the formation to the vehicle needing to drive away from the formation, recalculating control input of the vehicle needing to leave from the formation according to the new position, and controlling the vehicle; and finally, judging whether the vehicles needing to be dequeued successfully dequeue according to the request whether the vehicles need to be dequeued and the current position information of the vehicles, if so, finishing the sub-process, otherwise, recalculating the control input of the vehicles needing to be dequeued according to the new position, and controlling the vehicles.
10. The intelligent networked automobile formation control device based on cooperative assignment as claimed in claim 9, wherein the desired formation comprises staggered formation and parallel formation, wherein the calculation method of the longitudinal position of the staggered formation is shown in formula (1), and the calculation method of the transverse position is shown in formula (2):
in the formulae (1) and (2), i represents the number of the target position, and NlIndicating the number of lanes, LsRepresenting half of the following distance, x, in the same lanegiIndicating the longitudinal position, P, of the ith target position1(a) Is a polynomial function, the expression of which is shown as formula (3), ceil (a) is an upward rounding function, com (a) is a comparison function shown as formula (5), and mod (a, b) is a remainder function for calculating the remainder obtained by dividing a by b; y isgiIndicating the lateral position, P, of the ith target position2(a) Is a polynomial function as shown in equation (4):
P1(a)＝2a-2 (3)
P2(a)＝2a-1 (4)
the calculation method of the longitudinal position of the parallel formation is shown in the formula (6), and the calculation method of the transverse position is shown in the formula (7):
ygi＝mod(i，Nl) (7)
in the formulae (6) and (7), i represents the number of the target position, and xgiIndicating the longitudinal position of the ith target position, ceil (a) being an upward rounding function, mod (a, b) being a remainder function, usingThe remainder of the calculation of a divided by b, NlIndicating the number of lanes, LsRepresenting half of the following distance, y, in the same lanegiIndicating the lateral position of the ith target location.
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