CN111325975A - Centralized optimization coordination method of intelligent networked vehicles in afflux entrance area - Google Patents

Centralized optimization coordination method of intelligent networked vehicles in afflux entrance area Download PDF

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CN111325975A
CN111325975A CN202010102003.1A CN202010102003A CN111325975A CN 111325975 A CN111325975 A CN 111325975A CN 202010102003 A CN202010102003 A CN 202010102003A CN 111325975 A CN111325975 A CN 111325975A
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vehicles
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CN111325975B (en
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赵万忠
刘津强
刘畅
胡犇
邹松春
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Nanjing University of Aeronautics and Astronautics
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    • 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
    • G08G1/0125—Traffic data processing
    • 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
    • G08G1/0137—Measuring and analyzing of parameters relative to traffic conditions for specific applications
    • G08G1/0145—Measuring and analyzing of parameters relative to traffic conditions for specific applications for active traffic flow control

Abstract

The invention discloses a centralized optimization and coordination method of intelligent networked vehicles in an afflux inlet area, which comprises the following steps: 1) the method comprises the steps that a centralized controller arranged in an afflux entrance area receives state information of vehicles in a communication range and sets unique numbers for the vehicles; 2) according to the state information of the vehicles, carrying out global optimization solution to obtain the optimal acceleration of each vehicle in the entry area at each moment, and respectively transmitting the optimal acceleration information to each vehicle; 3) each vehicle performs corresponding acceleration/deceleration control according to the received optimal acceleration information, and transmits the state information of the vehicle to the centralized controller in real time; and returning to the step 2) until the vehicle moves out of the junction area, and disconnecting the communication with the centralized controller. The method of the invention aims at high efficiency, energy saving and comfort of vehicles, and optimizes and solves the tracks of all vehicles on the main road and the ramp, thereby realizing coordination of vehicles passing through the junction area.

Description

Centralized optimization coordination method of intelligent networked vehicles in afflux entrance area
Technical Field
The invention belongs to the technical field of intelligent networked traffic systems, and particularly relates to a centralized optimization and coordination method of intelligent networked vehicles in an afflux entrance area.
Background
With the rapid development of vehicle electronic technology and computer technology, vehicle intellectualization and networking have become one of the main directions of road traffic development. With the continuous increase of the automobile holding capacity in the world, the further development of road traffic is hindered by the problems of urban road congestion, frequent accidents, energy shortage and the like. Therefore, it is necessary to construct an intelligent transportation system by realizing intellectualization and networking of vehicles to improve vehicle passing efficiency and fuel economy. For ramp merging areas of important urban road components, it is necessary to provide some intelligent and networking-based merging coordination methods to improve congestion and improve vehicle traffic efficiency.
Generally, in the process of converging vehicles on a ramp without intelligent network connection, a driver visually judges the relative position relation between the vehicles and a main road to perform corresponding acceleration/deceleration avoidance operation. However, since the accuracy of the manner in which the driver makes a judgment and decision by visual observation depends heavily on the driving skill and driving proficiency of the driver, rapid deceleration, rapid acceleration, collision with the vehicle on the main road, and the like are likely to occur during the merge process. In the existing coordinated import method of the intelligent networked vehicle at the import, a part of the methods adopts a Markov decision framework to carry out decision estimation on the state of the ramp vehicle, and the method only aims at the optimal state of the vehicle when the vehicle is an intelligent vehicle, can not realize the global optimization of all vehicles in the whole import area, and the decision effect of the method depends on the quality of parameter training; some of these systems avoid collisions between vehicles by communicating between vehicles, but the efficiency and energy efficiency of all vehicles passing through the ingress area is not considered.
Disclosure of Invention
Aiming at the defects of the prior art, the invention aims to provide a centralized optimization and coordination method of intelligent networked vehicles in an afflux entrance area.
In order to achieve the purpose, the technical scheme adopted by the invention is as follows:
the invention discloses a centralized optimization and coordination method of intelligent networked vehicles in an afflux inlet area, which comprises the following steps:
1) the method comprises the steps that a centralized controller arranged in an afflux region receives state information of vehicles in a communication range, and sets a unique number i for the vehicles;
2) according to the state information of the vehicles, carrying out global optimization solution to obtain the optimal acceleration of each vehicle in the entry area at each moment, and respectively transmitting the optimal acceleration information to each vehicle;
3) each vehicle performs corresponding acceleration/deceleration control according to the received optimal acceleration information, transmits the state information of the vehicle to the centralized controller in real time, and returns to the step 2); until the vehicle exits the merge area and communication with the centralized controller is broken.
Further, the sink-inlet region is divided into two parts: the area from the position of the centralized controller to the farthest communication range of the centralized controller is a control area, and the area from the position of the centralized controller to the end of the junction area is a junction area.
Further, the state information of the vehicle in the step 1) includes: position, speed of the vehicle, which is expressed as:
Figure BDA0002387174080000021
in the formula (d)iDistance v for vehicle i from centralized controlleriIs the speed of vehicle i;
the state equation of vehicle driving is as follows:
Figure BDA0002387174080000022
Figure BDA0002387174080000023
in the formula, aiIs the acceleration of the vehicle i, and is also the controlInputting;
keeping a safety distance delta (v) between the front and the rear of the vehicle in the convergence areai(t)), and the vehicle keeps traveling at a constant speed in the merge area, there are:
Figure BDA0002387174080000024
in the formula (I), the compound is shown in the specification,
Figure BDA0002387174080000025
and the time when the vehicle i exits the control area and enters the convergence area is the time when the vehicle i exits the control area, the vehicle i and the vehicle i-1 are vehicles in the convergence area, and the vehicle i is immediately behind the vehicle i-1.
Further, the global optimization solving method in step 2) specifically includes:
the global optimal problem is established as follows:
Figure BDA0002387174080000026
the constraint conditions are as follows:
Figure BDA0002387174080000027
Figure BDA0002387174080000028
Figure BDA0002387174080000029
Figure BDA00023871740800000210
where N (t) is the set of vehicles communicating with the centralized controller at time t, ω1And ω2In order to be a weight factor, the weight factor,
Figure BDA00023871740800000211
the time when the vehicle i enters the ingress area,
Figure BDA00023871740800000212
the time when the vehicle i moves out of the junction area is represented by l, the length of the junction area is represented by s, and the length of the junction area is represented by s;
the global optimization problem is reduced to the optimization problem of each vehicle under the above constraints, order
Figure BDA0002387174080000031
Then there are:
Figure BDA0002387174080000032
in the formula (I), the compound is shown in the specification,
Figure BDA0002387174080000033
the Hamiltonian is:
Figure BDA0002387174080000034
in the formula (I), the compound is shown in the specification,
Figure BDA0002387174080000035
and
Figure BDA0002387174080000036
is a synergistic quantity;
the canonical equation is:
Figure BDA0002387174080000037
Figure BDA0002387174080000038
order to
Figure BDA0002387174080000039
Then the following results are obtained:
Figure BDA00023871740800000310
in the formula, c1And c2Are all constants;
the extreme conditions are as follows:
Figure BDA00023871740800000311
the optimal control inputs are then:
Figure BDA00023871740800000312
substituting the optimal control input into the boundary condition:
Figure BDA00023871740800000313
and the condition that the Hamiltonian should meet at the end of the optimal trajectory:
Figure BDA00023871740800000314
then, the constant c is obtained by solving1And c2To obtain the optimum control input
Figure BDA00023871740800000315
Is also the optimal acceleration of vehicle i; will be provided with
Figure BDA00023871740800000316
Substituting the state equation to obtain the optimal state of the vehicle i
Figure BDA00023871740800000317
According to the steps, the optimal acceleration of each vehicle in the inlet area at each moment can be obtained.
The invention has the beneficial effects that:
according to the method, the global optimal problem of all vehicles in the afflux entrance area is solved by adopting the variational method, and the optimal acceleration of each vehicle at each moment is obtained under the condition that the traffic efficiency and the fuel economy are optimal, so that the road traffic efficiency is obviously improved, the accident occurrence probability of the afflux entrance area is reduced, and the overall fuel economy is improved. Compared with the prior art, the method has the advantages of low calculation complexity and high feasibility, can be applied to cooperative driving among vehicles in the afflux region, and becomes a part for constructing an intelligent traffic environment.
Drawings
Fig. 1 is a schematic view of a scenario according to an embodiment of the present invention.
FIG. 2 is a method schematic of an embodiment of the invention.
FIG. 3 is a flowchart of an optimization solution according to an embodiment of the present invention.
Fig. 4 is a simulation diagram according to an embodiment of the present invention.
Detailed Description
In order to facilitate understanding of those skilled in the art, the present invention will be further described with reference to the following examples and drawings, which are not intended to limit the present invention.
Fig. 1 is a schematic view of a scenario according to an embodiment of the present invention. The figure mainly comprises a main road lane, a ramp lane, an integrated controller, main road vehicles and ramp vehicles. Also, as shown in the figure, the ingress area is divided into two parts: the area from the position of the centralized controller to the farthest communication range of the centralized controller is a control area, and the area from the position of the centralized controller to the end of the junction area is a junction area.
FIG. 2 is a schematic diagram of a method according to an embodiment of the present invention. According to fig. 2, the method of the present invention comprises the following steps:
the method comprises the following steps: the integrated controller is arranged in the afflux area, a wireless communication module and a calculation solver module are contained in the integrated controller, and communication and global optimization solution with a plurality of vehicles can be achieved simultaneously. When a main road vehicle or a ramp vehicle enters a communication range of an integrated controller arranged at a junction, the integrated controller receives state information of the vehicle and sets a unique number i for the vehicle, and the state information of the vehicle comprises the position and the speed of the vehicle, and is represented as follows:
Figure BDA0002387174080000041
in the formula (d)iDistance v for vehicle i from centralized controlleriIs the speed of vehicle i;
the state equation of vehicle driving is as follows:
Figure BDA0002387174080000042
Figure BDA0002387174080000043
in the formula, aiIs the acceleration of the vehicle i and is also the control input;
keeping a safety distance delta (v) between the front and the rear of the vehicle in the convergence areai(t)), and the vehicle keeps traveling at a constant speed in the merge area, there are:
Figure BDA0002387174080000051
in the formula (I), the compound is shown in the specification,
Figure BDA0002387174080000052
and the time when the vehicle i exits the control area and enters the convergence area is the time when the vehicle i exits the control area, the vehicle i and the vehicle i-1 are vehicles in the convergence area, and the vehicle i is immediately behind the vehicle i-1.
Step two: the integrated controller receives state information of all vehicles in a communication range and carries out global optimization solution; according to FIG. 3, a global optimization solution is performed in the computational solver module; the method comprises the following specific steps:
the global optimal problem is established as follows:
Figure BDA0002387174080000053
the constraint conditions are as follows:
Figure BDA0002387174080000054
Figure BDA0002387174080000055
Figure BDA0002387174080000056
Figure BDA0002387174080000057
where N (t) is the set of vehicles communicating with the centralized controller at time t, ω1And ω2In order to be a weight factor, the weight factor,
Figure BDA0002387174080000058
the time when the vehicle i enters the ingress area,
Figure BDA0002387174080000059
the time when the vehicle i moves out of the merging area, l is the length of the merging area, and s is the length of the merging area.
The global optimization problem can be reduced to the optimization problem of each vehicle under the above constraints, so that
Figure BDA00023871740800000510
Then there are:
Figure BDA00023871740800000511
in the formula (I), the compound is shown in the specification,
Figure BDA00023871740800000512
the Hamiltonian is:
Figure BDA00023871740800000513
in the formula (I), the compound is shown in the specification,
Figure BDA00023871740800000514
and
Figure BDA00023871740800000515
is a synergistic quantity;
the canonical equation is:
Figure BDA00023871740800000516
Figure BDA0002387174080000061
order to
Figure BDA0002387174080000062
Then it is possible to obtain:
Figure BDA0002387174080000063
in the formula, c1And c2Are all constants;
the extreme conditions are as follows:
Figure BDA0002387174080000064
the optimal control inputs are then:
Figure BDA0002387174080000065
substituting the optimal control input into the boundary condition:
Figure BDA0002387174080000066
and the condition that the Hamiltonian should meet at the end of the optimal trajectory:
Figure BDA0002387174080000067
then, the constant c is obtained by solving1And c2To obtain the optimum control input
Figure BDA0002387174080000068
Is also the optimal acceleration of vehicle i; will be provided with
Figure BDA0002387174080000069
Substituting the state equation to obtain the optimal state of the vehicle i
Figure BDA00023871740800000610
According to the steps, the optimal acceleration of each vehicle in the inlet area at each moment can be obtained.
Finally, the central controller transmits the optimal acceleration information of each vehicle in the junction area at each moment to each vehicle.
Step three: and all the vehicles perform corresponding acceleration/deceleration control according to the received optimal acceleration information, so that the actual acceleration of the vehicles is equal to the optimal acceleration. And meanwhile, the vehicle continuously keeps communicating with the centralized controller, the state information of the vehicle is continuously transmitted to the centralized controller, the step II is returned, the steps are repeated in a circulating mode until the vehicle is driven out of the junction area, and the communication with the centralized controller is disconnected.
The invention realizes the safe, efficient and economic cooperative driving of all vehicles in the coordinated convergence entrance area. Fig. 4 is a simulation diagram of an embodiment of the present invention. Simulation results show that the proposed method enables all vehicles in the ingress area to safely pass through the ingress without generating lateral or longitudinal collisions. And the overall fuel economy and traffic efficiency of all vehicles are obviously improved compared with the situation without control, and the effectiveness of the method is verified.
While the invention has been described in terms of its preferred embodiments, it will be understood by those skilled in the art that various changes in form and details may be made therein without departing from the spirit and scope of the invention.

Claims (4)

1. A centralized optimization and coordination method of intelligent networked vehicles in an afflux inlet area is characterized by comprising the following steps:
1) the method comprises the steps that a centralized controller arranged in an afflux region receives state information of vehicles in a communication range, and sets a unique number i for the vehicles;
2) according to the state information of the vehicles, carrying out global optimization solution to obtain the optimal acceleration of each vehicle in the entry area at each moment, and respectively transmitting the optimal acceleration information to each vehicle;
3) each vehicle performs corresponding acceleration/deceleration control according to the received optimal acceleration information, transmits the state information of the vehicle to the centralized controller in real time, and returns to the step 2); until the vehicle exits the merge area and communication with the centralized controller is broken.
2. The method for centralized optimization and coordination of intelligent networked vehicles in an ingress area according to claim 1, wherein the ingress area is divided into two parts: the area from the position of the centralized controller to the farthest communication range of the centralized controller is a control area, and the area from the position of the centralized controller to the end of the junction area is a junction area.
3. The method for centralized optimization and coordination of intelligent networked vehicles in an ingress area according to claim 1, wherein the state information of the vehicle in the step 1) comprises: position, speed of the vehicle, which is expressed as:
Figure FDA0002387174070000011
in the formula (d)iDistance v for vehicle i from centralized controlleriIs the speed of vehicle i;
the state equation of vehicle driving is as follows:
Figure FDA0002387174070000012
Figure FDA0002387174070000013
in the formula, aiIs the acceleration of the vehicle i and is also the control input;
keeping a safety distance delta (v) between the front and the rear of the vehicle in the convergence areai(t)), and the vehicle keeps traveling at a constant speed in the merge area, there are:
Figure FDA0002387174070000014
in the formula (I), the compound is shown in the specification,
Figure FDA0002387174070000015
and the time when the vehicle i exits the control area and enters the convergence area is the time when the vehicle i exits the control area, the vehicle i and the vehicle i-1 are vehicles in the convergence area, and the vehicle i is immediately behind the vehicle i-1.
4. The method for centralized optimization and coordination of intelligent networked vehicles in an ingress area according to claim 3, wherein the global optimization solution in step 2) is specifically:
the global optimal problem is established as follows:
Figure FDA0002387174070000016
the constraint conditions are as follows:
Figure FDA0002387174070000021
Figure FDA0002387174070000022
Figure FDA0002387174070000023
Figure FDA0002387174070000024
where N (t) is the set of vehicles communicating with the centralized controller at time t, ω1And ω2In order to be a weight factor, the weight factor,
Figure FDA0002387174070000025
the time when the vehicle i enters the ingress area,
Figure FDA0002387174070000026
the time when the vehicle i moves out of the junction area is represented by l, the length of the junction area is represented by s, and the length of the junction area is represented by s;
the global optimization problem is reduced to the optimization problem of each vehicle under the above constraints, order
Figure FDA0002387174070000027
Then there are:
Figure FDA0002387174070000028
in the formula (I), the compound is shown in the specification,
Figure FDA0002387174070000029
the Hamiltonian is:
Figure FDA00023871740700000210
in the formula (I), the compound is shown in the specification,
Figure FDA00023871740700000211
and
Figure FDA00023871740700000212
is a synergistic quantity;
the canonical equation is:
Figure FDA00023871740700000213
Figure FDA00023871740700000214
order to
Figure FDA00023871740700000215
Then the following results are obtained:
Figure FDA00023871740700000216
in the formula, c1And c2Are all constants;
the extreme conditions are as follows:
Figure FDA00023871740700000217
the optimal control inputs are then:
Figure FDA0002387174070000031
substituting the optimal control input into the boundary condition:
Figure FDA0002387174070000032
and the condition that the Hamiltonian should meet at the end of the optimal trajectory:
Figure FDA0002387174070000033
then, the constant c is obtained by solving1And c2To obtain the optimum control input
Figure FDA0002387174070000034
Figure FDA0002387174070000035
Is also the optimal acceleration of vehicle i; will be provided with
Figure FDA0002387174070000036
Substituting the state equation to obtain the optimal state of the vehicle i
Figure FDA0002387174070000037
According to the steps, the optimal acceleration of each vehicle in the inlet area at each moment can be obtained.
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CN113223324A (en) * 2021-03-25 2021-08-06 东南大学 Control method for high-speed ramp entrance confluence
CN113345240A (en) * 2021-08-03 2021-09-03 华砺智行(武汉)科技有限公司 Highway vehicle importing method and system based on intelligent networking environment

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CN113345240A (en) * 2021-08-03 2021-09-03 华砺智行(武汉)科技有限公司 Highway vehicle importing method and system based on intelligent networking environment

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