CN113110043B - Vehicle convergence control method considering workshop interaction - Google Patents

Vehicle convergence control method considering workshop interaction Download PDF

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CN113110043B
CN113110043B CN202110319596.1A CN202110319596A CN113110043B CN 113110043 B CN113110043 B CN 113110043B CN 202110319596 A CN202110319596 A CN 202110319596A CN 113110043 B CN113110043 B CN 113110043B
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ramp
main road
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vehicles
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CN113110043A (en
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刘津强
赵万忠
徐坤豪
徐灿
栾众楷
周小川
郑双权
王春燕
章波
李琳
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Nanjing University of Aeronautics and Astronautics
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Abstract

The invention discloses a vehicle convergence control method considering workshop interaction, which comprises the following steps: acquiring the position and speed information of ramp vehicles entering a ramp merging preparation area and main road vehicles; determining a main road vehicle which is closest to a ramp merging area in the ramp merging preparation area; constructing a cooperative game between ramp vehicles entering a newly-entering ramp preparation area and main road vehicles; determining an optimal import sequence; solving the optimal acceleration of each vehicle at the current moment in the convergence process; and each vehicle performs corresponding accelerator and brake control according to the optimal acceleration obtained by solving. The invention considers the interaction between the ramp vehicles and the main road vehicles in the merging process, obtains the optimal merging sequence of the vehicles through the game between the ramp vehicles and the main road vehicles, effectively improves the high efficiency of the merging process of the ramp vehicles, relieves the congestion of the merging traffic of the ramp and reduces the fuel consumption.

Description

Vehicle convergence control method considering workshop interaction
Technical Field
The invention belongs to the technical field of intelligent control of automatic driving vehicles, and particularly relates to a vehicle convergence control method considering workshop interaction.
Background
With the continuous increase of the automobile keeping amount in China in the 21 st century, a road traffic system is huge and complex, serious problems are caused in the aspects of traffic safety and environmental pollution, the life and property safety of people is threatened, and the sustainable development is not facilitated. With the development of electronic and information technologies, intelligent control technologies for vehicles are widely considered as the most potential effective methods for solving the problems of traffic safety and environmental pollution. The automatic driving vehicle based on the intelligent control technology can improve the efficiency and the safety of an intelligent traffic system, and is beneficial to meeting the increasing material requirements of people.
According to the statistical analysis of traffic accidents in recent years, the ramp merging area is one of the key areas which are most prone to traffic accidents and congestion, and the influence on traffic safety and environmental pollution is the most serious. Therefore, how to effectively improve the traffic problem of the ramp merging area becomes an important issue. The invention discloses a Chinese patent application No. CN201610296352.5, which is named as a vehicle-to-vehicle network-based highway entrance ramp safety control method and provides a vehicle-to-vehicle network-based highway entrance ramp safety control method. The invention discloses a Chinese patent application number CN201810780413.4, entitled "an environment adaptive importing method of an intelligent driving vehicle in an urban environment", and provides the environment adaptive importing method of the intelligent driving vehicle in the urban environment. In none of these import control methods, inter-vehicle interaction is considered. However, in an actual traffic environment, there is interaction between vehicles, and the vehicles can play games and interact with each other. Therefore, plant interactions need to be considered in the import control process.
Disclosure of Invention
In view of the above-mentioned deficiencies of the prior art, the present invention provides a vehicle entry control method considering vehicle-to-vehicle interaction, so as to solve the problems of safety and efficiency caused by not considering vehicle-to-vehicle interaction in the prior art. The method provided by the invention analyzes the influence of the interaction of the workshop on the vehicle import control, establishes the cooperative game model of the ramp vehicle and the main road vehicle, obtains the optimal vehicle import sequence, adopts the following control method considering the vehicle type characteristics to realize the optimal vehicle import control, and effectively improves the safety and the high efficiency of the ramp vehicle import process.
In order to achieve the purpose, the technical scheme adopted by the invention is as follows:
the invention relates to a vehicle convergence control method considering workshop interaction, which comprises the following steps:
step 1: the method comprises the steps that a ramp afflux area roadside facility acquires position and speed information of ramp vehicles entering a ramp afflux preparation area and main road vehicles, and transmits the information to all vehicles in the ramp afflux preparation area;
step 2: determining a main road vehicle m closest to the ramp merging area in the ramp merging preparation area according to the vehicle position information acquired in the step 1j(ii) a Building ramp vehicle r of newly-entering ramp afflux preparation areaiWith main road vehicle mjThe cooperative game is solved, and the ramp vehicle r is determinediWith main road vehicle mjEntering the sequence of the ramp afflux area; if ramp vehicle riPreceding main road vehicle mjEntering a ramp afflux area, and then entering a step 4; if ramp vehicle riRear-in-main-road vehicle mjEntering a ramp afflux area, and then entering a step 3;
and step 3: determining a main road vehicle m merging into a preparation area on a ramp according to the vehicle position information acquired in the step 1jAdjacent rear vehicle as main road vehicle mj+1If the vehicle does not exist, entering step 4; build ramp vehicle riWith main road vehicle mj+1The cooperation game is solved, and the ramp vehicle r is determinediWith main road vehicle mj+1Entering the sequence of the ramp afflux area; if ramp vehicle riPreceding main road vehicle mj+1Entering a ramp afflux area, and then entering a step 4; if ramp vehicle riRear-in-main-road vehicle mj+1When entering the ramp merging area, the main road vehicle m is updatedj+1Is numbered mjRepeating the step 3;
and 4, step 4: determining an optimal merging sequence according to the sequence of the vehicles on the ramps and the vehicles on the main roads, which are obtained in the step 2 and the step 3, merging into the area through the ramps; constructing the afflux problem of the ramp vehicle as the following problem of the vehicle; determining a front vehicle and a rear vehicle in the following problem according to the optimal import sequence, and solving the optimal acceleration of each vehicle at the current moment in the import process by adopting a following control method considering vehicle type characteristics;
and 5: and (4) performing corresponding accelerator and brake control on each vehicle according to the optimal acceleration obtained by the solution in the step (4).
Further, the ramp merging area in the step 1 refers to an area where the ramp is connected with the main road.
Further, the ramp merging preparation area in the step 1 is S-long from the ramp merging areapWithin a region of length SpDetermined by the furthest communication distance of the roadside facility.
Further, the cooperative game of the ramp vehicle and the main road vehicle in the step 2 and the step 3 is as follows: ramp vehicle riHas a policy set of SrFront vehicle and rear vehicle, main road vehicle mjOr main road vehicle mj+1Has a policy set of SmThe method comprises the following steps of (1), wherein the front vehicle represents that the vehicle enters a ramp afflux area before another vehicle, and the rear vehicle represents that the vehicle enters the ramp afflux area after another vehicle; for any vehicle c in two game sides, c is ri,mj,mj+1And pre-estimating the current moment of the vehicle c from the current moment when the vehicle c adopts different strategies by adopting a minimum value principle
Figure BDA0002992257980000021
At the moment of entering the merging area of the ramp
Figure BDA0002992257980000022
The optimal acceleration, the optimal speed and the optimal position at each moment; according to the optimal acceleration, the optimal speed and the optimal position information, solving the vehicle r of any one vehicle c on the ramp of the game partiesiAdopting a policy srMain road vehicle mjOr main road vehicle mj+1Adopting a policy smThe cost of time is:
Jc(sr,sm)＝Jtc(sr,sm)+Jfc(sr,sm)+Jcc(sr,sm)
in the formula, Jtc、JfcAnd JccRespectively, vehicle c is on the ramp vehicle riAdopting a policy srMain road vehicle mjOr main road vehicle mj+1Adopting a policy smThe cost of time-to-pass efficiency, the cost of fuel consumption and the cost of comfort; the optimal strategy of the cooperative game is as follows:
Figure BDA0002992257980000023
the vehicle c is a vehicle r on a rampiAdopting a policy srMain road vehicle mjOr main road vehicle mj+1Adopting a policy smThe traffic efficiency cost of the time is as follows:
Figure BDA0002992257980000031
in the formula, ktIs a constant coefficient of the temperature of the molten steel,
Figure BDA0002992257980000032
is the current time of day and is,
Figure BDA0002992257980000033
the time when the vehicle c enters the ramp afflux area;
the vehicle c is a vehicle r on a rampiAdopting a policy srMain road vehicle mjOr main road vehicle mj+1Adopting a policy smThe fuel consumption cost is as follows:
Figure BDA0002992257980000034
in the formula, kfIs a constant coefficient, acIs the acceleration of the vehicle c;
the vehicle c is a vehicle r on a rampiAdopting a policy srMain road vehicle mjOr main road vehicle mj+1Adopting a policy smThe comfort cost of the time is:
Figure BDA0002992257980000035
in the formula, kcIs a constant coefficient, TdIs the control time interval.
Further, the ramp vehicles r in the step 2 and the step 3iWith main road vehicle mjOr main road vehicle mj+1In the cooperative game, the vehicles r on the rampiWith the main road vehicle mjOr main road vehicle mj+1Are the same, i.e. ramp vehicles riAnd main road vehicle mjOr main road vehicle mj+1When selecting "preceding car" or "back car" simultaneously, have:
Jr(sr,sm)＝Jm(sr,sm)＝∞,sr＝sm
in the formula, Jr(sr,sm) And Jm(sr,sm) Respectively, ramp vehicles riAnd main road vehicle mjOr main road vehicle mj+1Take strategy s separatelyrAnd strategy smThe cost of time.
Further, the method for estimating in advance the vehicle c from the current moment when the vehicle c adopts different strategies by adopting the minimum value principle
Figure BDA0002992257980000036
At the moment of entering the merging area of the ramp
Figure BDA0002992257980000037
The method for optimizing the acceleration, the speed and the position at each moment specifically comprises the following steps: the kinematic model of the vehicle is:
Figure BDA0002992257980000038
Figure BDA0002992257980000039
in the formula, pcIs the position of the vehicle c, vcIs the speed of the vehicle c, acThe acceleration of the vehicle c is obtained, the minimum fuel consumption is taken as a target, and the optimal control problem is obtained as follows:
Figure BDA0002992257980000041
s.t.vmin≤vc(t)≤vmax,
Figure BDA0002992257980000042
in the formula, vminAnd vmaxRespectively a minimum and a maximum driving speed, aminAnd amaxRespectively, the minimum running acceleration and the maximum running acceleration.
Further, when the ramp vehicle riThe strategy is 'rear vehicle' and main road vehicle mjOr main road vehicle mj+1When the policy of (1) is 'front vehicle', the ramp vehicle enters the ramp afflux area after the main road vehicle, and the following constraints are as follows:
Figure BDA0002992257980000043
in the formula (I), the compound is shown in the specification,
Figure BDA0002992257980000044
and
Figure BDA0002992257980000045
respectively, ramp vehicles riAnd main road vehicle mjOr main road vehicle mj+1Time of entry into the merging zone of the ramp, Δ tsfShould be kept in the incoming ramp afflux areaThe whole head time interval.
According to the principle of minima, the Hamiltonian is:
Figure BDA0002992257980000046
the canonical equation is:
Figure BDA0002992257980000047
Figure BDA0002992257980000048
the extreme conditions are as follows:
Figure BDA0002992257980000049
the optimal control inputs are then:
Figure BDA00029922579800000410
in the formula, c1And c2All are constants, and c is solved by substituting the optimal control input into the boundary condition of the vehicle c1、c2Obtaining the optimal control input, i.e. the optimal acceleration, of the vehicle c at each moment
Figure BDA00029922579800000411
According to the vehicle kinematic model, the optimal speed of the vehicle c at each moment is obtained through solving
Figure BDA00029922579800000412
And an optimal position
Figure BDA00029922579800000413
Further, the boundary conditions of the vehicle c are:
Figure BDA00029922579800000414
Figure BDA00029922579800000415
wherein the content of the first and second substances,
Figure BDA00029922579800000416
and
Figure BDA00029922579800000417
respectively a vehicle c
Figure BDA00029922579800000418
The position and the speed of the moment of time,
Figure BDA00029922579800000419
and
Figure BDA00029922579800000420
respectively, the position and speed of vehicle c as it enters the ramp merge area.
Further, the optimal merging sequence in the step 4 is the sequence of the vehicles on each main road and the vehicles on the ramp merging into the area through the ramp; when there are M main road vehicles and R ramp vehicles in the ramp merging preparation area, if the order of the R +1 th ramp vehicle entering the ramp merging area, which is obtained according to steps 2 and 3, entering the ramp merging preparation area is after the jth main road vehicle, the optimal merging sequence is obtained as follows:
{m1,…,r1,…,mj,rR+1,…mM}
in the formula, m represents a main road vehicle, and r represents a ramp vehicle.
Further, the following control method considering the vehicle type characteristics in step 4 includes: the rear vehicle f runs along with the front vehicle l, and the optimal acceleration of the rear vehicle f is as follows:
Figure BDA0002992257980000051
in the formula, tau is the reaction time of vehicle acceleration and deceleration; the VTF is a vehicle model characteristic parameter,
Figure BDA0002992257980000052
wherein k is a constant coefficient, MfZeta is the quality index parameter, LfThe length of the rear car body, kappa is a car length index parameter, and zeta is more than kappa and more than 0; v. off(t) is the speed of the rear vehicle f; v. of0A desired speed; delta is an acceleration factor; Δ p (t) is the distance between the front and rear vehicles,
Figure BDA0002992257980000053
Llthe length of the front vehicle body; Δ p*(vf(t), Δ v (t) is a desired distance between the front and rear vehicles, which is obtained by the following equation:
Figure BDA0002992257980000054
in the formula, p0At a minimum safe distance, TH safe headway, p1For a speed-related safe distance parameter, d is the comfortable deceleration.
The invention has the beneficial effects that:
the method and the system consider the interaction between the ramp vehicles and the main road vehicles in the merging process, obtain the optimal merging sequence of the vehicles through the game between the ramp vehicles and the main road vehicles, effectively improve the high efficiency of the ramp vehicle merging process, relieve the congestion of the ramp vehicle merging scene and reduce the fuel consumption.
According to the optimal import sequence, the vehicle import control problem is converted into the vehicle following problem, a following control method considering vehicle type characteristics is adopted, vehicle type characteristic parameters related to vehicle quality and length are provided, and traffic safety of a ramp import scene of multiple vehicle types is improved;
in the process of solving the optimal acceleration of the car following, the influence of delay reaction time is considered, a reasonable expected distance solving formula is provided, and the safety of the car converging process is improved.
Drawings
FIG. 1 is a flow chart of a control method of the present invention.
Fig. 2 is a schematic diagram of a ramp merging scene.
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.
Referring to fig. 1, a vehicle import control method considering vehicle-to-vehicle interaction according to the present invention includes the following steps:
step 1: when entering a ramp merging preparation area, ramp vehicles and main road vehicles are communicated with roadside facilities of the ramp merging area; the roadside facility acquires the position and speed information of the vehicle and transmits the information to each vehicle converged into a preparation area on a ramp;
referring to fig. 2, the ramp merging area refers to an area where the ramp is connected with the main road;
the ramp afflux preparation area in the step 1 is S away from the ramp afflux areapWithin a region of length SpDetermined by the furthest communication distance of the roadside facility.
Step 2: determining a main road vehicle m closest to the ramp merging area in the ramp merging preparation area according to the vehicle position information acquired in the step 1j(ii) a Building ramp vehicle r of newly-entering ramp afflux preparation areaiWith main road vehicle mjThe cooperative game is solved, and the ramp vehicle r is determinediWith main road vehicle mjEntering the sequence of the ramp afflux area; if ramp vehicle riPreceding main road vehicle mjEntering a ramp afflux area, and then entering a step 4; if ramp vehicle riRear-in-main-road vehicle mjEntering a ramp afflux area, and then entering a step 3;
and step 3: determining a main road vehicle m merging into a preparation area on a ramp according to the vehicle position information acquired in the step 1jIs adjacent toRear vehicle as main road vehicle mj+1If the vehicle does not exist, entering step 4; build ramp vehicle riWith main road vehicle mj+1The cooperation game is solved, and the ramp vehicle r is determinediWith main road vehicle mj+1Entering the sequence of the ramp afflux area; if ramp vehicle riPreceding main road vehicle mj+1Entering a ramp afflux area, and then entering a step 4; if ramp vehicle riRear-in-main-road vehicle mj+1When entering the ramp merging area, the main road vehicle m is updatedj+1Is numbered mjRepeating the step 3;
the cooperative game of the ramp vehicle and the main road vehicle in the step 2 and the step 3 is as follows: ramp vehicle riHas a policy set of SrFront vehicle and rear vehicle, main road vehicle mjOr main road vehicle mj+1Has a policy set of SmThe method comprises the following steps of (1), wherein the front vehicle represents that the vehicle enters a ramp afflux area before another vehicle, and the rear vehicle represents that the vehicle enters the ramp afflux area after another vehicle; for any vehicle c in two game sides, c is ri,mj,mj+1And pre-estimating the current moment of the vehicle c from the current moment when the vehicle c adopts different strategies by adopting a minimum value principle
Figure BDA0002992257980000061
At the moment of entering the merging area of the ramp
Figure BDA0002992257980000062
The optimal acceleration, the optimal speed and the optimal position at each moment; according to the optimal acceleration, the optimal speed and the optimal position information, solving the vehicle r of any one vehicle c on the ramp of the game partiesiAdopting a policy srMain road vehicle mjOr main road vehicle mj+1Adopting a policy smThe cost of time is:
Jc(sr,sm)＝Jtc(sr,sm)+Jfc(sr,sm)+Jcc(sr,sm)
in the formula, Jtc、JfcAnd JccRespectively, vehicle c is on the ramp vehicle riAdopting a policy srMain road vehicle mjOr main road vehicle mj+1Adopting a policy smThe cost of time-to-pass efficiency, the cost of fuel consumption and the cost of comfort; the optimal strategy of the cooperative game is as follows:
Figure BDA0002992257980000071
the vehicle c is a vehicle r on a rampiAdopting a policy srMain road vehicle mjOr main road vehicle mj+1Adopting a policy smThe traffic efficiency cost of the time is as follows:
Figure BDA0002992257980000072
in the formula, ktIs a constant coefficient of the temperature of the molten steel,
Figure BDA0002992257980000073
is the current time of day and is,
Figure BDA0002992257980000074
the time when the vehicle c enters the ramp afflux area;
the vehicle c is a vehicle r on a rampiAdopting a policy srMain road vehicle mjOr main road vehicle mj+1Adopting a policy smThe fuel consumption cost is as follows:
Figure BDA0002992257980000075
in the formula, kfIs a constant coefficient, acIs the acceleration of the vehicle c;
the vehicle c is a vehicle r on a rampiAdopting a policy srMain road vehicle mjOr main road vehicle mj+1Adopting a policy smThe comfort cost of the time is:
Figure BDA0002992257980000076
in the formula, kcIs a constant coefficient, TdIs the control time interval.
The ramp vehicles r in the step 2 and the step 3iWith main road vehicle mjOr main road vehicle mj+1In the cooperative game, the vehicles r on the rampiWith the main road vehicle mjOr main road vehicle mj+1Are the same, i.e. ramp vehicles riAnd main road vehicle mjOr main road vehicle mj+1When selecting "preceding car" or "back car" simultaneously, have:
Jr(sr,sm)＝Jm(sr,sm)＝∞,sr＝sm
in the formula, Jr(sr,sm) And Jm(sr,sm) Respectively, ramp vehicles riAnd main road vehicle mjOr main road vehicle mj+1Take strategy s separatelyrAnd strategy smThe cost of time.
The method adopts the minimum value principle to estimate in advance that when the vehicle c adopts different strategies, the vehicle c is driven from the current moment
Figure BDA00029922579800000812
At the moment of entering the merging area of the ramp
Figure BDA00029922579800000813
The method for optimizing the acceleration, the speed and the position at each moment specifically comprises the following steps: the kinematic model of the vehicle is:
Figure BDA0002992257980000081
Figure BDA0002992257980000082
in the formula, pcIs the position of the vehicle c, vcIs the speed of the vehicle c, acThe acceleration of the vehicle c is obtained, the minimum fuel consumption is taken as a target, and the optimal control problem is obtained as follows:
Figure BDA0002992257980000083
s.t.vmin≤vc(t)≤vmax,
Figure BDA0002992257980000084
in the formula, vminAnd vmaxRespectively a minimum and a maximum driving speed, aminAnd amaxRespectively, the minimum running acceleration and the maximum running acceleration.
Vehicle on ramp riThe strategy is 'rear vehicle' and main road vehicle mjOr main road vehicle mj+1When the policy of (1) is 'front vehicle', the ramp vehicle enters the ramp afflux area after the main road vehicle, and the following constraints are as follows:
Figure BDA0002992257980000085
in the formula (I), the compound is shown in the specification,
Figure BDA0002992257980000086
and
Figure BDA0002992257980000087
respectively, ramp vehicles riAnd main road vehicle mjOr main road vehicle mj+1Time of entry into the merging zone of the ramp, Δ tsfThe safe headway time interval which is required to be kept when entering the ramp afflux area is obtained.
According to the principle of minima, the Hamiltonian is:
Figure BDA0002992257980000088
the canonical equation is:
Figure BDA0002992257980000089
Figure BDA00029922579800000810
the extreme conditions are as follows:
Figure BDA00029922579800000811
the optimal control inputs are then:
Figure BDA0002992257980000091
in the formula, c1And c2All are constants, and c is solved by substituting the optimal control input into the boundary condition of the vehicle c1、c2Obtaining the optimal control input, i.e. the optimal acceleration, of the vehicle c at each moment
Figure BDA0002992257980000092
According to the vehicle kinematic model, the optimal speed of the vehicle c at each moment is obtained through solving
Figure BDA0002992257980000093
And an optimal position
Figure BDA0002992257980000094
The boundary conditions of the vehicle c are as follows:
Figure BDA0002992257980000095
wherein the content of the first and second substances,
Figure BDA0002992257980000096
and
Figure BDA0002992257980000097
respectively a vehicle c
Figure BDA0002992257980000098
The position and the speed of the moment of time,
Figure BDA0002992257980000099
and
Figure BDA00029922579800000910
respectively, the position and speed of vehicle c as it enters the ramp merge area.
And 4, step 4: determining an optimal merging sequence according to the sequence of the vehicles on the ramps and the vehicles on the main roads, which are obtained in the step 2 and the step 3, merging into the area through the ramps; constructing the afflux problem of the ramp vehicle as the following problem of the vehicle; determining a front vehicle and a rear vehicle in the following problem according to the optimal import sequence, and solving the optimal acceleration of each vehicle at the current moment in the import process by adopting a following control method considering vehicle type characteristics;
the optimal merging sequence is the sequence of vehicles on each main road and vehicles on the ramp merging into the area through the ramp; when there are M main road vehicles and R ramp vehicles in the ramp merging preparation area, if the order of the R +1 th ramp vehicle entering the ramp merging area, which is obtained according to steps 2 and 3, entering the ramp merging preparation area is after the jth main road vehicle, the optimal merging sequence is obtained as follows:
{m1,…,r1,…,mj,rR+1,…mM}
in the formula, m represents a main road vehicle, and r represents a ramp vehicle.
The following control method considering the vehicle type characteristics in the step 4 comprises the following steps: the rear vehicle f runs along with the front vehicle l, and the optimal acceleration of the rear vehicle f is as follows:
Figure BDA00029922579800000911
in the formula, tau is the reaction time of vehicle acceleration and deceleration; the VTF is a vehicle model characteristic parameter,
Figure BDA00029922579800000912
wherein k is a constant coefficient, MfZeta is the quality index parameter, LfThe length of the rear car body, kappa is a car length index parameter, and zeta is more than kappa and more than 0; v. off(t) is the speed of the rear vehicle f; v. of0A desired speed; delta is an acceleration factor; Δ p (t) is the distance between the front and rear vehicles,
Figure BDA00029922579800000913
Llthe length of the front vehicle body; Δ p*(vf(t), Δ v (t) is a desired distance between the front and rear vehicles, which is obtained by the following equation:
Figure BDA0002992257980000101
in the formula, p0At a minimum safe distance, TH safe headway, p1For a speed-related safe distance parameter, d is the comfortable deceleration.
And 5: and (4) performing corresponding accelerator and brake control on each vehicle according to the optimal acceleration obtained by the solution in the step (4).
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 (7)

1. A vehicle convergence control method considering workshop interaction is characterized by comprising the following steps:
step 1: the method comprises the steps that a ramp afflux area roadside facility acquires position and speed information of ramp vehicles entering a ramp afflux preparation area and main road vehicles, and transmits the information to all vehicles in the ramp afflux preparation area;
step 2: determining a main road vehicle m closest to the ramp merging area in the ramp merging preparation area according to the vehicle position information acquired in the step 1j(ii) a Building ramp vehicle r of newly-entering ramp afflux preparation areaiWith main road vehicle mjThe cooperative game is solved, and the ramp vehicle r is determinediWith main road vehicle mjEntering the sequence of the ramp afflux area; if ramp vehicle riPreceding main road vehicle mjEntering a ramp afflux area, and then entering a step 4; if ramp vehicle riRear-in-main-road vehicle mjEntering a ramp afflux area, and then entering a step 3;
and step 3: determining a main road vehicle m merging into a preparation area on a ramp according to the vehicle position information acquired in the step 1jAdjacent rear vehicle as main road vehicle mj+1If the vehicle does not exist, entering step 4; build ramp vehicle riWith main road vehicle mj+1The cooperation game is solved, and the ramp vehicle r is determinediWith main road vehicle mj+1Entering the sequence of the ramp afflux area; if ramp vehicle riPreceding main road vehicle mj+1Entering a ramp afflux area, and then entering a step 4; if ramp vehicle riRear-in-main-road vehicle mj+1When entering the ramp merging area, the main road vehicle m is updatedj+1Is numbered mjRepeating the step 3;
and 4, step 4: determining an optimal merging sequence according to the sequence of the vehicles on the ramps and the vehicles on the main roads, which are obtained in the step 2 and the step 3, merging into the area through the ramps; constructing the afflux problem of the ramp vehicle as the following problem of the vehicle; determining a front vehicle and a rear vehicle in the following problem according to the optimal import sequence, and solving the optimal acceleration of each vehicle at the current moment in the import process by adopting a following control method considering vehicle type characteristics;
and 5: each vehicle carries out corresponding accelerator and brake control according to the optimal acceleration obtained by the solution in the step 4;
the cooperative game of the ramp vehicle and the main road vehicle in the step 2 and the step 3 is as follows: ramp vehicle riHas a policy set of SrFront vehicle and rear vehicle, main road vehicle mjOr main road vehicle mj+1Has a policy set of SmThe method comprises the following steps of (1), wherein the front vehicle represents that the vehicle enters a ramp afflux area before another vehicle, and the rear vehicle represents that the vehicle enters the ramp afflux area after another vehicle; for any vehicle c in two game sides, c is ri,mj,mj+1And pre-estimating the current moment of the vehicle c from the current moment when the vehicle c adopts different strategies by adopting a minimum value principle
Figure FDA0003428456500000011
At the moment of entering the merging area of the ramp
Figure FDA0003428456500000012
The optimal acceleration, the optimal speed and the optimal position at each moment; according to the optimal acceleration, the optimal speed and the optimal position information, solving the vehicle r of any one vehicle c on the ramp of the game partiesiAdopting a policy srMain road vehicle mjOr main road vehicle mj+1Adopting a policy smThe cost of time is:
Jc(sr,sm)＝Jtc(sr,sm)+Jfc(sr,sm)+Jcc(sr,sm)
in the formula, Jtc、JfcAnd JccRespectively, vehicle c is on the ramp vehicle riAdopting a policy srMain road vehicle mjOr main road vehicle mj+1Adopting a policy smThe cost of time-to-pass efficiency, the cost of fuel consumption and the cost of comfort; the optimal strategy of the cooperative game is as follows:
Figure FDA0003428456500000013
the vehicle c is on the rampVehicle riAdopting a policy srMain road vehicle mjOr main road vehicle mj+1Adopting a policy smThe traffic efficiency cost of the time is as follows:
Figure FDA0003428456500000021
in the formula, ktIs a constant coefficient of the temperature of the molten steel,
Figure FDA0003428456500000022
is the current time of day and is,
Figure FDA0003428456500000023
the time when the vehicle c enters the ramp afflux area;
the vehicle c is a vehicle r on a rampiAdopting a policy srMain road vehicle mjOr main road vehicle mj+1Adopting a policy smThe fuel consumption cost is as follows:
Figure FDA0003428456500000024
in the formula, kfIs a constant coefficient, acIs the acceleration of the vehicle c;
the vehicle c is a vehicle r on a rampiAdopting a policy srMain road vehicle mjOr main road vehicle mj+1Adopting a policy smThe comfort cost of the time is:
Figure FDA0003428456500000025
in the formula, kcIs a constant coefficient, TdIs the control time interval.
2. The vehicle interchange control method taking into account plant interaction according to claim 1, wherein the ramp interchange area in step 1 refers to an area where a ramp is connected to a main lane.
3. The vehicle merging control method considering vehicle-to-vehicle interaction according to claim 1, wherein the ramp merging preparation area in step 1 is S-long from the ramp merging areapWithin a region of length SpDetermined by the furthest communication distance of the roadside facility.
4. The vehicle merge-in control method taking into account vehicle-to-vehicle interaction according to claim 1, wherein the ramp vehicles r in step 2 and step 3iWith main road vehicle mjOr main road vehicle mj+1In the cooperative game, the vehicles r on the rampiWith the main road vehicle mjOr main road vehicle mj+1Are the same, i.e. ramp vehicles riAnd main road vehicle mjOr main road vehicle mj+1When selecting "preceding car" or "back car" simultaneously, have:
Jr(sr,sm)＝Jm(sr,sm)＝∞,sr＝sm
in the formula, Jr(sr,sm) And Jm(sr,sm) Respectively, ramp vehicles riAnd main road vehicle mjOr main road vehicle mj+1Take strategy s separatelyrAnd strategy smThe cost of time.
5. The vehicle influx control method according to claim 1, wherein the method of estimating in advance the vehicle c from the current time when different strategies are adopted by the vehicle c using the principle of minima
Figure FDA0003428456500000026
At the moment of entering the merging area of the ramp
Figure FDA0003428456500000031
At each moment of time of the accelerationThe method for optimizing the speed and the position specifically comprises the following steps: the kinematic model of the vehicle is:
Figure FDA0003428456500000032
Figure FDA0003428456500000033
in the formula, pcIs the position of the vehicle c, vcIs the speed of the vehicle c, acThe acceleration of the vehicle c is obtained, the minimum fuel consumption is taken as a target, and the optimal control problem is obtained as follows:
Figure FDA0003428456500000034
s.t.vmin≤vc(t)≤vmax,
amin≤ac(t)≤amax,
Figure FDA0003428456500000035
in the formula, vminAnd vmaxRespectively a minimum and a maximum driving speed, aminAnd amaxRespectively, the minimum running acceleration and the maximum running acceleration.
6. The vehicle merge-in control method taking into account workshop interaction according to claim 1, wherein the optimal merge-in sequence in step 4 is a sequence in which each host-road vehicle and ramp-road vehicle pass through a ramp-in area; when there are M main road vehicles and R ramp vehicles in the ramp merging preparation area, if the order of the R +1 th ramp vehicle entering the ramp merging area, which is obtained according to steps 2 and 3, entering the ramp merging preparation area is after the jth main road vehicle, the optimal merging sequence is obtained as follows:
{m1,…,r1,…,mj,rR+1,…mM}
in the formula, m represents a main road vehicle, and r represents a ramp vehicle.
7. The vehicle influx control method considering workshop interaction as claimed in claim 1, wherein the following control method considering vehicle type characteristics in step 4 is: the rear vehicle f runs along with the front vehicle l, and the optimal acceleration of the rear vehicle f is as follows:
Figure FDA0003428456500000036
in the formula, tau is the reaction time of vehicle acceleration and deceleration; the VTF is a vehicle model characteristic parameter,
Figure FDA0003428456500000037
wherein k is a constant coefficient, MfZeta is the quality index parameter, LfThe length of the rear car body, kappa is a car length index parameter, and zeta is more than kappa and more than 0; v. off(t) is the speed of the rear vehicle f; v. of0A desired speed; delta is an acceleration factor; Δ p (t) is the distance between the front and rear vehicles,
Figure FDA0003428456500000038
Llthe length of the front vehicle body; Δ p*(vf(t), Δ v (t) is a desired distance between the front and rear vehicles, which is obtained by the following equation:
Figure FDA0003428456500000041
in the formula, p0At a minimum safe distance, TH safe headway, p1For a speed-related safe distance parameter, d is the comfortable deceleration.
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