CN113487854A - Pre-formation management system and method for vehicle cooperative formation on expressway - Google Patents
Pre-formation management system and method for vehicle cooperative formation on expressway Download PDFInfo
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- CN113487854A CN113487854A CN202110740726.9A CN202110740726A CN113487854A CN 113487854 A CN113487854 A CN 113487854A CN 202110740726 A CN202110740726 A CN 202110740726A CN 113487854 A CN113487854 A CN 113487854A
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
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- G—PHYSICS
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- G08G1/00—Traffic control systems for road vehicles
- G08G1/20—Monitoring the location of vehicles belonging to a group, e.g. fleet of vehicles, countable or determined number of vehicles
Abstract
The invention belongs to the technical field of intelligent networked automobiles, in particular to a system and a method for managing vehicles on a highway in a coordinated formation pre-formation manner, wherein the system comprises a travel schedule presetting module, a vehicle sequencing module and an identity verification module; the vehicles to be grouped are scheduled on the grouping management system through a travel scheduling module in advance, and after the travel scheduling is finished, the system automatically generates a vehicle I D serial number for each vehicle; the team management system obtains the itinerary list of each vehicle, and traverses each itinerary, so that all the corresponding vehicle I D numbers are stacked and then popped out one by one. The invention adopts a series of vehicle management modes of travel reservation, vehicle sequencing, vehicle identity verification and the like to realize the cooperative formation and pre-formation of the vehicles, solves the problems that the permeability of the vehicles with the function of cooperative adaptive cruise (CACC) on the highway is low, and the vehicles suitable for formation are difficult to find, and the vehicles leaving the fleet do not influence other vehicles in the fleet in the process of driving on the highway.
Description
Technical Field
The invention relates to the technical field of intelligent networked automobiles, in particular to a system and a method for managing vehicles on a highway in a cooperative formation and pre-formation manner.
Background
V2V is a vehicle-to-vehicle communication technology, in the vehicle collaborative formation based on V2V, a head vehicle is a pilot vehicle, the pilot vehicle can be an unmanned or manually driven vehicle, other vehicles with a collaborative adaptive cruise (CACC) function can be added into a pilot vehicle queue and can be used for formation driving along with the pilot vehicle, and communication can be carried out between the vehicles. The vehicles run in a coordinated formation mode, so that the wind resistance can be reduced, and the fuel (or electric quantity) can be saved; the traffic capacity of the road is improved, and road congestion is reduced; the distance between the vehicles is ensured, the collision risk is effectively reduced, and the driving safety is improved to a certain extent.
CACC vehicle permeability describes the proportion of vehicles with CACC functionality in a certain area to the total number of vehicles. On an expressway, the permeability of vehicles with the CACC function is low, and vehicles suitable for formation are difficult to find in a short time, so that part of vehicles can only run freely by one vehicle in most of time.
Disclosure of Invention
Technical problem to be solved
Aiming at the defects of the prior art, the invention provides a system and a method for managing vehicles in a coordinated formation pre-formation manner on an expressway, and solves the problems that the permeability of vehicles with the CACC function is low, and the vehicles suitable for formation are difficult to find in a short time, so that part of vehicles can only freely run by a single vehicle in most of the time.
The second technical proposal.
The invention specifically adopts the following technical scheme for realizing the purpose:
a pre-formation management system for vehicle cooperative formation on a highway, the pre-formation management system supporting vehicles to be formed into a group with a V2V communication module for a predetermined travel in advance, and integrally managing the front and back arrangement sequence of the vehicles in the group, the pre-formation management system comprising:
a trip reservation module that allows the vehicle to advance a reservation trip on the fleet management system;
and the vehicle sequencing module is used for arranging the front and back sequence of the vehicles in the fleet so that each time the exit of one expressway is reached, the two vehicles leaving the fleet always leave the fleet from the tail of the fleet.
And the identity authentication module is used for carrying out identity authentication on the vehicles which are scheduled to succeed, and the vehicles which pass the identity authentication can enter the team formation area.
The invention also provides a pre-team-formation management method for vehicle collaborative team formation on the expressway based on the team-formation management system, which comprises the following steps:
s1, reserving a journey on the team management system by the vehicles to be team through the journey reservation module in advance, and after the journey reservation is completed, automatically generating a vehicle ID number for each vehicle by the team management system;
s2, the team management system acquires a travel list of each vehicle, traverses each travel, and leads the corresponding vehicle ID numbers to be pushed one by one through the vehicle sequencing module to obtain the front and back arrangement sequence of the vehicles;
s3, storing the vehicle ID number successfully scheduled by the travel by adopting a hash table, and before the vehicle enters the team formation area, identifying the vehicle ID number by the system through an identity verification module to verify the identity of the vehicle;
s4, enabling the vehicles to enter a team forming area for team forming;
s5, finishing the fleet of vehicles arranged in sequence, and the like until a preset time point, wherein the fleet drives into the expressway from a fleet formation area and is formed to run in the whole journey;
and S6, each time one expressway exit is reached, the vehicles leaving the team leave the team from the tail of the team.
The method provided by the invention solves the problems that vehicles with a collaborative adaptive cruise (CACC) function on a highway have low permeability and are difficult to find vehicles suitable for formation. And in the process that the motorcade runs on the expressway, the off-team vehicles do not influence other vehicles in the motorcade.
The vehicles to be grouped need to be scheduled in advance on a grouping management system, and the grouping management system allows the scheduled travel of the vehicles as follows:
stroke 1: exit _1 from the initial entrance to the 1 st exit of the highway
And (4) stroke 2: exit 2 from the initial entrance to the 2 nd exit of the highway
And a stroke 3: exit _3 from the initial entrance to the 3 rd exit of the highway
···
And a stroke k: exit k from the initial entrance to the k-th exit of the highway
After the vehicles successfully reserve the journey in the team management system, the system automatically generates a vehicle ID number for each vehicle.
The method is characterized in that n fleets of vehicles which are scheduled to depart at a certain time point on a team management system at different times are provided. The team formation management system acquires information of n vehicles, estimates the total length of the team after team formation according to the acquired vehicle information, and the total length of the team after team formation is as follows:
wherein n represents the number of vehicles in the fleet; str _ lennRepresenting the total length of a fleet of n vehicles; l isiIndicates the length of the ith vehicle; Δ represents the desired vehicle separation.
The maximum length of the vehicle fleet is related to the DSRC communication distance, and in order to ensure good communication conditions between vehicles, the maximum length threshold of the vehicle fleet is set to str _ max. The total fleet length of the team needs to satisfy the following condition:
str_len|n＜str_max
when the total length of a certain vehicle is lower than a maximum length threshold str _ max of a vehicle fleet after the vehicle is added into the vehicle fleet, the fleet management system allows the vehicle to advance on the system for reservation; when a certain vehicle joins the fleet and the total length of the fleet is larger than a maximum length threshold str _ max of the fleet, the fleet management system prohibits the vehicle from being scheduled on the system.
The team management system closes the scheduled function of the time point in the first half hour of the departure time point of the team, and the system starts to arrange the front and back of the vehicles according to the destination; the system sequences the vehicles to ensure that each route of the motorcade passes through the exit of one expressway, and the vehicles leaving the motorcade are always positioned at the tail of the motorcade; in this way, the departing vehicle does not affect other vehicles of the fleet.
The method for the team management system to sequence the team vehicles is as follows: the data of the stack is used for storing the vehicle numbers, the stack follows the principle of 'first-in first-out', vehicles grouped at the same preset time point are traversed for multiple times, vehicles in the same journey are screened out, and the vehicle numbers are put on the stack one by one. The method comprises the following specific steps:
1 st traversal: the vehicles with the stroke 1 are screened out and stored in a stack in sequence
And 2, traversing: the vehicles with the journey 2 are screened out and stored in the stack in sequence
And 3, traversing: the vehicles with the journey 3 are screened out and stored in a stack in sequence
And k-th traversal: screening out vehicles with the travel k, and sequentially storing the vehicles in the stack;
after all the vehicles in all the trips are stored in a stack, then the operation of unstacking is started, the sequence of unstacking is the final arrangement sequence of the vehicles in the fleet, the 1 st unstacked vehicle is a fleet pilot vehicle, and the 2 nd unstacked vehicle and the vehicles up to the nth unstacked vehicle are all following vehicles;
in the team district, n parking stalls have been divided according to the serial number from 1 to n, and the pilot car corresponds 1 st parking stall, and the 2 nd vehicle that pops off the stack corresponds 2 nd parking stall, and the nth vehicle that pops off the stack corresponds nth parking stall.
The fleet management system adopts a hash table to store vehicle ID numbers with successful travel reservation, firstly, a Boolean type hash table map is established, the vehicle ID numbers are traversed one by one, each vehicle ID number is subjected to hash mapping, and a hash function is set as follows:
map[vehicle_ID]＝true
in the formula, the vehicle _ ID represents an ID number of the vehicle;
before a vehicle enters a team formation area, the system identifies the vehicle ID number through an identity verification module, if the Hash mapping value of the vehicle ID number is true, the vehicle is scheduled on the system, after the identity verification is passed, a team formation area protective guard is opened, and the vehicle enters the team formation area and enters a corresponding parking space.
The team management system compares the vehicles entering the team area with the vehicles scheduled before, and when all scheduled vehicles enter the team area, the team management system reminds the pilot vehicle to broadcast V2V information, and all follow-up vehicles establish V2V communication connection with the pilot vehicle.
And waiting until a preset time point, driving the motorcade into the expressway from the team forming area, and carrying out whole-course formation driving. Because the vehicles in the fleet are arranged in sequence, each route of the fleet passes through the outlet of one expressway, and the vehicles which finish the journey sequentially leave the fleet from the tail of the fleet and drive off the expressway, namely, the vehicles at the tail of the fleet leave the fleet firstly from the 1 st vehicle at the tail of the fleet and then leave the fleet from the 2 nd vehicle at the tail of the fleet until all the vehicles ready for departure leave the fleet one by one. After all the vehicles are off, the motorcade continues to drive forwards, and the vehicles are not influenced by the vehicles.
The motorcade allows other free vehicles with V2V function to join the motorcade during the process of motorway formation. The position of the free vehicle joining the fleet depends on the travel destination of the free vehicle, and if the free vehicle destination is the nearest exit of the expressway, the free vehicle joining the tail of the fleet is enough; if the free vehicle destination is not the nearest exit, the free vehicle needs to be inserted behind a vehicle in the fleet that has the same destination.
(III) advantageous effects
Compared with the prior art, the invention provides a system and a method for managing vehicles on a highway in a coordinated formation pre-formation manner, which have the following beneficial effects:
the invention forms a pre-formation management system by a travel reservation module, a vehicle sequencing module and an identity verification module, realizes the cooperative formation and pre-formation of vehicles by adopting a series of vehicle management modes of travel reservation, vehicle sequencing, vehicle identity verification and the like, solves the problems that the permeability of the vehicles with the function of cooperative adaptive cruise (CACC) on the highway is low, and the vehicles suitable for formation are difficult to find, and the vehicles leaving the fleet do not influence other vehicles in the fleet in the process of driving on the highway.
Drawings
FIG. 1 is a block flow diagram of a vehicle pre-fleet of the present invention;
FIG. 2 is a block diagram of a team management system according to the present invention;
FIG. 3 is a schematic diagram of a team area near an expressway entrance in accordance with the present invention;
FIG. 4 is a schematic illustration of vehicle ID numbering for stacking according to the present invention;
FIG. 5 is a schematic diagram of a vehicle entering the fleet area after being sequenced according to the present invention.
In the figure: 1. a trip reservation module; 2. a vehicle sequencing module; 3. and an identity authentication module.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Examples
As shown in fig. 1 to 5, a vehicle collaborative formation pre-formation management system on an expressway according to an embodiment of the present invention supports vehicles to be formed with a V2V communication module to advance a predetermined trip, and manages the front-back arrangement sequence of the vehicles in a vehicle group; the V2V communication module employs DSRC technology, which is a dedicated short-range communication technology that can be used for vehicle-to-vehicle communication; the team management system comprises three modules: the system comprises a journey reservation module 1, a vehicle sequencing module 2 and an identity verification module 3; the journey booking module 1 allows the vehicle to advance a scheduled journey on the team management system; the vehicle sequencing module 2 is used for arranging the front and back sequence of the vehicles in the fleet so that each time the exit of one expressway is reached, the two vehicles leaving the fleet always leave the fleet from the tail of the fleet; the identity authentication module 3 authenticates the vehicle which is scheduled to succeed, and the vehicle which passes the identity authentication can enter the team formation area.
The vehicles to be grouped need to be scheduled on the grouping management system in advance, after the scheduling is successful, the vehicles to be grouped are driven to the grouping area before the scheduled time point to be grouped in advance, the vehicle group is driven to the expressway when the vehicle group is driven out at the scheduled time point, and the vehicle group is formed to run in the whole process. Let the highway pass through k exits from the entrance, the 1 st exit is denoted as exit _1, the 2 nd exit is denoted as exit _2, the 3 rd exit is denoted as exit _3, and so on, and the k th exit is denoted as exit _ k.
The fleet management system allows the vehicle to make the scheduled trips as follows:
stroke 1: exit _1 from the initial entrance to the 1 st exit of the highway
And (4) stroke 2: exit 2 from the initial entrance to the 2 nd exit of the highway
And a stroke 3: exit _3 from the initial entrance to the 3 rd exit of the highway
···
Stroke k-1: exit _ k-1 from the initial entrance to the k-1 th exit of the highway
And a stroke k: exit _ k from the initial entrance to the k-th exit of the highway;
after the vehicles successfully reserve the journey in the team management system, the system automatically generates a vehicle ID number for each vehicle.
The method is characterized in that n fleets of vehicles which are scheduled to depart at a certain time point on a team management system at different times are provided. The team management system acquires information of n vehicles, wherein the information comprises vehicle travel, vehicle length and the like. The team management system estimates the total length of the team after the team is assembled according to the obtained vehicle information, and the total length of the team after the team is assembled is as follows:
wherein n represents the number of vehicles in the fleet; str _ lennRepresenting the total length of a fleet of n vehicles; l isiIndicates the length of the ith vehicle; Δ represents the desired vehicle separation.
The maximum length of the vehicle fleet is related to the DSRC communication distance, and in order to ensure good communication conditions between vehicles, the maximum length threshold of the vehicle fleet is set to str _ max. The total fleet length of the team needs to satisfy the following condition:
str_len|n＜str_max
when the total length of a certain vehicle is lower than a maximum length threshold str _ max of a vehicle fleet after the vehicle is added into the vehicle fleet, the fleet management system allows the vehicle to advance on the system for reservation; when a certain vehicle joins the fleet and the total length of the fleet is larger than a maximum length threshold str _ max of the fleet, the fleet management system prohibits the vehicle from being scheduled on the system. In addition, the fleet management system will shut down the scheduled functions at that time half an hour prior to the fleet departure.
The team management system closes the scheduled functions at the time point in the first half hour of the departure time point of the team, and the system starts to arrange vehicles in a front-back order according to the destinations. The purpose of the system for ordering vehicles is to ensure that the fleet of vehicles always leave the end of the fleet via one highway exit per road. In this way, the departing vehicle does not affect other vehicles of the fleet.
The method for the team management system to sequence the team vehicles is as follows: the data of the stack is used for storing the vehicle numbers, the stack follows the principle of 'first-in first-out', vehicles grouped at the same preset time point are traversed for multiple times, vehicles in the same journey are screened out, and the vehicle numbers are put on the stack one by one. The method comprises the following specific steps:
1 st traversal: the vehicles with the stroke 1 are screened out and stored in a stack in sequence
And 2, traversing: the vehicles with the journey 2 are screened out and stored in the stack in sequence
And 3, traversing: the vehicles with the journey 3 are screened out and stored in a stack in sequence
And k-th traversal: screening out vehicles with the travel k, and sequentially storing the vehicles in the stack;
after all the vehicles in all the trips are stored in the stack, the pop-up operation is started, the pop-up sequence is the final arrangement sequence of the vehicles in the fleet, the 1 st popped-up vehicle is the fleet pilot vehicle, and the 2 nd popped-up vehicles are all the following vehicles up to the nth popped-up vehicle.
In the team formation area, n parking spaces are divided according to the numbers from 1 to n. The pilot car corresponds 1 st parking stall, and the 2 nd vehicle that pops off the stack corresponds 2 nd parking stall, and the nth vehicle that pops off the stack corresponds nth parking stall.
The team management system is provided with an identity verification module, a hash table is adopted to store vehicle ID numbers with successful travel reservation, a Boolean type hash table map is established at first, the vehicle ID numbers are traversed one by one, each vehicle ID number is subjected to hash mapping, and a hash function is set as follows:
map[vehicle_ID]＝true
in the formula, the vehicle _ ID represents an ID number of the vehicle.
Before a vehicle enters a team formation area, a team formation management system identifies a vehicle ID number, if the Hash mapping value of the vehicle ID number is true, the vehicle is scheduled on the system, after identity verification is passed, a team formation area protective guard is opened, and the vehicle enters the team formation area and enters a corresponding parking space.
The team management system compares the vehicles entering the team area with the vehicles scheduled before, and when all scheduled vehicles enter the team area, the team management system reminds the pilot vehicle to broadcast V2V information, and all follow-up vehicles establish V2V communication connection with the pilot vehicle.
And waiting until a preset time point, driving the motorcade into the expressway from the team forming area, and carrying out whole-course formation driving. Because the vehicles in the fleet are arranged in sequence, each route of the fleet passes through the outlet of one expressway, and the vehicles which finish the journey sequentially leave the fleet from the tail of the fleet and drive off the expressway, namely, the vehicles at the tail of the fleet leave the fleet firstly from the 1 st vehicle at the tail of the fleet and then leave the fleet from the 2 nd vehicle at the tail of the fleet until all the vehicles ready for departure leave the fleet one by one. After all the vehicles are off, the motorcade continues to drive forwards, and the vehicles are not influenced by the vehicles.
The motorcade allows other free vehicles with V2V function to join the motorcade during the process of motorway formation. The method comprises the steps that a free vehicle sends a queuing application to a pilot vehicle, the pilot vehicle calculates the queue length of the free vehicle after the free vehicle joins, and if the queue length exceeds a maximum length threshold of a fleet, the free vehicle is forbidden to join the fleet; if the queue length does not exceed the maximum fleet length threshold, then free vehicles are allowed to join the fleet.
On the expressway, the position of the free vehicle joining the fleet depends on the travel destination of the free vehicle, and if the free vehicle destination is the nearest expressway exit, the free vehicle joining the tail of the fleet is enough; if the free vehicle destination is not the nearest exit, the free vehicle needs to be inserted behind a vehicle in the fleet that has the same destination.
Next, taking 6 vehicle teams as an example, a detailed description is given of a specific flow of the highway team management system:
suppose that 6 vehicles to be grouped are respectively scheduled on the group management system for a certain day 10 from t1 to t 6: and (5) a fleet starting at 00 points. At time t1, vehicle _1 reserves journey 3, leaves the fleet at exit _3 and drives away from high speed; at time t2, vehicle _2 scheduled trip 1; at time t3, vehicle _3 scheduled trip 2; at time t4, vehicle _4 scheduled trip 3; at time t5, vehicle _5 scheduled trip 2; at time t6, vehicle _6 scheduled trip 3.
Table 1: vehicle journey meter
And (5) according to a preset time sequence, traversing for 1 st time, screening the vehicle _2 of the journey 1, and enabling the vehicle _2 to be pushed. And in the 2 nd traversal, screening the vehicles vehicle _3 and vehicle _5 of the journey 2, and pushing the vehicle _3 and vehicle _ 5. And 3, screening the vehicles vehicle _1, vehicle _4 and vehicle _6 of the journey 3, and pushing the vehicles vehicle _1, vehicle _4 and vehicle _ 6.
After all the vehicles of all the strokes are stacked, the vehicles are popped one by one, and the popping sequence is as follows: vehicle _6, vehicle _4, vehicle _1, vehicle _5, vehicle _3, and vehicle _ 2.
The pop-up sequence is the vehicle arrangement sequence in the fleet, so the lead vehicle in the fleet is vehicle _6, and the vehicle arrangement sequence in the fleet is: vehicle _6, vehicle _4, vehicle _1, vehicle _5, vehicle _3, and vehicle _ 2.
Adopting a hash table to store vehicle ID numbers with successful travel reservation, firstly establishing a Boolean type hash table map, traversing the vehicle ID numbers one by one, and performing hash mapping on each vehicle ID number:
map[vehicle_1]＝true
map[vehicle_2]＝true
map[vehicle_3]＝true
map[vehicle_4]＝true
map[vehicle_5]＝true
map[vehicle_6]＝true
the hash table is composed of key value pairs, and the following hash table can be obtained:
table 2: hash table constructed from 6 vehicles
| Key with a key body | vehicl | evehicl | evehic | vehicl | evehicl | evehicl |
| Value of | true | true | true | true | true | true |
When the vehicle enters the formation area, the formation management system identifies the vehicle ID number, and if the Hash mapping value of the ID number is true, the identity authentication is passed, and the vehicle can enter the formation area.
After the vehicles complete the formation in the formation area, the fleet drives into the expressway, when the fleet drives to the 1 st exit _1 of the expressway, the vehicle _2 at the tail of the fleet completes the journey 1, requests the pilot vehicle to leave the fleet, and after the pilot vehicle receives the request of the vehicle _2, the pilot vehicle can disconnect the communication with the vehicle _ 2. At this point, vehicle _2 slows down, is spaced further from the preceding vehicle, leaves the fleet and exits the highway at the first exit _ 1.
And the rest vehicles of the fleet continue to form a formation to run. When the vehicle team runs to the 2 nd exit _2 of the expressway, the vehicles vehicle _3 and vehicle _5 at the tail of the vehicle team complete the journey 2, the vehicle _3 leaves the vehicle team firstly, and the vehicle _5 begins to leave the vehicle team after the vehicle _3 leaves the vehicle team.
When the platoon travels to the 3 rd exit _3 of the highway, i.e. the platoon arrives at the terminal, the platoon vehicles vehicle _1, vehicle _4, vehicle _6 complete journey 3. The piloting vehicle _6 issues information of a dismissal team through a V2V module, and the team starts to dismisse.
The following describes the scenario where a free vehicle joins a fleet of vehicles while the fleet is traveling on a highway. When the motorcade does not reach the 1 st exit of the expressway, a free vehicle with a trip destination of the 3 rd exit of the expressway discovers the motorcade, the free vehicle sends an enqueue application, and after the pilot vehicle agrees to the enqueue of the free vehicle, the pilot vehicle assigns a vehicle ID number vehicle _7 to the free vehicle. To ensure that every time a highway is exited, the departing vehicle always leaves the platoon from the end of the platoon, the free vehicle _7 needs to be inserted behind the vehicle having the same destination as vehicle _7, so the vehicle _7 is inserted behind the vehicle _ 1.
Finally, it should be noted that: although the present invention has been described in detail with reference to the foregoing embodiments, it will be apparent to those skilled in the art that changes may be made in the embodiments and/or equivalents thereof without departing from the spirit and scope of the invention. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention. .
Claims (6)
1. A vehicle collaborative formation pre-formation management system on a highway, the formation management system supports vehicles to be formed into a group with a V2V communication module for a predetermined journey in advance, and the front and back arrangement sequence of the vehicles in the vehicle group is comprehensively managed, and the system is characterized in that: the team management system comprises:
a journey booking module (1) for allowing vehicles to advance a scheduled journey on the team management system;
and the vehicle sequencing module (2) is used for arranging the front and back sequence of the vehicles in the fleet so that each time the exit of one expressway is reached, the two vehicles leaving the fleet always leave the fleet from the tail of the fleet.
And the identity authentication module (3) is used for carrying out identity authentication on the vehicles which are scheduled to succeed, and the vehicles which pass the identity authentication can enter the team formation area.
2. The method for managing the cooperative formation and pre-formation of vehicles on the expressway according to claim 1, wherein: the method comprises the following steps:
s1, reserving a journey on the team management system by the vehicles to be team through the journey reservation module (1) in advance, and after the journey reservation is completed, automatically generating a vehicle ID number for each vehicle by the team management system;
s2, the team management system acquires a travel list of each vehicle, traverses each travel, and leads the corresponding vehicle ID numbers to be pushed and then pulled one by one through the vehicle sequencing module (2) to obtain the front and back arrangement sequence of the vehicles;
s3, storing the vehicle ID number successfully scheduled by the travel by adopting a hash table, and before the vehicle enters the team formation area, identifying the vehicle ID number by the system through an identity verification module (3) to verify the identity of the vehicle;
s4, enabling the vehicles to enter a team forming area for team forming;
s5, finishing the fleet of vehicles arranged in sequence, and the like until a preset time point, wherein the fleet drives into the expressway from a fleet formation area and is formed to run in the whole journey;
and S6, each time one expressway exit is reached, the vehicles leaving the team leave the team from the tail of the team.
3. The method for managing the cooperative formation pre-formation of vehicles on the expressway according to claim 2, wherein: the specific way of storing the predetermined successful vehicle ID number and vehicle identity verification in step S3 is as follows: the team management system adopts a hash table to store vehicle ID numbers with successfully scheduled travel, firstly, a Boolean type hash table map is established, the vehicle ID numbers are traversed one by one, each vehicle ID number is subjected to hash mapping, and a hash function is set as:
map[vehicle_ID]＝true
in the formula, the vehicle _ ID represents an ID number of the vehicle;
before the vehicle enters the team formation area, the system identifies the vehicle ID number through the identity verification module (3), if the Hash mapping value of the vehicle ID number is true, the vehicle is scheduled on the system, after the identity verification is passed, the team formation area guard rail is opened, and the vehicle enters the team formation area and enters a corresponding parking space.
4. The method for managing the cooperative formation pre-formation of vehicles on the expressway according to claim 2, wherein: in step S1, the fleet management system allows the vehicle to make a predetermined trip as follows:
stroke 1: exit _1 from the initial entrance to the 1 st exit of the highway
And (4) stroke 2: exit 2 from the initial entrance to the 2 nd exit of the highway
And a stroke 3: exit _3 from the initial entrance to the 3 rd exit of the highway
···
And a stroke k: exit k from the initial entrance to the k-th exit of the highway
After the vehicles successfully reserve the journey in the team management system, the system automatically generates a vehicle ID number for each vehicle;
the method is characterized in that n fleets of vehicles which are scheduled to depart at a certain time point on a team management system at different times are provided. The team formation management system acquires information of n vehicles, estimates the total length of the team after team formation according to the acquired vehicle information, and the total length of the team after team formation is as follows:
wherein n represents the number of vehicles in the fleet; str _ lennRepresenting the total length of a fleet of n vehicles; l isiIndicates the length of the ith vehicle; Δ represents the desired vehicle separation.
5. The method for managing the cooperative formation pre-formation of vehicles on the expressway according to claim 2, wherein: in step S1, the maximum length of the vehicle group is related to the DSRC communication distance, and the maximum length threshold of the vehicle group is set to str _ max in order to ensure good communication conditions between vehicles. The total fleet length of the team needs to satisfy the following condition:
str_len|n＜str_max
when the total length of a certain vehicle is lower than a maximum length threshold str _ max of a vehicle fleet after the vehicle is added into the vehicle fleet, the fleet management system allows the vehicle to advance on the system for reservation; when a certain vehicle joins the fleet and the total length of the fleet is larger than a maximum length threshold str _ max of the fleet, the fleet management system prohibits the vehicle from being scheduled on the system.
6. The method for managing the cooperative formation pre-formation of vehicles on the expressway according to claim 2, wherein: in step S2, the method for the fleet management system to sort the fleet vehicles is as follows: the data of the stack is used for storing the vehicle numbers, the stack follows the principle of 'first-in first-out', vehicles grouped at the same preset time point are traversed for multiple times, vehicles in the same journey are screened out, and the vehicle numbers are put on the stack one by one. The method comprises the following specific steps:
1 st traversal: the vehicles with the stroke 1 are screened out and stored in a stack in sequence
And 2, traversing: the vehicles with the journey 2 are screened out and stored in the stack in sequence
And 3, traversing: the vehicles with the journey 3 are screened out and stored in a stack in sequence
And k-th traversal: screening out vehicles with the travel k, and sequentially storing the vehicles in the stack;
after all the vehicles in all the trips are stored in a stack, then the operation of unstacking is started, the sequence of unstacking is the final arrangement sequence of the vehicles in the fleet, the 1 st unstacked vehicle is a fleet pilot vehicle, and the 2 nd unstacked vehicle and the vehicles up to the nth unstacked vehicle are all following vehicles;
in the team district, n parking stalls have been divided according to the serial number from 1 to n, and the pilot car corresponds 1 st parking stall, and the 2 nd vehicle that pops off the stack corresponds 2 nd parking stall, and the nth vehicle that pops off the stack corresponds nth parking stall.
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