CN113928313A - Intelligent vehicle following control method and system suitable for heterogeneous traffic - Google Patents

Intelligent vehicle following control method and system suitable for heterogeneous traffic Download PDF

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CN113928313A
CN113928313A CN202111170174.9A CN202111170174A CN113928313A CN 113928313 A CN113928313 A CN 113928313A CN 202111170174 A CN202111170174 A CN 202111170174A CN 113928313 A CN113928313 A CN 113928313A
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following
state
self
distance
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CN113928313B (en
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刘津强
赵万忠
徐灿
郑双权
王春燕
李琳
陈青云
楚明龙
罗建
徐坤豪
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Nanjing University of Aeronautics and Astronautics
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
    • B60W30/14—Adaptive cruise control
    • B60W30/16—Control of distance between vehicles, e.g. keeping a distance to preceding vehicle
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W60/00—Drive control systems specially adapted for autonomous road vehicles
    • B60W60/001—Planning or execution of driving tasks
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2420/00—Indexing codes relating to the type of sensors based on the principle of their operation
    • B60W2420/40—Photo, light or radio wave sensitive means, e.g. infrared sensors
    • B60W2420/403—Image sensing, e.g. optical camera
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2554/00—Input parameters relating to objects
    • B60W2554/40—Dynamic objects, e.g. animals, windblown objects
    • B60W2554/402—Type
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/10—Internal combustion engine [ICE] based vehicles
    • Y02T10/40—Engine management systems

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  • Engineering & Computer Science (AREA)
  • Automation & Control Theory (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Human Computer Interaction (AREA)
  • Traffic Control Systems (AREA)
  • Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
  • Controls For Constant Speed Travelling (AREA)

Abstract

The invention discloses an intelligent vehicle following control method and system suitable for heterogeneous traffic, which comprises the following steps: 1) classifying the vehicle type; 2) classifying the following states of the vehicles, judging the following states of the self vehicles according to the driving tasks of the vehicles, and solving the safe following distance of the self vehicles in the corresponding following states according to the vehicle types of the self vehicles and the front vehicles; 3) and controlling the following running of the vehicle according to the vehicle type and the safe following distance of the vehicle. The method considers the vehicle types of the front vehicle and the rear vehicle in the following scene, and divides the following vehicle into three states to solve the safe following distance, so that the vehicle following process can be more efficient and safer.

Description

Intelligent vehicle following control method and system suitable for heterogeneous traffic
Technical Field
The invention belongs to the technical field of automatic driving, and particularly relates to an intelligent vehicle following control method and system suitable for heterogeneous traffic.
Background
The adaptive cruise function is one of the main functions of low-level auto-driving. On urban roads and expressways, the vehicle often needs to perform adaptive cruise driving to replace or reduce the burden on the driver. Vehicle following control is a key technology of an adaptive cruise function, and achieves safe adaptive cruise driving by keeping a reasonable following distance with a front vehicle.
Prior studies have proposed some following control methods that enable following control of a vehicle. The Chinese patent application No. CN202010391813.3, entitled "method and device for determining vehicle following distance", provides a method for determining vehicle following distance, which calculates the target root-river distance of a vehicle according to target acceleration and target deceleration. The invention provides a following control method in Chinese patent application No. CN201910325347.6 entitled "a following control system and method of an intelligent driving vehicle", and the method obtains a following distance according to the real-time speed of the vehicle and the real-time traffic state of the road, and then automatically adjusts the speed when the vehicle follows. The method does not consider the influence of the vehicle types of the front vehicle and the rear vehicle on the following control in the following working condition, and is not suitable for the following control of the vehicles in heterogeneous traffic composed of different vehicle types.
Disclosure of Invention
In view of the defects of the prior art, the invention aims to provide an intelligent vehicle following control method and system suitable for heterogeneous traffic.
In order to achieve the purpose, the technical scheme adopted by the invention is as follows:
the invention discloses an intelligent vehicle following control method suitable for heterogeneous traffic, which comprises the following steps of:
1) classifying the vehicle type;
2) classifying the following states of the vehicles, judging the following states of the self vehicles according to the driving tasks of the vehicles, and solving the safe following distance of the self vehicles in the corresponding following states according to the vehicle types of the self vehicles and the front vehicles;
3) and controlling the following running of the vehicle according to the vehicle type and the safe following distance of the vehicle.
Further, the step 1) specifically includes: the vehicle type of the front vehicle is identified through the camera, and the vehicle type is specifically divided into: cars, minibuses, trucks, buses, semitrailers.
Further, the following state of the vehicle in the step 2) is specifically divided into: an approaching state, a following state, a leaving state.
Further, the step 2) of determining the following state of the vehicle is specifically: when the lane of the self-vehicle needs to be changed, the self-vehicle needs to be pulled away from the front vehicle, and the following state of the self-vehicle is a leaving state at the moment; when the self-vehicle does not need to change lanes, if the distance d between the self-vehicle and the front vehicle is larger than the threshold distance dtIf the following state of the self-vehicle is the approaching state, otherwise, the following state of the self-vehicle is the following state; threshold spacing dtIs defined as:
dt＝λeλfTHtve
in the formula, λeAnd λfRespectively are vehicle type characteristic factors of a self vehicle and a front vehicle; the values of the vehicle type characteristic factors of the sedan, the small bus, the truck, the bus and the semitrailer are 1, 1.5, 2, 2.5 and 3 respectively; THtThe time interval threshold value is 1 second; v. ofeIs the speed of the vehicle.
Further, the solving of the safe following distance of the self-vehicle in the corresponding state in the step 2) is specifically as follows: when the car state of following of car is the departure state, the safe car distance of following is:
Figure BDA0003292671080000021
in the formula, bminFor reference to the minimum deceleration, it is generally preferable to set the deceleration to-0.2 to 1m/s2；bmaxFor reference to the maximum deceleration, it is generally preferable to be-2 to-5 m/s2；vfFor forward speed, e is a natural exponent symbol; when the car state of following of car is the approximate state, the safe car distance of following is:
Figure BDA0003292671080000022
wherein rho is reaction time; a isgIs a reference general acceleration; bgFor reference to the normal deceleration; the reference normal acceleration and the reference normal deceleration are defined as:
Figure BDA0003292671080000023
Figure BDA0003292671080000024
in the formula, aminAnd amaxThe reference minimum acceleration and the reference maximum acceleration are respectively, and can be generally 0.2-0.6 m/s2And 1.5 to 2.5m/s2；vmaxThe maximum driving speed of the vehicle is the maximum driving speed of the vehicle; when following the car state of own car for following closely when following the state, the car distance is followed safely:
Figure BDA0003292671080000025
further, the intelligent vehicle following control method is adopted in the step 3) to control the vehicle following to run, and specifically comprises the following steps: the method for solving the acceleration of the self vehicle by adopting the intelligent vehicle following control method comprises the following steps:
Figure BDA0003292671080000031
wherein δ is an acceleration index; d is the distance between the bicycle and the front bicycle, and e is a natural exponent symbol.
The invention also provides an intelligent vehicle following control system suitable for heterogeneous traffic, which comprises:
the classification module is used for classifying the types of the vehicles;
the state judgment module is used for judging the following state of the vehicle according to the vehicle running task;
the calculation module is used for solving the safe following distance of the self vehicle in the corresponding following state according to the vehicle types of the self vehicle and the front vehicle;
and the control module is used for controlling the following running of the vehicle according to the vehicle type and the safe following distance of the vehicle.
The invention has the beneficial effects that:
the method analyzes the influence of the vehicle types of the front vehicle and the rear vehicle on the following control of the rear vehicle in the following working condition, and solves the safe following distance for the following control considering the vehicle types of the front vehicle and the rear vehicle, so that the following control method can be suitable for heterogeneous traffic consisting of vehicles of various vehicle types;
the invention also analyzes the behavior of the vehicle under the vehicle following working condition, divides the vehicle following state into a leaving state, a following state and a close state, and solves the safe vehicle following distance which is as small as possible, so that the vehicle following process can be more efficient and safer.
Drawings
FIG. 1 is a schematic flow chart of the method 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.
Referring to fig. 1, the intelligent vehicle following control method applicable to heterogeneous traffic, provided by the invention, comprises the following steps:
1) classifying the vehicle type;
the vehicle type of the front vehicle is identified through the camera, and the vehicle type is specifically divided into: cars, minibuses, trucks, buses, semitrailers.
2) Classifying the following states of the vehicles, judging the following states of the self vehicles according to the driving tasks of the vehicles, and solving the safe following distance of the self vehicles in the corresponding following states according to the vehicle types of the self vehicles and the front vehicles;
the following state of the vehicle is specifically divided into: an approaching state, a following state, a leaving state.
The step 2) of judging the following state of the self vehicle specifically comprises the following steps: when the lane of the self-vehicle needs to be changed, the self-vehicle needs to be pulled away from the front vehicle, and the following state of the self-vehicle is a leaving state at the moment; when the self-vehicle does not need to change lanes, if the distance d between the self-vehicle and the front vehicle is larger than the threshold distance dtIf the following state of the self-vehicle is the approaching state, otherwise, the following state of the self-vehicle is the following state; threshold spacing dtIs defined as:
dt＝λeλfTHtve
in the formula, λeAnd λfRespectively are vehicle type characteristic factors of a self vehicle and a front vehicle; the values of the vehicle type characteristic factors of the sedan, the small bus, the truck, the bus and the semitrailer are 1, 1.5, 2, 2.5 and 3 respectively; THtThe time interval threshold value is 1 second; v. ofeIs the speed of the vehicle.
The step 2) of solving the safe following distance of the self-vehicle in the corresponding state is specifically as follows: when the car state of following of car is the departure state, the safe car distance of following is:
Figure BDA0003292671080000041
in the formula, bminFor reference minimum decelerationThe degree of the reaction is generally 0.2 to 1m/s2；bmaxFor reference to the maximum deceleration, it is generally preferable to be-2 to-5 m/s2；vfFor forward speed, e is a natural exponent symbol; when the car state of following of car is the approximate state, the safe car distance of following is:
Figure BDA0003292671080000042
wherein rho is reaction time; a isgIs a reference general acceleration; bgFor reference to the normal deceleration; the reference normal acceleration and the reference normal deceleration are defined as:
Figure BDA0003292671080000043
Figure BDA0003292671080000044
in the formula, aminAnd amaxThe reference minimum acceleration and the reference maximum acceleration are respectively, and can be generally 0.2-0.6 m/s2And 1.5 to 2.5m/s2(ii) a When following the car state of own car for following closely when following the state, the car distance is followed safely:
Figure BDA0003292671080000045
3) controlling the following running of the vehicle according to the vehicle type and the safe following distance of the vehicle;
the intelligent vehicle following control method is adopted in the step 3) to control the following driving of the vehicle, and specifically comprises the following steps: the method for solving the acceleration of the self vehicle by adopting the intelligent vehicle following control method comprises the following steps:
Figure BDA0003292671080000051
wherein δ is an acceleration index; d is the distance between the bicycle and the front bicycle, and e is a natural exponent symbol.
The invention also provides an intelligent vehicle following control system suitable for heterogeneous traffic, which comprises:
the classification module is used for classifying the types of the vehicles;
the state judgment module is used for judging the following state of the vehicle according to the vehicle running task;
the calculation module is used for solving the safe following distance of the self vehicle in the corresponding following state according to the vehicle types of the self vehicle and the front vehicle;
and the control module is used for controlling the following running of the vehicle according to the vehicle type and the safe following distance of the vehicle.
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. An intelligent vehicle following control method suitable for heterogeneous traffic is characterized by comprising the following steps:
1) classifying the vehicle type;
2) classifying the following states of the vehicles, judging the following states of the self vehicles according to the driving tasks of the vehicles, and solving the safe following distance of the self vehicles in the corresponding following states according to the vehicle types of the self vehicles and the front vehicles;
3) and controlling the following running of the vehicle according to the vehicle type and the safe following distance of the vehicle.
2. The intelligent vehicle following control method suitable for heterogeneous transportation according to claim 1, wherein the step 1) specifically comprises: the vehicle type of the front vehicle is identified through the camera, and the vehicle type is specifically divided into: cars, minibuses, trucks, buses, semitrailers.
3. The intelligent vehicle following control method suitable for heterogeneous transportation according to claim 1, wherein the following state of the vehicle in the step 2) is specifically divided into: an approaching state, a following state, a leaving state.
4. The intelligent vehicle following control method suitable for heterogeneous transportation according to claim 3, wherein the step 2) of judging the following state of the vehicle is specifically as follows: when the lane of the self-vehicle needs to be changed, the self-vehicle needs to be pulled away from the front vehicle, and the following state of the self-vehicle is a leaving state at the moment; when the self-vehicle does not need to change lanes, if the distance d between the self-vehicle and the front vehicle is larger than the threshold distance dtIf the following state of the self-vehicle is the approaching state, otherwise, the following state of the self-vehicle is the following state; threshold spacing dtIs defined as:
dt＝λeλfTHtve
in the formula, λeAnd λfRespectively are vehicle type characteristic factors of a self vehicle and a front vehicle; the values of the vehicle type characteristic factors of the sedan, the small bus, the truck, the bus and the semitrailer are 1, 1.5, 2, 2.5 and 3 respectively; THtThe time interval threshold value is 1 second; v. ofeIs the speed of the vehicle.
5. The intelligent vehicle following control method suitable for heterogeneous transportation according to claim 4, wherein the step 2) of solving the safe following distance of the self-vehicle in the corresponding state is specifically as follows: when the car state of following of car is the departure state, the safe car distance of following is:
Figure FDA0003292671070000011
in the formula, bminTaking-0.2 to 1m/s as a reference minimum deceleration2；bmaxFor reference to the maximum deceleration, take-2 to-5 m/s2；vfFor forward speed, e is a natural exponent symbol; when the following state of the bicycle is close, the bicycle can be safely followedThe vehicle distance is as follows:
Figure FDA0003292671070000012
wherein rho is reaction time; a isgIs a reference general acceleration; bgFor reference to the normal deceleration; the reference normal acceleration and the reference normal deceleration are defined as:
Figure FDA0003292671070000021
Figure FDA0003292671070000022
in the formula, aminAnd amaxRespectively a reference minimum acceleration and a reference maximum acceleration, and the value ranges are 0.2-0.6 m/s2And 1.5 to 2.5m/s2(ii) a When following the car state of own car for following closely when following the state, the car distance is followed safely:
Figure FDA0003292671070000023
6. the intelligent vehicle following control method suitable for heterogeneous transportation according to claim 5, wherein the intelligent vehicle following control method is adopted in the step 3) to control the following running of the vehicle, and specifically comprises the following steps: the method for solving the acceleration of the self vehicle by adopting the intelligent vehicle following control method comprises the following steps:
Figure FDA0003292671070000024
wherein δ is an acceleration index; d is the distance between the bicycle and the front bicycle.
7. An intelligent vehicle following control system adapted to heterogeneous traffic, comprising:
the classification module is used for classifying the types of the vehicles;
the state judgment module is used for judging the following state of the vehicle according to the vehicle running task;
the calculation module is used for solving the safe following distance of the self vehicle in the corresponding following state according to the vehicle types of the self vehicle and the front vehicle;
and the control module is used for controlling the following running of the vehicle according to the vehicle type and the safe following distance of the vehicle.
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Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN115583240A (en) * 2022-11-25 2023-01-10 小米汽车科技有限公司 Following method, device, vehicle and medium

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CN111968372A (en) * 2020-08-25 2020-11-20 重庆大学 Multi-vehicle type mixed traffic following behavior simulation method considering subjective factors
CN112668779A (en) * 2020-12-28 2021-04-16 重庆大学 Preceding vehicle motion state prediction method based on self-adaptive Gaussian process
CN112721928A (en) * 2021-01-18 2021-04-30 国汽智控(北京)科技有限公司 Car following strategy determination method and device, electronic equipment and storage medium

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CN108848462A (en) * 2018-06-19 2018-11-20 连云港杰瑞电子有限公司 Real-time vehicle trajectory predictions method suitable for signalized crossing
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