CN114038199A - Mixed queue stability control method considering uncertainty of vehicle-to-vehicle communication - Google Patents

Mixed queue stability control method considering uncertainty of vehicle-to-vehicle communication Download PDF

Info

Publication number
CN114038199A
CN114038199A CN202111420784.XA CN202111420784A CN114038199A CN 114038199 A CN114038199 A CN 114038199A CN 202111420784 A CN202111420784 A CN 202111420784A CN 114038199 A CN114038199 A CN 114038199A
Authority
CN
China
Prior art keywords
vehicle
queue
uncertainty
vehicles
following model
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Granted
Application number
CN202111420784.XA
Other languages
Chinese (zh)
Other versions
CN114038199B (en
Inventor
张俊杰
杨灿
任毅龙
于海洋
冀浩杰
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Hefei Innovation Research Institute of Beihang University
Original Assignee
Hefei Innovation Research Institute of Beihang University
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Hefei Innovation Research Institute of Beihang University filed Critical Hefei Innovation Research Institute of Beihang University
Priority to CN202111420784.XA priority Critical patent/CN114038199B/en
Publication of CN114038199A publication Critical patent/CN114038199A/en
Application granted granted Critical
Publication of CN114038199B publication Critical patent/CN114038199B/en
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Images

Classifications

    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/01—Detecting movement of traffic to be counted or controlled
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/01—Detecting movement of traffic to be counted or controlled
    • G08G1/0104—Measuring and analyzing of parameters relative to traffic conditions
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/01—Detecting movement of traffic to be counted or controlled
    • G08G1/0104—Measuring and analyzing of parameters relative to traffic conditions
    • G08G1/0108—Measuring and analyzing of parameters relative to traffic conditions based on the source of data
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/01—Detecting movement of traffic to be counted or controlled
    • G08G1/0104—Measuring and analyzing of parameters relative to traffic conditions
    • G08G1/0125—Traffic data processing

Landscapes

  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Chemical & Material Sciences (AREA)
  • Analytical Chemistry (AREA)
  • Traffic Control Systems (AREA)

Abstract

The invention discloses a method for controlling the stability of a mixed-row queue in consideration of uncertainty of vehicle-to-vehicle communication, which comprises the steps of establishing a non-network vehicle-connected following model; establishing an intelligent network vehicle following model considering vehicle-vehicle communication uncertainty; establishing a feedback control item considering the stability of the uncertain mixed queue of vehicle-to-vehicle communication; forming a mixed-driving vehicle following model with feedback control according to the established intelligent network vehicle following model considering vehicle-to-vehicle communication uncertainty, the non-network vehicle following model and the feedback control item; and selecting parameters according to the established hybrid vehicle following model with feedback control, verifying and comparing and analyzing the speed evolution conditions of all vehicles in the hybrid queue under the condition of existence of a feedback control strategy under the condition of considering uncertainty of vehicle-to-vehicle communication. The invention is based on the non-network connected vehicle and intelligent network connected vehicle following model, comparatively analyzes the evolution condition of the mixed traffic flow under the condition of the existence of the control item, and can be widely applied to the fields of vehicle-road cooperation and the like.

Description

Mixed queue stability control method considering uncertainty of vehicle-to-vehicle communication
Technical Field
The invention relates to the technical field of vehicle-road cooperative control, in particular to a method for controlling stability of a mixed queue considering uncertainty of vehicle-vehicle communication.
Background
With the development of intellectualization and networking, the coupling relationship of elements in the traffic system is changed. With the gradual maturity of automatic driving and intelligent networking technologies, the mixed running of different types of vehicles becomes a normal state. The reliability of the intelligent networked vehicle communication influences the driving behavior of the vehicle. Therefore, under the condition that vehicle-to-vehicle communication is uncertain, how to improve the stability of the vehicle mixed-driving queue and improve the driving safety under the complex and changeable intelligent network connection mixed-driving environment is a difficult problem to solve urgently at the present stage.
The motion state of the intelligent networked vehicles in the intelligent networked mixed-traveling queue depends on the feedback of the motion state information of other vehicles in the queue, and if important influence is generated on the control decision of the intelligent networked vehicles due to communication delay, interruption or errors, the influence can cause the queue to be unstable and even cause the risk of rear-end collision of the vehicles. At present, a control strategy capable of ensuring the stable running of the mixed running queue under the condition that the vehicle-vehicle communication is uncertain is not available, so that a control method for the stability of the mixed running queue considering the uncertainty of the vehicle-vehicle communication needs to be provided, and the method has an important engineering application value for the development of intelligent networked automobiles.
Disclosure of Invention
The invention aims to make up for the defects of the prior art and provides a method for controlling the stability of a mixed queue in consideration of uncertainty of vehicle-to-vehicle communication.
The invention is realized by the following technical scheme:
a method for controlling stability of a mixed queue in consideration of uncertainty of vehicle-to-vehicle communication comprises the following steps:
(1) and setting traffic scenes, namely setting the traffic scenes needing simulation by taking the intelligent networked vehicles with controllable motion as guide vehicles.
(2) Selecting parameter values, and selecting the values of the parameters according to the set traffic situation, wherein the values comprise the response time tau of a driver and the response time tau of emergency braking of a vehicle1Maximum deceleration d of vehicle brake and multiple front vehicle information feedback gain coefficient gammai，βiThe vehicle-to-vehicle communication uncertainty zeta, i represents the number of vehicles in front of the queue of the intelligent networked vehicle in the acceptable communication distance range, the acceleration sensitivity coefficient alpha and the expected safety margin SMD。
(3) The initial states of all vehicles are acquired.
(4) When the simulation t is larger than 0, the motion state of the vehicle queue is assumed to move according to a pre-specified scheme, and the non-networked vehicle follows the following motion equation:
Figure BDA0003377302110000021
wherein v isn(t) and vn-1(t) represents the speed of the vehicles n and n-1, Dn(t) represents a gap between the n-th and n-1-th vehicles, and g is 9.8m/s2。
(5) An intelligent network vehicle following model considering vehicle-vehicle communication uncertainty is established, and the motion equation is as follows:
Figure BDA0003377302110000022
wherein m is1And m2Respectively representing the number of the non-internet connected vehicles and the internet connected vehicles at the front and the rear of the nth internet connected vehicle in the queue, tau2Representing the response time of the intelligent networked vehicle.
In addition, a safety margin SM is desiredD0.9; the length of the vehicle is set to be 5 m; acceleration sensitivity coefficient alpha is 15m/s2(ii) a Other parameters τ1＝0.15s，τ＝0.5s，τ2＝0.5s，ζ～U(0,1)。
(6) A control method for considering the uncertain mixed queue stability of vehicle-to-vehicle communication is established, and the control items are as follows:
Cn(t)＝κ1(Δxn(t-τ*)-Δxn(t))+κ2(vn(t-τ*)-vn(t)),
wherein, tau*Indicating communication delaysLate response time, κ1And kappa2Each representing a feedback gain factor, k, of the control term1And kappa2Respectively taking-1 s-2And 1.5s-1，τ*＝0.5s。
(7) The speed and the position of all vehicles are updated according to the following rules, and the calculation formula is as follows:
speed: v. ofn(t)＝vn(t-Δt)+a(t-Δt)×Δt,n＝1,2,…N；
Position:
Figure BDA0003377302110000023
where Δ t is the acceleration adjustment time.
The invention has the advantages that: the method is used for ensuring the stable running of the mixed running queue under the condition that the vehicle-vehicle communication is uncertain; the method is based on the non-network-connected vehicle and intelligent network-connected vehicle following model, and the evolution condition of the mixed traffic flow is comparatively analyzed under the condition of the existence of the control item, and the method can be widely applied to the fields of vehicle-road cooperation and the like.
Drawings
FIG. 1 is a flow chart of a technical method implementation in an embodiment of the present invention;
FIG. 2 is an evolution diagram of vehicle speeds in a mixed-driving queue under low-permeability conditions of intelligent networked vehicles: (a) a feedback no control strategy, and (b) a feedback control strategy is considered.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, 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 some, but not all, embodiments of the present invention.
As shown in fig. 1, the method for controlling the stability of the mixed queue in consideration of uncertainty of vehicle-to-vehicle communication according to this embodiment includes the following steps:
(1) establishing a non-network vehicle following model, wherein the motion equation is as follows:
Figure BDA0003377302110000031
wherein v isn(t) and vn-1(t) represents the speed of the vehicles n and n-1, Dn(t) represents a vehicle clearance between the nth and n-1 th vehicles, τ is a driver reaction time, τ1For the vehicle emergency brake reaction time, α is the acceleration sensitivity coefficient, and the desired safety margin SMD，g＝9.8m/s2。
(2) An intelligent network vehicle following model considering vehicle-vehicle communication uncertainty is established, and the motion equation is as follows:
Figure BDA0003377302110000032
wherein m is1And m2Respectively representing the number of the non-internet connected vehicles and the internet connected vehicles at the front and the rear of the nth internet connected vehicle in the queue, tau2Representing the response time of the intelligent networked vehicle, zeta being the uncertainty of the vehicle-to-vehicle communication, gammai，βiAnd the information feedback gain coefficients of the multiple front vehicles are respectively represented, and i represents the number of the front vehicles in the queue of the intelligent networked vehicle in the acceptable communication distance range.
(3) Establishing a feedback control item considering the uncertain mixed queue stability of vehicle-to-vehicle communication, wherein the feedback control item comprises the following steps:
Cn(t)＝κ1(Δxn(t-τ*)-Δxn(t))+κ2(vn(t-τ*)-vn(t)),
wherein, tau*Indicates the communication delay response time, k1And kappa2Each representing a feedback gain factor of the control term.
(4) According to the established intelligent network vehicle following model considering the uncertainty of vehicle-to-vehicle communication, the non-network vehicle following model and the feedback control item considering the stability of the uncertain vehicle-to-vehicle queue of the vehicle-to-vehicle communication, the vehicle-to-vehicle following model with feedback control is formed, and the motion equation is as follows:
Figure BDA0003377302110000041
(5) according to the established mixed-line vehicle following model with feedback control, the selection parameters are as follows:
the mixed-driving vehicle fleet with 50 vehicles is provided with the permeability of the intelligent networked vehicles of 20 percent, all the vehicles are uniformly distributed on the same lane with the headway distance L of 25m, and the headway acceleration at the initial moment is set to be 5 multiplied by 10-2Uniform random disturbance of x U (-1,1), feedback gain coefficient of control term k1And kappa2Are respectively-1 s-2And 1.5s-1；
And verifying and comparing and analyzing the speed evolution conditions of all vehicles in the mixed-traveling queue under the condition of existence of a feedback control strategy under the condition of considering uncertainty of vehicle-to-vehicle communication.
The set traffic scene is a mixed traffic fleet of N50 vehicles, wherein the permeability of the intelligent networked vehicles is 20%, and all the vehicles are uniformly distributed on the same lane with the distance L between the heads of the vehicles being 25 m. The number of the first vehicle is 1, and other vehicles are numbered in sequence according to the driving direction.
The speed and position of the vehicle initial state are as follows:
Figure BDA0003377302110000042
in the formula (I), the compound is shown in the specification,
Figure BDA0003377302110000043
is a head vehicle
Figure BDA0003377302110000044
At a moment of small acceleration disturbance, subject to a 5 × 10 disturbance-2XU (-1, 1).
The values of the parameters are as follows:
desired safety margin SMD＝0.9；
The length of the vehicle is set to be 5 m;
acceleration sensitivity coefficient alpha is 15m/s2；
Feedback gain factor k of the control term1And kappa2Are respectively-1 s-2And 1.5s-1；
Communication delay response time τ*＝0.5s；
Multiple front vehicle information feedback gain coefficient gammai，βi0.3 and 0.2 respectively;
other parameters τ1＝0.15s，τ＝0.5s，τ2＝0.5s，ζ～U(0,1)。g＝9.8m/s2。
FIG. 2 is an evolution diagram of vehicle speed in a mixed-driving queue under the condition of existence of a feedback control method and under the condition that the permeability of the intelligent networked vehicle is 20%. As can be seen from fig. 2(a), in the absence of the feedback control strategy, all the vehicle speeds in the mixed queue fluctuate greatly, whereas when the feedback control strategy is considered, all the vehicle speeds in the mixed queue fluctuate very little, as shown in fig. 2 (b).

Claims (6)

1. A method for controlling the stability of a mixed queue considering uncertainty of vehicle-to-vehicle communication is characterized by comprising the following steps: the method specifically comprises the following steps:
establishing a non-network vehicle following model;
establishing an intelligent network vehicle following model considering vehicle-vehicle communication uncertainty;
establishing a feedback control item considering the stability of the uncertain mixed queue of vehicle-to-vehicle communication;
forming a mixed-driving vehicle following model with feedback control according to the established intelligent network vehicle following model considering vehicle-to-vehicle communication uncertainty, the non-network vehicle following model and the mixed-driving queue stability feedback control item considering vehicle-to-vehicle communication uncertainty;
and selecting parameters according to the established hybrid vehicle following model with feedback control, verifying and comparing and analyzing the speed evolution conditions of all vehicles in the hybrid queue under the condition of existence of a feedback control strategy under the condition of considering uncertainty of vehicle-to-vehicle communication.
2. The method for controlling the stability of the mixing queue considering uncertainty of vehicle-to-vehicle communication according to claim 1, characterized in that: the non-network vehicle following model is established, and the motion equation is as follows:
Figure FDA0003377302100000011
wherein the content of the first and second substances,
Figure FDA0003377302100000012
representing the acceleration, v, of the non-networked vehicle n at time t + Tn(t) and vn-1(t) represents the speed of the vehicles n and n-1, Dn(t) represents a vehicle clearance between the nth and n-1 th vehicles, τ is a driver reaction time, τ1For vehicle emergency braking response time, alpha is the acceleration sensitivity coefficient, SMDFor a desired safety margin, g is 9.8m/s2。
3. The method for controlling the stability of the mixing queue considering uncertainty of vehicle-to-vehicle communication according to claim 2, characterized in that: the intelligent network vehicle-following model with the vehicle-vehicle communication uncertainty considered is established, and the motion equation is as follows:
Figure FDA0003377302100000013
wherein m is1And m2Respectively representing the number of the non-internet connected vehicles and the internet connected vehicles at the front and the rear of the nth internet connected vehicle in the queue, tau2Representing the response time of the intelligent networked vehicle, zeta being the uncertainty of the vehicle-to-vehicle communication, gammai，βiThe intelligent internet vehicle feedback gain factors respectively represent information feedback gain factors of multiple front vehicles, i represents the number of non-internet vehicles in front of a queue of the intelligent internet vehicle in an acceptable communication distance range, and j represents the number of internet vehicles in front of the queue of the intelligent internet vehicle in the acceptable communication distance range.
4. The method for controlling the stability of the mixing queue considering uncertainty of vehicle-to-vehicle communication according to claim 3, characterized in that: the establishment considers the feedback control item of the stability of the mixed queue with uncertain vehicle-vehicle communication, and the feedback control item is as follows:
Cn(t)＝κ1(Δxn(t-τ*)-Δxn(t))+κ2(vn(t-τ*)-vn(t)),
wherein, tau*Indicates the communication delay response time, k1And kappa2All represent feedback gain factors, Δ x, of the control termnRepresenting the gap between two consecutive vehicles before and after the queue.
5. The method for controlling the stability of the mixing queue considering uncertainty of vehicle-to-vehicle communication according to claim 4, characterized in that: according to the established intelligent network vehicle following model considering vehicle-to-vehicle communication uncertainty, the non-network vehicle following model and the feedback control item considering the stability of the uncertain vehicle-to-vehicle queue of vehicle-to-vehicle communication, the vehicle-to-vehicle following model with feedback control is formed, and the motion equation is as follows:
Figure FDA0003377302100000021
6. the method for controlling the stability of the mixing queue considering uncertainty of vehicle-to-vehicle communication according to claim 5, characterized in that: according to the established mixed-line vehicle following model with feedback control, the selection parameters are as follows:
the mixed-driving vehicle fleet with 50 vehicles is provided with the permeability of the intelligent networked vehicles of 20 percent, all the vehicles are uniformly distributed on the same lane with the headway distance L of 25m, and the headway acceleration at the initial moment is set to be 5 multiplied by 10-2Uniform random disturbance of x U (-1,1), feedback gain coefficient of control term k1And kappa2Are respectively-1 s-2And 1.5s-1。
CN202111420784.XA 2021-11-26 2021-11-26 Mixed queue stability control method considering uncertainty of vehicle-to-vehicle communication Active CN114038199B (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN202111420784.XA CN114038199B (en) 2021-11-26 2021-11-26 Mixed queue stability control method considering uncertainty of vehicle-to-vehicle communication

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN202111420784.XA CN114038199B (en) 2021-11-26 2021-11-26 Mixed queue stability control method considering uncertainty of vehicle-to-vehicle communication

Publications (2)

Publication Number Publication Date
CN114038199A true CN114038199A (en) 2022-02-11
CN114038199B CN114038199B (en) 2022-12-27

Family

ID=80138856

Family Applications (1)

Application Number Title Priority Date Filing Date
CN202111420784.XA Active CN114038199B (en) 2021-11-26 2021-11-26 Mixed queue stability control method considering uncertainty of vehicle-to-vehicle communication

Country Status (1)

Country Link
CN (1) CN114038199B (en)

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN115440031A (en) * 2022-08-09 2022-12-06 重庆大学 Vehicle-road cooperative hybrid vehicle queue control method considering roadside perception performance
CN115862310A (en) * 2022-11-30 2023-03-28 东南大学 Internet automatic motorcade stability analysis method under environment with uncertain traffic information

Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN109591804A (en) * 2018-11-22 2019-04-09 湖南大学 Consider the vehicle platoon stability control method of communication delay
CN110979309A (en) * 2019-12-23 2020-04-10 北京航空航天大学 Vehicle following model stability control method considering driver perception error
CN112606825A (en) * 2020-12-29 2021-04-06 合肥工业大学 Robust model prediction controller of intelligent networking automobile considering communication time delay
CN113219962A (en) * 2021-02-26 2021-08-06 北京航空航天大学合肥创新研究院(北京航空航天大学合肥研究生院) Control method and system for hybrid queue following safety and storage medium
CN113419533A (en) * 2021-06-30 2021-09-21 江苏大学 Intelligent motorcade longitudinal following control method based on communication delay

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN109591804A (en) * 2018-11-22 2019-04-09 湖南大学 Consider the vehicle platoon stability control method of communication delay
CN110979309A (en) * 2019-12-23 2020-04-10 北京航空航天大学 Vehicle following model stability control method considering driver perception error
CN112606825A (en) * 2020-12-29 2021-04-06 合肥工业大学 Robust model prediction controller of intelligent networking automobile considering communication time delay
CN113219962A (en) * 2021-02-26 2021-08-06 北京航空航天大学合肥创新研究院(北京航空航天大学合肥研究生院) Control method and system for hybrid queue following safety and storage medium
CN113419533A (en) * 2021-06-30 2021-09-21 江苏大学 Intelligent motorcade longitudinal following control method based on communication delay

Non-Patent Citations (1)

* Cited by examiner, † Cited by third party
Title
秦晓辉等: "非匀质车辆队列的分布式控制", 《汽车工程》 *

Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN115440031A (en) * 2022-08-09 2022-12-06 重庆大学 Vehicle-road cooperative hybrid vehicle queue control method considering roadside perception performance
CN115440031B (en) * 2022-08-09 2024-05-03 重庆大学 Vehicle-road cooperative hybrid vehicle queue control method considering road side perception performance
CN115862310A (en) * 2022-11-30 2023-03-28 东南大学 Internet automatic motorcade stability analysis method under environment with uncertain traffic information
CN115862310B (en) * 2022-11-30 2023-10-20 东南大学 Network-linked automatic fleet stability analysis method under uncertain traffic information environment

Also Published As

Publication number Publication date
CN114038199B (en) 2022-12-27

Similar Documents

Publication Publication Date Title
CN114038199B (en) Mixed queue stability control method considering uncertainty of vehicle-to-vehicle communication
US10921822B2 (en) Automated vehicle control system architecture
US8660779B2 (en) Row-running control system and vehicle
CN113219962B (en) Control method and system for hybrid queue following safety and storage medium
DE102014215690B4 (en) DEVICE AND METHOD FOR AVOIDING A MESSAGE COLLISION BETWEEN V2V COMMUNICATION
JP6394561B2 (en) In-vehicle recording system and in-vehicle controller
CN107406077A (en) The method in gap between vehicle in control fleet
AU2015295888B2 (en) Method and braking control device for stabilising a vehicle combination
Dolk et al. Cooperative automated driving for various traffic scenarios: Experimental validation in the GCDC 2016
CN113066282A (en) Vehicle-following coupling relation modeling method and system in mixed-line environment
CN115593411A (en) Operation of a vehicle train having a plurality of motor vehicles
Faraj et al. Platoon-based autonomous vehicle speed optimization near signalized intersections
CN113012459A (en) Heterogeneous fleet cooperative safety control method based on distributed switching control
US7451039B2 (en) Method for actuating a traffic-adaptive assistance system which is located in a vehicle
CN111572560B (en) Vehicle longitudinal motion control method, device, equipment and storage medium
US9429985B2 (en) Method of reducing a total computation capacity that needs to be kept, vehicle-to-X communication apparatus and use of the vehicle-to-X communication apparatus
JP2003264567A (en) Can communication method and system
CN111652345A (en) Fleet brake control method based on space-time joint optimization
Sidorenko et al. Emergency braking with acc: How much does v2v communication help?
CN113706894B (en) Method for driving vehicles into ultrahigh-speed private land transportation system in fault mode
CN113460048B (en) Method for designing high-speed close-range safe formation interval strategy of automatic driving vehicle
DE102018215028A1 (en) A first vehicle-side control unit and a method for operating a first vehicle-side control unit
Yeo et al. Microscopic fundamental relationships between vehicle speed and spacing in view of asymmetric traffic theory
Schaeufele et al. Forward-looking automated cooperative longitudinal control: Extending cooperative adaptive cruise control (CACC) with column-wide reach and automated network quality assessment
JP5617703B2 (en) Driving assistance device

Legal Events

Date Code Title Description
PB01 Publication
PB01 Publication
SE01 Entry into force of request for substantive examination
SE01 Entry into force of request for substantive examination
GR01 Patent grant
GR01 Patent grant