CN114201847A - Simplified method for controlling multiple vehicle tracks under mixed traffic flow - Google Patents

Simplified method for controlling multiple vehicle tracks under mixed traffic flow Download PDF

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CN114201847A
CN114201847A CN202011082998.6A CN202011082998A CN114201847A CN 114201847 A CN114201847 A CN 114201847A CN 202011082998 A CN202011082998 A CN 202011082998A CN 114201847 A CN114201847 A CN 114201847A
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孙湛博
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Abstract

A simplified method for multi-vehicle trajectory control under mixed traffic flow comprises the following steps: determining a microscopic following model; predicting an initial track of the vehicle; establishing a conflict coordination model; simulating a cooperative control strategy set; judging whether the vehicle can smoothly pass through the conflict area; if the vehicle can smoothly pass through the conflict area, the vehicle continues to run according to the speed of the micro following model; if the vehicles cannot smoothly pass through the conflict area, further determining the specific situation of the vehicles in the process of passing through the conflict area, and judging the number of the vehicles which can be optimally controlled; if only one vehicle capable of being controlled in an optimized mode exists, optimizing and controlling the vehicle based on a dynamic programming control principle according to a corresponding planned cooperative control strategy; if there are two or three optimally controllable vehicles, phased control is applied to the two or three optimally controllable vehicles. The method reduces the time complexity of the whole bottom layer control operation, improves the timeliness and enhances the practicability of multi-vehicle control in engineering practice.

Description

Simplified method for controlling multiple vehicle tracks under mixed traffic flow
Technical Field
The invention relates to a simplified method for controlling multiple vehicle tracks under mixed traffic flow, and belongs to the field of traffic engineering.
Background
With the emergence and development of intelligent networking vehicles, roads in the future will face traffic conditions that intelligent networking vehicles and traditional human-driven vehicles are mixed. Decision control under the mixed traffic flow environment of intelligent networked vehicles and traditional driving vehicles is an optimal control problem under complex constraint conditions.
Most of vehicle cooperative control methods in the current stage are single-vehicle control, namely only one vehicle is controlled to meet optimization requirements, the probability of optimization failure in practical application is high, and the requirement of improving the system efficiency cannot be guaranteed. The specific optimization control problem can be regarded as a track design problem with moving obstacles, and the problem is solved by using a dynamic programming method and is described as a discrete state constraint optimal control problem. The problem is an optimal control problem of single-target, two-state variable, discrete-time state constraint. Within polynomial time, a dynamic programming based approach solves the problem in an approximately discrete state space. The method can decompose the original NP-difficult problem into several simple sub-problems. The algorithm can be used to obtain the complexity of optimizing a vehicle
Figure BDA0002719367230000011
Wherein a ismaxAt maximum acceleration, bmaxFor maximum deceleration, Δ l is the discrete position step, Δ v is the discrete velocity step, and the complexity of optimizing a vehicle is O (T)4)。
For the case of cooperatively controlling two or three vehicles to meet the optimization requirement, the probability of optimization failure in practical application is higher, and the optimization complexity is higher, wherein the complexity for optimizing two vehicles is O (T)8) Optimizing the complexity of three vehicles to O (T)12). Therefore, the computational complexity of optimizing two vehicles and optimizing three vehicles cannot meet the requirement of real-time performance of the algorithm in engineering practice. The situation of optimizing two or three vehicles is defined as the multi-vehicle control situation, and a corresponding simplification method is provided for multi-vehicle control under different mixed situations.
Disclosure of Invention
The invention provides a simplified method for controlling multiple vehicle tracks under mixed traffic flow, aiming at solving the problem that the calculation complexity is difficult to meet the requirement on algorithm real-time performance in engineering practice in the condition of cooperatively controlling two or three vehicles to meet optimization requirements.
The technical scheme adopted by the invention for realizing the aim is as follows:
a simplified method for controlling multiple vehicle tracks under mixed traffic flow comprises the following steps:
s1, determining a micro-following model, and describing the following state of the vehicle by using the micro-following model, wherein the following state of the vehicle comprises the speed, the acceleration and the position of the vehicle;
s2, acquiring the time and speed of the vehicle passing through the upstream monitoring point of the conflict area in the mixed traffic flow, and predicting the initial trajectory of the vehicle between the upstream monitoring point and the conflict end point by using the micro-following model; a road section with a certain distance between the upstream monitoring point and the conflict starting point; the collision starting point is positioned between the upstream monitoring point and the collision terminal point; the road sections between the collision starting point and the collision terminal point form a collision area;
s3, based on the microcosmic car-following model, adding acceleration constraint, distance constraint and safety constraint aiming at the vehicle collision type existing at the intersection under no signal indication, and establishing a collision cooperation model; the vehicle conflict types comprise cross conflict and confluence conflict; the cross conflict means that vehicles in different driving directions run in a cross mode at a large angle; the confluent conflict means that vehicles in different driving directions converge and drive in the same direction at a small angle;
s4, aiming at various situations which can not pass through the conflict area smoothly and possibly occur in the process that the vehicle passes through the conflict area under the mixed traffic flow scene, a cooperative control strategy set is prepared;
s5, judging whether the vehicle can smoothly pass through a conflict area or not by the conflict coordination model based on the vehicle initial track; if the judgment result is that the vehicle can smoothly pass through the conflict area, the vehicle continuously drives according to the speed of the microcosmic following model; if the judgment result is that the vehicle cannot smoothly pass through the conflict area, the specific situation of the vehicle in the process of passing through the conflict area needs to be further determined, and the number of the vehicles (namely, intelligent networked vehicles) which can be optimally controlled in the simulated cooperative control strategy corresponding to the specific situation of the vehicle in the process of passing through the conflict area is judged according to the cooperative control strategy set simulated in the step S4; if only one vehicle capable of being controlled optimally exists in the corresponding simulated cooperative control strategy, executing step S6; if two or three vehicles capable of being controlled optimally exist in the corresponding simulated cooperative control strategy, executing step S7;
s6, determining an optimally controlled vehicle participating in the process that the vehicle passes through a conflict area as a target vehicle, optimizing the running track of the target vehicle according to a corresponding planned cooperative control strategy, resolving the optimization problem into an optimal control problem of discrete time state constraint, solving by using a dynamic programming idea to obtain a cooperative optimal control strategy about the target vehicle, acting the cooperative optimal control strategy about the target vehicle on the target vehicle, and controlling the operation of the target vehicle;
s7, performing phased control aiming at the condition that two or three vehicles capable of being optimally controlled exist in the corresponding simulated cooperative control strategy: executing first-stage control, and if executing the first-stage control can enable a vehicle participating in the process that the vehicle passes through a conflict area to smoothly pass through the conflict area, not executing second-stage control; executing the second-stage control if the execution of the first-stage control does not enable the vehicle participating in the process that the vehicle passes through the conflict area to smoothly pass through the conflict area;
the first stage control: determining one of two or three vehicles which can be optimally controlled and participate in the process that the vehicles pass through a conflict area as a target vehicle, controlling the speed of the target vehicle, optimizing the running track of the target vehicle, resolving the optimization problem into an optimal control problem of discrete time state constraint, and solving by using a dynamic programming idea; if an optimization solution can be obtained, obtaining a cooperative optimization control strategy related to the target vehicle, and acting the cooperative optimization control strategy related to the target vehicle on the target vehicle to control the operation of the target vehicle; if the optimal solution can not be obtained, executing second-stage control;
the second stage control: one or two of the vehicles can be optimally controlled by controlling two or three vehicles in the process of passing through the conflict area by using the Bang-Bang control, so that the vehicles in the process of passing through the conflict area by the participating vehicles can smoothly pass through the conflict area.
Further, in step S3, establishing the collision coordination model specifically includes:
assuming that the X road and the Y road are two one-way lanes with intersection, the vehicle k on the X road will pass through the interval between two vehicles of the continuous traffic flow on the Y road, wherein the two vehicles of the continuous traffic flow on the Y road respectively use k'1And k'2Is represented by, wherein vehicle k'1Denotes a front vehicle, vehicle k'2Representing a rear vehicle;
Figure BDA0002719367230000031
wherein the conflicting collaborative utility is represented by Uk(t) indicating whether the vehicle k can smoothly pass through the collision area on the X road; | uk(t) | denotes the absolute value of the acceleration or deceleration of the vehicle k at time t on the X-road,
Figure BDA0002719367230000032
denotes vehicle k 'on Y road'2The absolute value of acceleration or deceleration at time t;
Figure BDA0002719367230000033
at time t, represents vehicle k ' on the X road and vehicle k ' on the Y road '1The relative distance between the two or more of them,
Figure BDA0002719367230000034
at time t, represents vehicle k ' on the X road and vehicle k ' on the Y road '2Relative distance between, xk(t) represents the position of the vehicle k on the X road at time t,
Figure BDA0002719367230000035
denotes vehicle k 'on Y road'1At the position of the instant t of time,
Figure BDA0002719367230000036
denotes vehicle k 'on Y road'2Position at time t,/aIs the vehicle body length;
Figure BDA0002719367230000037
representing a minimum inter-vehicle distance between an optimally controllable vehicle (i.e. an intelligent networked vehicle) and a vehicle before the optimally controllable vehicle follows;
Figure BDA0002719367230000038
represents the minimum inter-vehicle distance between a non-optimally controllable vehicle (i.e., a conventionally driven vehicle) and a vehicle ahead of the vehicle; when the vehicle passes through the collision area, the vehicle k on the X road actually follows the vehicle k 'on the Y road'1Run, and vehicle k 'on Y road'2The vehicles k on the actual X-road are driven, and the acceleration or deceleration of the vehicles k can be calculated according to the microcosmic car-following model; bsafeRepresents a maximum allowable deceleration; phiAThe method comprises the steps of (1) optimizing a controllable vehicle set (namely an intelligent networking vehicle set); phiHA non-optimally controlled vehicle set (i.e., a traditional driving vehicle set); eta1Representing a safety factor; eta2Representing a polite coefficient;
polite coefficient eta2The expression of (a) is as follows:
Figure BDA0002719367230000039
wherein v iskIs the speed of the vehicle k, veIs the desired velocity, vthIs a given threshold speed, β1And beta2Is a constant;
for collaborative decision Ik(t + τ) is represented as follows:
Figure BDA00027193672300000310
wherein, IkA value of (t + τ) of 1 indicates that the vehicle k can smoothly pass through the collision region at time t + τ; i iskA value of 0 for (t + τ) indicates that vehicle k cannot be driven at time t + τSmoothly pass through the collision region.
Further, in step S4, for various situations that may occur in the process that the vehicle passes through the conflict area in the mixed traffic flow scene, the simulation of the cooperative control strategy set specifically includes:
assuming that the X road and the Y road are two one-way lanes with intersection, the vehicle k on the X road will pass through the interval between two vehicles of the continuous traffic flow on the Y road, wherein the two vehicles of the continuous traffic flow on the Y road respectively use k'1And k'2Is represented by, wherein vehicle k'1Denotes a front vehicle, vehicle k'2Representing a rear vehicle;
for various situations which can occur in the process that vehicles pass through a conflict area in a mixed traffic flow scene, k 'of the vehicles is determined based on the micro-following model'1K 'of vehicle'2The relationship between the conflict areas is divided into the conflict areas which can be smoothly passed and the conflict areas which can not be smoothly passed; the failure to smoothly pass through the collision region is further divided into four cases, the first case is denoted by R1 and represents the vehicles k and k'1The distance between the two parts is too close to satisfy the constraint condition of smoothly passing through the conflict area; the second case is marked as R2 and represents vehicle k and vehicle k'2The distance between the two parts is too close to satisfy the constraint condition of smoothly passing through the conflict area; the third case is marked as R3 and represents vehicle k and vehicle k'1And k 'with vehicle'2The basic spacing requirement is satisfied, but the process of passing through the conflict area is not comfortable; the fourth case is marked as R4 and represents vehicle k and vehicle k'1And k 'with vehicle'2The distances between the two parts are too close to meet the constraint condition that the two parts can smoothly pass through a conflict area;
aiming at four conditions that the vehicle can not smoothly pass through a conflict area, the vehicle which can be optimally controlled needs to be cooperatively controlled; h denotes a vehicle which is not optimally controllable, A denotes a vehicle which is optimally controllable, N denotes no preceding vehicle participation or no following vehicle participation, and the combination order of the vehicles is defined as vehicle k'1K 'of vehicle'2(ii) a (for example: vehicle combination HAN represents vehicle k'1For non-optimizable controlThe vehicle and the vehicle k are vehicles which can be optimally controlled, and no rear vehicle participates on the Y road at the moment, namely the vehicle k 'does not exist'2。)
Based on different vehicle combinations, different vehicle type combinations and the four conditions that the conflict area can not be smoothly passed, a cooperative control strategy set is planned, and the following table shows that:
Figure BDA0002719367230000041
Figure BDA0002719367230000051
in the above table, the non-optimization means that the vehicle has no corresponding control strategy under the condition that the vehicle cannot smoothly pass through the conflict area; under the condition that optimization cannot be carried out, when the conflict type is cross conflict, a vehicle k on an X road takes the intersection point of the X road and a Y road as a stopped virtual front vehicle, continuously decelerates along the micro following model, even stops and waits until a vehicle interval meeting a passing conflict area appears on the Y road, and the vehicle k does not pass the conflict area; when the conflict type is confluence conflict, the vehicle k on the X road takes the confluence point of the X road and the Y road as a stopped virtual front vehicle, and continuously decelerates or even stops to wait by following the microcosmic following model until the vehicle interval meeting the passing conflict area appears on the Y road, and the vehicle k passes through the conflict area; the confluence point of the X path and the Y path refers to the position where the X path traffic flow is converged into the Y path traffic flow;
the control state is unknown, and in the case R3 where a part of the control state cannot smoothly pass through the collision region, it is necessary to determine the vehicle k and the vehicle k'1K 'of vehicle'2In the process of passing through the conflict area, which corresponding vehicles form discomfort, and corresponding control strategies are adopted according to the conditions of R1, R2 and R4 that the vehicles cannot pass through the conflict area smoothly;
the acceleration of the vehicle k is controlled by a decision variable u of the vehicle k at the time tk(t) Satisfies the following conditions:
Figure BDA0002719367230000061
and v isk(t)+uk(t)τ≤ve；
The control vehicle k decelerates, and a decision variable u of the vehicle k at the time t is usedk(t) satisfies:
Figure BDA0002719367230000062
and v isk(t)+uk(t)τ≥0；
The uncontrolled vehicle k is a decision variable u for the vehicle k at time tk(t) satisfies:
Figure BDA0002719367230000063
i.e. uk(t)＝0；
The control vehicle k'1The acceleration is to make the vehicle k 'at the time t'1Decision variables of
Figure BDA0002719367230000064
Satisfies the following conditions:
Figure BDA0002719367230000065
and is
Figure BDA0002719367230000066
The vehicle k 'is not controlled'1Is to make the vehicle k 'at time t'1Decision variables of
Figure BDA0002719367230000067
Satisfies the following conditions:
Figure BDA0002719367230000068
namely, it is
Figure BDA0002719367230000069
The control vehicle k'2Deceleration is performed by making the vehicle k 'at time t'2Decision variables of
Figure BDA00027193672300000610
Satisfies the following conditions:
Figure BDA00027193672300000611
and is
Figure BDA00027193672300000612
The vehicle k 'is not controlled'2Is to make the vehicle k 'at time t'2Decision variables of
Figure BDA00027193672300000613
Satisfies the following conditions:
Figure BDA00027193672300000614
wherein u isk(t) as a decision variable for the vehicle k at time t, representing the acceleration of the vehicle k at time t; v. ofk(t) is the speed of vehicle k at time t;
Figure BDA00027193672300000615
is the safe following speed of the vehicle k at the moment t + tau predicted according to the microcosmic following model, wherein Lk(t) represents the relative distance between the vehicle k and its following preceding vehicle at time t,
Figure BDA00027193672300000616
representing the speed of the car k before the car k follows at the time t;
Figure BDA0002719367230000071
k 'of vehicle at time t'1Is a decision variable of vehicle k'1Acceleration at time t;
Figure BDA0002719367230000072
is vehicle k'1Velocity at time t;
Figure BDA0002719367230000073
is vehicle k 'predicted from the microscopic follow model'1Safe following speed at time t + tau, wherein
Figure BDA0002719367230000074
Denotes vehicle k 'at time t'1The relative distance between the car and the car before the car is driven,
Figure BDA0002719367230000075
denotes vehicle k'1The speed of the car before the car is followed at the time t;
Figure BDA0002719367230000076
k 'of vehicle at time t'2Is a decision variable of vehicle k'2Acceleration at time t;
Figure BDA0002719367230000077
is vehicle k'2Velocity at time t;
Figure BDA0002719367230000078
is vehicle k 'predicted from the microscopic follow model'2Safe following speed at time t + tau, wherein
Figure BDA0002719367230000079
Denotes vehicle k 'at time t'2The relative distance between the car and the car before the car is driven,
Figure BDA00027193672300000710
denotes vehicle k'2The speed of the car before the car is followed at the time t; τ is the reaction time of the vehicle driving; v. ofeIs the desired speed.
Further, if there are two or three vehicles capable of being controlled optimally in the corresponding planned cooperative control strategy, step S7 is executed, which specifically includes:
assuming that the X road and the Y road are two one-way lanes with intersection, the vehicle k on the X road will pass through the interval between two vehicles of the continuous traffic flow on the Y road, wherein the two vehicles of the continuous traffic flow on the Y road respectively use k'1And k'2Is represented by, wherein vehicle k'1Denotes a front vehicle, vehicle k'2Representing a rear vehicle;
for various situations which can occur in the process that vehicles pass through a conflict area in a mixed traffic flow scene, k 'of the vehicles is determined based on the micro-following model'1K 'of vehicle'2The relationship between the conflict areas is divided into the conflict areas which can be smoothly passed and the conflict areas which can not be smoothly passed; the failure to smoothly pass through the collision region is further divided into four cases, the first case is denoted by R1 and represents the vehicles k and k'1The distance between the two parts is too close to satisfy the constraint condition of smoothly passing through the conflict area; the second case is marked as R2 and represents vehicle k and vehicle k'2The distance between the two parts is too close to satisfy the constraint condition of smoothly passing through the conflict area; the third case is marked as R3 and represents vehicle k and vehicle k'1And k 'with vehicle'2The basic spacing requirement is satisfied, but the process of passing through the conflict area is not comfortable; the fourth case is marked as R4 and represents vehicle k and vehicle k'1And k 'with vehicle'2The distances between the two parts are too close to meet the constraint condition that the two parts can smoothly pass through a conflict area;
aiming at four conditions that the vehicle can not smoothly pass through a conflict area, the vehicle which can be optimally controlled needs to be cooperatively controlled; h denotes a vehicle which is not optimally controllable, A denotes a vehicle which is optimally controllable, N denotes no preceding vehicle participation or no following vehicle participation, and the combination order of the vehicles is defined as vehicle k'1K 'of vehicle'2(ii) a Thus, different vehicle combination scenarios include HHA, HAH, AHH, HAA, AAH, AHA, AAA, AHN, HAN, NAH, NHA, AAN, NAA, HHH, HHN, NHH; the following steps are performed according to step S7 for six cases, among which the vehicle combination case is AAN, NAA, HAA, AHA, AAH, AAA:
for the vehicle combination situation AAN, inUnder the reason that the vehicle cannot smoothly pass through the conflict region, namely R1 or R3, the vehicle participating in the process that the vehicle passes through the conflict region can smoothly pass through the conflict region by executing the first-stage control, specifically: k 'of vehicle'1Determining a target vehicle, controlling the target vehicle to accelerate, optimizing the running track of the target vehicle, resolving the optimization problem into an optimal control problem of discrete time state constraint, solving by using a dynamic programming idea to obtain an optimized solution, obtaining a cooperative optimization control strategy about the target vehicle, acting the cooperative optimization control strategy about the target vehicle on the target vehicle, and controlling the running of the target vehicle; the second-stage control is no longer executed;
for the vehicle combination situation NAA, under the reason that the vehicle cannot smoothly pass through the conflict area, R2 or R3, the vehicle participating in the process that the vehicle passes through the conflict area can smoothly pass through the conflict area by executing the first-stage control, specifically: determining a vehicle k as a target vehicle, controlling the target vehicle to accelerate, optimizing the running track of the target vehicle, resolving the optimization problem into an optimal control problem of discrete time state constraint, solving by using a dynamic programming idea to obtain an optimized solution, obtaining a cooperative optimization control strategy about the target vehicle, acting the cooperative optimization control strategy about the target vehicle on the target vehicle, and controlling the running of the target vehicle; the second-stage control is no longer executed;
for the vehicle combination situation HAA, under the reason R1 that the collision region cannot be smoothly passed, the first stage control is executed first: determining a vehicle k as a target vehicle, controlling the target vehicle to decelerate, optimizing the running track of the target vehicle, solving the optimization problem into an optimal control problem of discrete time state constraint by using a dynamic programming idea; if an optimization solution can be obtained, obtaining a cooperative optimization control strategy related to the target vehicle, and acting the cooperative optimization control strategy related to the target vehicle on the target vehicle to control the operation of the target vehicle; if not availablePerforming the second-stage control by using an optimization solution; the second stage control: controlling the speed of the vehicle k by using Bang-Bang control to ensure that the vehicle k and the vehicle k'1Satisfies the comfortable following distance of the vehicle, and further utilizes Bang-Bang to control the vehicle k'2Decelerating to ensure that the vehicles participating in the process that the vehicles pass through the conflict area can smoothly pass through the conflict area;
for the vehicle combination situation HAA, under the reason R2 that the collision region cannot be smoothly passed, the first stage control is executed first: determining a vehicle k as a target vehicle, controlling the target vehicle to accelerate, optimizing the running track of the target vehicle, resolving the optimization problem into an optimal control problem of discrete time state constraint, and solving by using a dynamic programming idea; if an optimization solution can be obtained, obtaining a cooperative optimization control strategy related to the target vehicle, and acting the cooperative optimization control strategy related to the target vehicle on the target vehicle to control the operation of the target vehicle; if the optimization solution can not be obtained, executing the second-stage control; the second stage control: control of vehicle k 'with Bang-Bang control'2Decelerating to ensure that the vehicles participating in the process that the vehicles pass through the conflict area can smoothly pass through the conflict area;
for the vehicle combination situation HAA, under the reason R3 that the collision region cannot be smoothly passed, the first stage control is executed first: k 'of vehicle'2Determining the target vehicle, controlling the target vehicle to decelerate, optimizing the running track of the target vehicle, solving the optimization problem into an optimal control problem of discrete time state constraint by using a dynamic programming idea; if an optimization solution can be obtained, obtaining a cooperative optimization control strategy related to the target vehicle, and acting the cooperative optimization control strategy related to the target vehicle on the target vehicle to control the operation of the target vehicle; if the optimization solution can not be obtained, executing the second-stage control; the second stage control: controlling the speed of the vehicle k by using Bang-Bang control to ensure that the vehicle k and the vehicle k'1Satisfy the comfortable distance for following the vehicle and further utilizeBang-Bang control vehicle k'2Decelerating to ensure that the vehicles participating in the process that the vehicles pass through the conflict area can smoothly pass through the conflict area;
for the vehicle combination condition HAA, under the condition that the reason R4 that the conflict region cannot be successfully passed, the first-stage control is executed to obtain the optimal solution, so the second-stage control is executed; the second stage control: controlling the speed of the vehicle k by using Bang-Bang control to ensure that the vehicle k and the vehicle k'1Satisfies the comfortable following distance of the vehicle, and further utilizes Bang-Bang to control the vehicle k'2Decelerating to ensure that the vehicles participating in the process that the vehicles pass through the conflict area can smoothly pass through the conflict area;
for the vehicle combination situation AHA, under the reason R1 that the vehicle cannot smoothly pass through the conflict area, the vehicle participating in the process that the vehicle passes through the conflict area can smoothly pass through the conflict area by executing the first-stage control, specifically: k 'of vehicle'1Determining a target vehicle, controlling the target vehicle to accelerate, optimizing the running track of the target vehicle, resolving the optimization problem into an optimal control problem of discrete time state constraint, solving by using a dynamic programming idea to obtain an optimized solution, obtaining a cooperative optimization control strategy about the target vehicle, acting the cooperative optimization control strategy about the target vehicle on the target vehicle, and controlling the running of the target vehicle; the second-stage control is no longer executed;
for the vehicle combination situation AHA, under the reason R2 that the vehicle cannot smoothly pass through the conflict area, the vehicle participating in the process that the vehicle passes through the conflict area can smoothly pass through the conflict area by executing the first-stage control, specifically: k 'of vehicle'2Determining the target vehicle, controlling the target vehicle to decelerate, optimizing the running track of the target vehicle, resolving the optimization problem into an optimal control problem of discrete time state constraint, solving by using a dynamic programming idea to obtain an optimized solution, obtaining a cooperative optimization control strategy about the target vehicle, and determining the cooperative optimization control strategy about the target vehicleSlightly acting on the target vehicle and controlling the operation of the target vehicle; the second-stage control is no longer executed;
for the vehicle combination AHA, first, the first stage control is executed for the reason R3 that the conflict area cannot be smoothly passed: k 'of vehicle'1Determining the target vehicle, controlling the target vehicle to accelerate, optimizing the running track of the target vehicle, solving the optimization problem into an optimal control problem of discrete time state constraint by using a dynamic programming idea; if an optimization solution can be obtained, obtaining a cooperative optimization control strategy related to the target vehicle, and acting the cooperative optimization control strategy related to the target vehicle on the target vehicle to control the operation of the target vehicle; if the optimization solution can not be obtained, executing the second-stage control; the second stage control: control of vehicle k 'with Bang-Bang control'1Speed of (2), vehicle k and vehicle k'1Satisfies the comfortable following distance of the vehicle, and further utilizes Bang-Bang to control the vehicle k'2Decelerating to ensure that the vehicles participating in the process that the vehicles pass through the conflict area can smoothly pass through the conflict area;
for the vehicle combination situation AHA, under the condition that the vehicle combination situation AHA cannot smoothly pass through the conflict region R4, the optimization solution cannot be obtained by executing the first-stage control, and therefore the second-stage control is executed; the second stage control: control of vehicle k 'with Bang-Bang control'1Speed of (2), vehicle k and vehicle k'1Satisfies the comfortable following distance of the vehicle, and further utilizes Bang-Bang to control the vehicle k'2Decelerating to ensure that the vehicles participating in the process that the vehicles pass through the conflict area can smoothly pass through the conflict area;
for the vehicle combination situation AAH, under the reason R1 that the vehicle cannot smoothly pass through the conflict area, the vehicle participating in the process that the vehicle passes through the conflict area can smoothly pass through the conflict area by executing the first-stage control, specifically: k 'of vehicle'1Determining the target vehicle, controlling the target vehicle to accelerate, optimizing the running track of the target vehicle and optimizing the trackSolving by using a dynamic programming idea to obtain an optimized solution, obtaining a cooperative optimization control strategy about the target vehicle, and acting the cooperative optimization control strategy about the target vehicle on the target vehicle to control the operation of the target vehicle; the second-stage control is no longer executed;
for the vehicle combination situation AAH, under the reason R2 that the collision region cannot be smoothly passed, the first stage control is executed first: determining a vehicle k as a target vehicle, controlling the target vehicle to accelerate, optimizing the running track of the target vehicle, resolving the optimization problem into an optimal control problem of discrete time state constraint, and solving by using a dynamic programming idea; if an optimization solution can be obtained, obtaining a cooperative optimization control strategy related to the target vehicle, and acting the cooperative optimization control strategy related to the target vehicle on the target vehicle to control the operation of the target vehicle; if the optimization solution can not be obtained, executing the second-stage control; the second stage control: controlling the speed of the vehicle k by using Bang-Bang control to ensure that the vehicle k and the vehicle k'2Satisfies the comfortable following distance of the vehicle, and further utilizes Bang-Bang to control the vehicle k'1Speed of (2), vehicle k and vehicle k'1The following comfortable distance of the vehicles is met, and the vehicles participating in the process that the vehicles pass through the conflict area can smoothly pass through the conflict area;
for the vehicle combination situation AAH, under the reason R3 that the collision region cannot be smoothly passed, the first stage control is executed first: k 'of vehicle'1Determining the target vehicle, controlling the target vehicle to accelerate, optimizing the running track of the target vehicle, solving the optimization problem into an optimal control problem of discrete time state constraint by using a dynamic programming idea; if an optimization solution can be obtained, obtaining a cooperative optimization control strategy related to the target vehicle, and acting the cooperative optimization control strategy related to the target vehicle on the target vehicle to control the operation of the target vehicle; if the optimization solution cannot be obtained, then execution is performedThe second stage control; the second stage control: controlling the speed of the vehicle k by using Bang-Bang control to ensure that the vehicle k and the vehicle k'2Satisfies the comfortable following distance of the vehicle, and further utilizes Bang-Bang to control the vehicle k'1Accelerating to ensure that vehicles participating in the process that the vehicles pass through the conflict area can smoothly pass through the conflict area;
for the vehicle combination situation AAH, under the reason R4 that the vehicle combination situation cannot smoothly pass through the conflict region, the optimal solution cannot be obtained by executing the first-stage control, so the second-stage control is executed; the second stage control: controlling the speed of the vehicle k by using Bang-Bang control to ensure that the vehicle k and the vehicle k'2Satisfies the comfortable following distance of the vehicle, and further utilizes Bang-Bang to control the vehicle k'1Accelerating to ensure that vehicles participating in the process that the vehicles pass through the conflict area can smoothly pass through the conflict area;
for the vehicle combination AAA, under the reason R1 that the vehicle cannot smoothly pass through the collision region, the vehicle participating in the process of the vehicle passing through the collision region can smoothly pass through the collision region by executing the first stage control, specifically: k 'of vehicle'1Determining a target vehicle, controlling the target vehicle to accelerate, optimizing the running track of the target vehicle, resolving the optimization problem into an optimal control problem of discrete time state constraint, solving by using a dynamic programming idea to obtain an optimized solution, obtaining a cooperative optimization control strategy about the target vehicle, acting the cooperative optimization control strategy about the target vehicle on the target vehicle, and controlling the running of the target vehicle; the second-stage control is no longer executed;
for the vehicle combination AAA, under the reason R2 that the collision region cannot be smoothly passed, the first stage control is executed first: determining a vehicle k as a target vehicle, controlling the target vehicle to accelerate, optimizing the running track of the target vehicle, resolving the optimization problem into an optimal control problem of discrete time state constraint, and solving by using a dynamic programming idea; if an optimization solution can be derived, obtaining information about the target vehicleA cooperative optimization control strategy, wherein the cooperative optimization control strategy about the target vehicle acts on the target vehicle to control the operation of the target vehicle; if the optimization solution can not be obtained, executing the second-stage control; the second stage control: control of vehicle k 'with Bang-Bang control'2Decelerating to ensure that the vehicles participating in the process that the vehicles pass through the conflict area can smoothly pass through the conflict area;
for the vehicle combination AAA, under the reason R3 that the collision region cannot be smoothly passed, the first stage control is executed first: k 'of vehicle'1Determining the target vehicle, controlling the target vehicle to accelerate, optimizing the running track of the target vehicle, solving the optimization problem into an optimal control problem of discrete time state constraint by using a dynamic programming idea; if an optimization solution can be obtained, obtaining a cooperative optimization control strategy related to the target vehicle, and acting the cooperative optimization control strategy related to the target vehicle on the target vehicle to control the operation of the target vehicle; if the optimization solution can not be obtained, executing the second-stage control; the second stage control: control of vehicle k 'with Bang-Bang control'1Speed of (2), vehicle k and vehicle k'1Satisfies the comfortable following distance of the vehicle, and further utilizes Bang-Bang to control the vehicle k'2Speed of (2), vehicle k and vehicle k'2The following comfortable distance of the vehicles is met, and the vehicles participating in the process that the vehicles pass through the conflict area can smoothly pass through the conflict area;
for the vehicle combination situation AAA, under the reason R4 that the conflict region cannot be smoothly passed, the optimization solution cannot be obtained by executing the first-stage control, so the second-stage control is executed; the second stage control: control of vehicle k 'with Bang-Bang control'1Speed of (2), vehicle k and vehicle k'1Satisfies the comfortable following distance of the vehicle, and further utilizes Bang-Bang to control the vehicle k'2And the vehicle is decelerated to ensure that the vehicle participating in the process of passing through the conflict area can smoothly pass through the conflict area.
Further, a microscopic traffic flow simulation environment is constructed, and simulation analysis is carried out on multi-vehicle track simplified control under the mixed traffic flow.
In the method, the basic principle of Bang-Bang control is as follows:
the Bang-Bang control is an optimal control method, and the control function of the Bang-Bang control is always at the boundary of the allowable control, or at the maximum, or at the minimum, and only switches between the two boundary values. In this problem, the state space is divided into two regions of acceleration and deceleration, one corresponding to the control variable taking a positive maximum (i.e., acceleration case) and the other corresponding to the control variable taking a negative maximum (i.e., deceleration case). And the Bang-Bang control is determined by a specific cooperative control strategy as to which zone control is specifically executed.
Compared with the prior art, the method has the beneficial effects that:
the invention provides a simplifying method for controlling multiple vehicle tracks under mixed traffic flow, which provides a simplifying control strategy under the condition of multiple vehicle control aiming at vehicle conflicts existing at an intersection under no signal indication. The time complexity of the algorithm under various multi-vehicle control conditions can be found by numerical simulation and analysis, the time complexity of the whole bottom control operation is greatly reduced by the simplified method, the timeliness is improved, and the practicability of the condition that two or three vehicles are cooperatively controlled to meet the optimization requirement in engineering practice is enhanced. The method is a universal simplified control method, and is suitable for vehicle track optimization in scenes of lane changing, confluence and the like in expressways and urban roads.
The present invention will be described in further detail with reference to the following detailed description and the accompanying drawings, which are not intended to limit the scope of the invention.
Drawings
Fig. 1 is a simplified flow chart of a method for controlling a plurality of vehicle trajectories under a mixed traffic flow in an embodiment of the present invention.
Fig. 2 is a flowchart of vehicle control when the vehicle combination situation is AAN in the embodiment of the invention.
Fig. 3 is a control flowchart of the vehicle when the vehicle combination situation is NAA in the embodiment of the present invention.
Fig. 4 is a flowchart of vehicle control when the vehicle combination situation is the HAA in the embodiment of the invention.
FIG. 5 is a flowchart of vehicle control when the vehicle combination is AHA in the embodiment of the present invention.
Fig. 6 is a flowchart of vehicle control when the vehicle combination situation is AAH in the embodiment of the invention.
Fig. 7 is a flowchart of vehicle control when the vehicle combination situation is AAA in the embodiment of the present invention.
Detailed Description
Examples
Fig. 1 is a flow chart of a simplified method for multi-vehicle trajectory control under mixed traffic flow in this example, the method comprising the steps of:
s1, determining a micro-following model, and describing the following state of the vehicle by using the micro-following model, wherein the following state of the vehicle comprises the speed, the acceleration and the position of the vehicle;
s2, acquiring the time and speed of the vehicle passing through the upstream monitoring point of the conflict area in the mixed traffic flow, and predicting the initial trajectory of the vehicle between the upstream monitoring point and the conflict end point by using the micro-following model; a road section with a certain distance between the upstream monitoring point and the conflict starting point; the collision starting point is positioned between the upstream monitoring point and the collision terminal point; the road sections between the collision starting point and the collision terminal point form a collision area;
s3, based on the microcosmic car-following model, adding acceleration constraint, distance constraint and safety constraint aiming at the vehicle collision type existing at the intersection under no signal indication, and establishing a collision cooperation model; the vehicle conflict types comprise cross conflict and confluence conflict; the cross conflict means that vehicles in different driving directions run in a cross mode at a large angle; the confluent conflict means that vehicles in different driving directions converge and drive in the same direction at a small angle;
s4, aiming at various situations which can not pass through the conflict area smoothly and possibly occur in the process that the vehicle passes through the conflict area under the mixed traffic flow scene, a cooperative control strategy set is prepared;
s5, judging whether the vehicle can smoothly pass through a conflict area or not by the conflict coordination model based on the vehicle initial track; if the judgment result is that the vehicle can smoothly pass through the conflict area, the vehicle continuously drives according to the speed of the microcosmic following model; if the judgment result is that the vehicle cannot smoothly pass through the conflict area, the specific situation of the vehicle in the process of passing through the conflict area needs to be further determined, and the number of the vehicles (namely, intelligent networked vehicles) which can be optimally controlled in the simulated cooperative control strategy corresponding to the specific situation of the vehicle in the process of passing through the conflict area is judged according to the cooperative control strategy set simulated in the step S4; if only one vehicle capable of being controlled optimally exists in the corresponding simulated cooperative control strategy, executing step S6; if two or three vehicles capable of being controlled optimally exist in the corresponding simulated cooperative control strategy, executing step S7;
s6, determining an optimally controlled vehicle participating in the process that the vehicle passes through a conflict area as a target vehicle, optimizing the running track of the target vehicle according to a corresponding planned cooperative control strategy, resolving the optimization problem into an optimal control problem of discrete time state constraint, solving by using a dynamic programming idea to obtain a cooperative optimal control strategy about the target vehicle, acting the cooperative optimal control strategy about the target vehicle on the target vehicle, and controlling the operation of the target vehicle;
s7, performing phased control aiming at the condition that two or three vehicles capable of being optimally controlled exist in the corresponding simulated cooperative control strategy: executing first-stage control, and if executing the first-stage control can enable a vehicle participating in the process that the vehicle passes through a conflict area to smoothly pass through the conflict area, not executing second-stage control; executing the second-stage control if the execution of the first-stage control does not enable the vehicle participating in the process that the vehicle passes through the conflict area to smoothly pass through the conflict area;
the first stage control: determining one of two or three vehicles which can be optimally controlled and participate in the process that the vehicles pass through a conflict area as a target vehicle, controlling the speed of the target vehicle, optimizing the running track of the target vehicle, resolving the optimization problem into an optimal control problem of discrete time state constraint, and solving by using a dynamic programming idea; if an optimization solution can be obtained, obtaining a cooperative optimization control strategy related to the target vehicle, and acting the cooperative optimization control strategy related to the target vehicle on the target vehicle to control the operation of the target vehicle; if the optimal solution can not be obtained, executing second-stage control;
the second stage control: one or two of the vehicles can be optimally controlled by controlling two or three vehicles in the process of passing through the conflict area by using the Bang-Bang control, so that the vehicles in the process of passing through the conflict area by the participating vehicles can smoothly pass through the conflict area.
In this example, step S3, the establishing the conflict coordination model specifically includes:
assuming that the X road and the Y road are two one-way lanes with intersection, the vehicle k on the X road will pass through the interval between two vehicles of the continuous traffic flow on the Y road, wherein the two vehicles of the continuous traffic flow on the Y road respectively use k'1And k'2Is represented by, wherein vehicle k'1Denotes a front vehicle, vehicle k'2Representing a rear vehicle;
Figure BDA0002719367230000141
wherein the conflicting collaborative utility is represented by Uk(t) indicating whether the vehicle k can smoothly pass through the collision area on the X road; | uk(t) | denotes the absolute value of the acceleration or deceleration of the vehicle k at time t on the X-road,
Figure BDA0002719367230000142
denotes vehicle k 'on Y road'2The absolute value of acceleration or deceleration at time t;
Figure BDA0002719367230000143
indicating vehicles k and Y on the X road at time tK 'of vehicle'1The relative distance between the two or more of them,
Figure BDA0002719367230000144
at time t, represents vehicle k ' on the X road and vehicle k ' on the Y road '2Relative distance between, xk(t) represents the position of the vehicle k on the X road at time t,
Figure BDA0002719367230000145
denotes vehicle k 'on Y road'1At the position of the instant t of time,
Figure BDA0002719367230000146
denotes vehicle k 'on Y road'2Position at time t,/aIs the vehicle body length;
Figure BDA0002719367230000147
representing a minimum inter-vehicle distance between an optimally controllable vehicle (i.e. an intelligent networked vehicle) and a vehicle before the optimally controllable vehicle follows;
Figure BDA0002719367230000148
represents the minimum inter-vehicle distance between a non-optimally controllable vehicle (i.e., a conventionally driven vehicle) and a vehicle ahead of the vehicle; when the vehicle passes through the collision area, the vehicle k on the X road actually follows the vehicle k 'on the Y road'1Run, and vehicle k 'on Y road'2The vehicles k on the actual X-road are driven, and the acceleration or deceleration of the vehicles k can be calculated according to the microcosmic car-following model; bsafeRepresents a maximum allowable deceleration; phiAThe method comprises the steps of (1) optimizing a controllable vehicle set (namely an intelligent networking vehicle set); phiHA non-optimally controlled vehicle set (i.e., a traditional driving vehicle set); eta1Representing a safety factor; eta2Representing a polite coefficient;
polite coefficient eta2The expression of (a) is as follows:
Figure BDA0002719367230000149
wherein the content of the first and second substances,vkis the speed of the vehicle k, veIs the desired velocity, vthIs a given threshold speed, β1And beta2Is a constant;
for collaborative decision Ik(t + τ) is represented as follows:
Figure BDA00027193672300001410
wherein, IkA value of (t + τ) of 1 indicates that the vehicle k can smoothly pass through the collision region at time t + τ; i iskA value of 0 for (t + τ) indicates that vehicle k cannot smoothly pass through the collision zone at time t + τ.
In this example, step S4 is to create a cooperative control strategy set for various situations that may occur in the process of passing through a conflict area by a vehicle in a mixed traffic flow scene, where the situations may not smoothly pass through the conflict area, and specifically includes:
assuming that the X road and the Y road are two one-way lanes with intersection, the vehicle k on the X road will pass through the interval between two vehicles of the continuous traffic flow on the Y road, wherein the two vehicles of the continuous traffic flow on the Y road respectively use k'1And k'2Is represented by, wherein vehicle k'1Denotes a front vehicle, vehicle k'2Representing a rear vehicle;
for various situations which can occur in the process that vehicles pass through a conflict area in a mixed traffic flow scene, k 'of the vehicles is determined based on the micro-following model'1K 'of vehicle'2The relationship between the conflict areas is divided into the conflict areas which can be smoothly passed and the conflict areas which can not be smoothly passed; the failure to smoothly pass through the collision region is further divided into four cases, the first case is denoted by R1 and represents the vehicles k and k'1The distance between the two parts is too close to satisfy the constraint condition of smoothly passing through the conflict area; the second case is marked as R2 and represents vehicle k and vehicle k'2The distance between the two parts is too close to satisfy the constraint condition of smoothly passing through the conflict area; the third case is marked as R3 and represents vehicle k and vehicle k'1And k 'with vehicle'2The basic spacing requirement is satisfied, but the process of passing through the conflict area is not comfortable; fourth typeR4 represents vehicle k and vehicle k'1And k 'with vehicle'2The distances between the two parts are too close to meet the constraint condition that the two parts can smoothly pass through a conflict area;
aiming at four conditions that the vehicle can not smoothly pass through a conflict area, the vehicle which can be optimally controlled needs to be cooperatively controlled; h denotes a vehicle which is not optimally controllable, A denotes a vehicle which is optimally controllable, N denotes no preceding vehicle participation or no following vehicle participation, and the combination order of the vehicles is defined as vehicle k'1K 'of vehicle'2(ii) a (for example: vehicle combination HAN represents vehicle k'1Vehicle k is an optimally controllable vehicle, and no rear vehicle participates in Y road at the moment, namely no vehicle k'2。)
Based on different vehicle combinations, different vehicle type combinations and the four conditions that the conflict area can not be smoothly passed, a cooperative control strategy set is planned, and the following table shows that:
Figure BDA0002719367230000151
Figure BDA0002719367230000161
in the above table, the non-optimization means that the vehicle has no corresponding control strategy under the condition that the vehicle cannot smoothly pass through the conflict area; under the condition that optimization cannot be carried out, when the conflict type is cross conflict, a vehicle k on an X road takes the intersection point of the X road and a Y road as a stopped virtual front vehicle, continuously decelerates along the micro following model, even stops and waits until a vehicle interval meeting a passing conflict area appears on the Y road, and the vehicle k does not pass the conflict area; when the conflict type is confluence conflict, the vehicle k on the X road takes the confluence point of the X road and the Y road as a stopped virtual front vehicle, and continuously decelerates or even stops to wait by following the microcosmic following model until the vehicle interval meeting the passing conflict area appears on the Y road, and the vehicle k passes through the conflict area; the confluence point of the X path and the Y path refers to the position where the X path traffic flow is converged into the Y path traffic flow;
the control state is unknown, and in the case R3 where a part of the control state cannot smoothly pass through the collision region, it is necessary to determine the vehicle k and the vehicle k'1K 'of vehicle'2In the process of passing through the conflict area, which corresponding vehicles form discomfort, and corresponding control strategies are adopted according to the conditions of R1, R2 and R4 that the vehicles cannot pass through the conflict area smoothly;
the acceleration of the vehicle k is controlled by a decision variable u of the vehicle k at the time tk(t) satisfies:
Figure BDA0002719367230000171
and v isk(t)+uk(t)τ≤ve；
The control vehicle k decelerates, and a decision variable u of the vehicle k at the time t is usedk(t) satisfies:
Figure BDA0002719367230000172
and v isk(t)+uk(t)τ≥0；
The uncontrolled vehicle k is a decision variable u for the vehicle k at time tk(t) satisfies:
Figure BDA0002719367230000173
i.e. uk(t)＝0；
The control vehicle k'1The acceleration is to make the vehicle k 'at the time t'1Decision variables of
Figure BDA00027193672300001719
Satisfies the following conditions:
Figure BDA0002719367230000174
and is
Figure BDA0002719367230000175
The vehicle k 'is not controlled'1Is to make the vehicle k 'at time t'1Decision variables of
Figure BDA0002719367230000176
Satisfies the following conditions:
Figure BDA0002719367230000177
namely, it is
Figure BDA0002719367230000178
The control vehicle k'2Deceleration is performed by making the vehicle k 'at time t'2Decision variables of
Figure BDA0002719367230000179
Satisfies the following conditions:
Figure BDA00027193672300001710
and is
Figure BDA00027193672300001720
The vehicle k 'is not controlled'2Is to make the vehicle k 'at time t'2Decision variables of
Figure BDA00027193672300001711
Satisfies the following conditions:
Figure BDA00027193672300001712
namely, it is
Figure BDA00027193672300001713
Wherein u isk(t) as a decision variable for the vehicle k at time t, representing the acceleration of the vehicle k at time t; v. ofk(t) is the speed of vehicle k at time t;
Figure BDA00027193672300001714
is the safe following speed of the vehicle k at the moment t + tau predicted according to the microcosmic following model, wherein Lk(t) represents the relative distance between the vehicle k and its following preceding vehicle at time t,
Figure BDA00027193672300001715
representing the speed of the car k before the car k follows at the time t;
Figure BDA00027193672300001716
k 'of vehicle at time t'1Is a decision variable of vehicle k'1Acceleration at time t;
Figure BDA00027193672300001717
is vehicle k'1Velocity at time t;
Figure BDA00027193672300001718
is vehicle k 'predicted from the microscopic follow model'1Safe following speed at time t + tau, wherein
Figure BDA0002719367230000181
Denotes vehicle k 'at time t'1The relative distance between the car and the car before the car is driven,
Figure BDA0002719367230000182
denotes vehicle k'1The speed of the car before the car is followed at the time t;
Figure BDA0002719367230000183
k 'of vehicle at time t'2Is a decision variable of vehicle k'2Acceleration at time t;
Figure BDA0002719367230000184
is vehicle k'2Velocity at time t;
Figure BDA0002719367230000185
is vehicle k 'predicted from the microscopic follow model'2Safe following speed at time t + tau, wherein
Figure BDA0002719367230000186
Denotes vehicle k 'at time t'2The relative distance between the car and the car before the car is driven,
Figure BDA0002719367230000187
denotes vehicle k'2The speed of the car before the car is followed at the time t; τ is the reaction time of the vehicle driving; v. ofeIs the desired speed.
In this example, if there are two or three vehicles capable of being controlled optimally in the corresponding simulated cooperative control strategy, step S7 is executed, which specifically includes:
assuming that the X road and the Y road are two one-way lanes with intersection, the vehicle k on the X road will pass through the interval between two vehicles of the continuous traffic flow on the Y road, wherein the two vehicles of the continuous traffic flow on the Y road respectively use k'1And k'2Is represented by, wherein vehicle k'1Denotes a front vehicle, vehicle k'2Representing a rear vehicle;
for various situations which can occur in the process that vehicles pass through a conflict area in a mixed traffic flow scene, k 'of the vehicles is determined based on the micro-following model'1K 'of vehicle'2The relationship between the conflict areas is divided into the conflict areas which can be smoothly passed and the conflict areas which can not be smoothly passed; the failure to smoothly pass through the collision region is further divided into four cases, the first case is denoted by R1 and represents the vehicles k and k'1The distance between the two parts is too close to satisfy the constraint condition of smoothly passing through the conflict area; the second case is marked as R2 and represents vehicle k and vehicle k'2The distance between the two parts is too close to satisfy the constraint condition of smoothly passing through the conflict area; the third case is marked as R3 and represents vehicle k and vehicle k'1And k 'with vehicle'2The basic spacing requirement is satisfied, but the process of passing through the conflict area is not comfortable; the fourth case is marked as R4 and represents vehicle k and vehicle k'1And k 'with vehicle'2Too close to each other, not satisfyingSmoothly passing through the constraint condition of the conflict area;
aiming at four conditions that the vehicle can not smoothly pass through a conflict area, the vehicle which can be optimally controlled needs to be cooperatively controlled; h denotes a vehicle which is not optimally controllable, A denotes a vehicle which is optimally controllable, N denotes no preceding vehicle participation or no following vehicle participation, and the combination order of the vehicles is defined as vehicle k'1K 'of vehicle'2(ii) a Thus, different vehicle combination scenarios include HHA, HAH, AHH, HAA, AAH, AHA, AAA, AHN, HAN, NAH, NHA, AAN, NAA, HHH, HHN, NHH; the following steps are performed according to step S7 for six cases, among which the vehicle combination case is AAN, NAA, HAA, AHA, AAH, AAA:
FIG. 2 is a flowchart of vehicle control when the vehicle combination situation is AAN according to the embodiment of the present invention, which is described as follows:
for the vehicle combination situation AAN, under the reason R1 or R3 that the vehicle cannot smoothly pass through the conflict area, the vehicle participating in the process that the vehicle passes through the conflict area can smoothly pass through the conflict area by executing the first-stage control, specifically: k 'of vehicle'1Determining a target vehicle, controlling the target vehicle to accelerate, optimizing the running track of the target vehicle, resolving the optimization problem into an optimal control problem of discrete time state constraint, solving by using a dynamic programming idea to obtain an optimized solution, obtaining a cooperative optimization control strategy about the target vehicle, acting the cooperative optimization control strategy about the target vehicle on the target vehicle, and controlling the running of the target vehicle; the second-stage control is not executed any more.
Fig. 3 is a flowchart of vehicle control when the vehicle combination situation is NAA in the embodiment of the present invention, and is described as follows:
for the vehicle combination situation NAA, under the reason that the vehicle cannot smoothly pass through the conflict area, R2 or R3, the vehicle participating in the process that the vehicle passes through the conflict area can smoothly pass through the conflict area by executing the first-stage control, specifically: determining a vehicle k as a target vehicle, controlling the target vehicle to accelerate, optimizing the running track of the target vehicle, resolving the optimization problem into an optimal control problem of discrete time state constraint, solving by using a dynamic programming idea to obtain an optimized solution, obtaining a cooperative optimization control strategy about the target vehicle, acting the cooperative optimization control strategy about the target vehicle on the target vehicle, and controlling the running of the target vehicle; the second-stage control is not executed any more.
Fig. 4 is a flowchart of vehicle control when the vehicle combination situation is HAA in the embodiment of the invention, described as follows:
(1) for the vehicle combination situation HAA, under the reason R1 that the collision region cannot be smoothly passed, the first stage control is executed first: determining a vehicle k as a target vehicle, controlling the target vehicle to decelerate, optimizing the running track of the target vehicle, solving the optimization problem into an optimal control problem of discrete time state constraint by using a dynamic programming idea; if an optimization solution can be obtained, obtaining a cooperative optimization control strategy related to the target vehicle, and acting the cooperative optimization control strategy related to the target vehicle on the target vehicle to control the operation of the target vehicle; if the optimization solution can not be obtained, executing the second-stage control; the second stage control: controlling the speed of the vehicle k by using Bang-Bang control to ensure that the vehicle k and the vehicle k'1Satisfy the vehicle following comfortable distance (namely, in figure 4, the vehicle k is controlled to satisfy the vehicle k by utilizing the Bang-Bang control firstly'1Gap of) and further controlling vehicle k 'by Bang-Bang control'2Decelerating to ensure that the vehicles participating in the process that the vehicles pass through the conflict area can smoothly pass through the conflict area;
(2) for the vehicle combination situation HAA, under the reason R2 that the collision region cannot be smoothly passed, the first stage control is executed first: determining a vehicle k as a target vehicle, controlling the target vehicle to accelerate, optimizing the running track of the target vehicle, resolving the optimization problem into an optimal control problem of discrete time state constraint, and solving by using a dynamic programming idea; if an optimization solution can be derived, then the method obtains the optimal solution about the target vehicleAnd applying the cooperative optimization control strategy related to the target vehicle to control the operation of the target vehicle; if the optimization solution can not be obtained, executing the second-stage control; the second stage control: control of vehicle k 'with Bang-Bang control'2Decelerating to ensure that the vehicles participating in the process that the vehicles pass through the conflict area can smoothly pass through the conflict area;
(3) for the vehicle combination situation HAA, under the reason R3 that the collision region cannot be smoothly passed, the first stage control is executed first: k 'of vehicle'2Determining the target vehicle, controlling the target vehicle to decelerate, optimizing the running track of the target vehicle, solving the optimization problem into an optimal control problem of discrete time state constraint by using a dynamic programming idea; if an optimization solution can be obtained, obtaining a cooperative optimization control strategy related to the target vehicle, and acting the cooperative optimization control strategy related to the target vehicle on the target vehicle to control the operation of the target vehicle; if the optimization solution can not be obtained, executing the second-stage control; the second stage control: controlling the speed of the vehicle k by using Bang-Bang control to ensure that the vehicle k and the vehicle k'1Satisfy the vehicle following comfortable distance (namely, in figure 4, the vehicle k is controlled to satisfy the vehicle k by utilizing the Bang-Bang control firstly'1Gap of) and further controlling vehicle k 'by Bang-Bang control'2Decelerating to ensure that the vehicles participating in the process that the vehicles pass through the conflict area can smoothly pass through the conflict area;
(4) for the vehicle combination condition HAA, under the condition that the reason R4 that the conflict region cannot be successfully passed, the first-stage control is executed to obtain the optimal solution, so the second-stage control is executed; the second stage control: controlling the speed of the vehicle k by using Bang-Bang control to ensure that the vehicle k and the vehicle k'1Satisfy the vehicle following comfortable distance (namely, in figure 4, the vehicle k is controlled to satisfy the vehicle k by utilizing the Bang-Bang control firstly'1Gap of) and further controlling vehicle k 'by Bang-Bang control'2Decelerating to ensure passage of the participating vehicles through the conflict zoneThe in-range vehicle can smoothly pass through the collision area.
FIG. 5 is a flowchart of the vehicle control when the vehicle combination is AHA in the embodiment of the present invention, which is described as follows:
(1) for the vehicle combination situation AHA, under the reason R1 that the vehicle cannot smoothly pass through the conflict area, the vehicle participating in the process that the vehicle passes through the conflict area can smoothly pass through the conflict area by executing the first-stage control, specifically: k 'of vehicle'1Determining a target vehicle, controlling the target vehicle to accelerate, optimizing the running track of the target vehicle, resolving the optimization problem into an optimal control problem of discrete time state constraint, solving by using a dynamic programming idea to obtain an optimized solution, obtaining a cooperative optimization control strategy about the target vehicle, acting the cooperative optimization control strategy about the target vehicle on the target vehicle, and controlling the running of the target vehicle; the second-stage control is no longer executed;
(2) for the vehicle combination situation AHA, under the reason R2 that the vehicle cannot smoothly pass through the conflict area, the vehicle participating in the process that the vehicle passes through the conflict area can smoothly pass through the conflict area by executing the first-stage control, specifically: k 'of vehicle'2Determining a target vehicle, controlling the target vehicle to decelerate, optimizing the running track of the target vehicle, resolving the optimization problem into an optimal control problem of discrete time state constraint, solving by using a dynamic programming idea to obtain an optimized solution, obtaining a cooperative optimization control strategy about the target vehicle, acting the cooperative optimization control strategy about the target vehicle on the target vehicle, and controlling the running of the target vehicle; the second-stage control is no longer executed;
(3) for the vehicle combination AHA, first, the first stage control is executed for the reason R3 that the conflict area cannot be smoothly passed: k 'of vehicle'1Determining the target vehicle, controlling the target vehicle to accelerate, optimizing the running track of the target vehicle, and resolving the optimization problem into the optimal control of discrete time state constraintSolving the problem by using a dynamic programming idea; if an optimization solution can be obtained, obtaining a cooperative optimization control strategy related to the target vehicle, and acting the cooperative optimization control strategy related to the target vehicle on the target vehicle to control the operation of the target vehicle; if the optimization solution can not be obtained, executing the second-stage control; the second stage control: control of vehicle k 'with Bang-Bang control'1Speed of (2), vehicle k and vehicle k'1Satisfy the vehicle following comfortable distance (namely, in figure 5, the vehicle k is controlled by utilizing the Bang-Bang control firstly'1Satisfies a clearance with vehicle k '), and further controls vehicle k ' by Bang-Bang control '2Decelerating to ensure that the vehicles participating in the process that the vehicles pass through the conflict area can smoothly pass through the conflict area;
(4) for the vehicle combination situation AHA, under the condition that the vehicle combination situation AHA cannot smoothly pass through the conflict region R4, the optimization solution cannot be obtained by executing the first-stage control, and therefore the second-stage control is executed; the second stage control: control of vehicle k 'with Bang-Bang control'1Speed of (2), vehicle k and vehicle k'1Satisfy the vehicle following comfortable distance (namely, in figure 5, the vehicle k is controlled by utilizing the Bang-Bang control firstly'1Satisfies a clearance with vehicle k '), and further controls vehicle k ' by Bang-Bang control '2And the vehicle is decelerated to ensure that the vehicle participating in the process of passing through the conflict area can smoothly pass through the conflict area.
FIG. 6 is a flowchart of vehicle control when the vehicle combination situation is AAH in the embodiment of the present invention, described as follows:
(1) for the vehicle combination situation AAH, under the reason R1 that the vehicle cannot smoothly pass through the conflict area, the vehicle participating in the process that the vehicle passes through the conflict area can smoothly pass through the conflict area by executing the first-stage control, specifically: k 'of vehicle'1Determining the target vehicle, controlling the target vehicle to accelerate, optimizing the running track of the target vehicle, solving the optimization problem into an optimal control problem of discrete time state constraint, solving by using a dynamic programming idea to obtain an optimal solution, and obtaining the optimal solutionControlling the operation of the target vehicle by applying the cooperative optimization control strategy about the target vehicle to the target vehicle; the second-stage control is no longer executed;
(2) for the vehicle combination situation AAH, under the reason R2 that the collision region cannot be smoothly passed, the first stage control is executed first: determining a vehicle k as a target vehicle, controlling the target vehicle to accelerate, optimizing the running track of the target vehicle, resolving the optimization problem into an optimal control problem of discrete time state constraint, and solving by using a dynamic programming idea; if an optimization solution can be obtained, obtaining a cooperative optimization control strategy related to the target vehicle, and acting the cooperative optimization control strategy related to the target vehicle on the target vehicle to control the operation of the target vehicle; if the optimization solution can not be obtained, executing the second-stage control; the second stage control: controlling the speed of the vehicle k by using Bang-Bang control to ensure that the vehicle k and the vehicle k'2Satisfy the vehicle following comfortable distance (namely, in figure 6, the vehicle k is controlled to satisfy the vehicle k by utilizing the Bang-Bang control firstly'2Gap of) and further controlling vehicle k 'by Bang-Bang control'1Speed of (2), vehicle k and vehicle k'1Satisfy the vehicle following comfort distance (i.e. ' control vehicle k by Bang-Bang control ' in FIG. 6) '1The gap with the vehicle k) is met, and the vehicles participating in the process that the vehicles pass through the conflict area can smoothly pass through the conflict area;
(3) for the vehicle combination situation AAH, under the reason R3 that the collision region cannot be smoothly passed, the first stage control is executed first: k 'of vehicle'1Determining the target vehicle, controlling the target vehicle to accelerate, optimizing the running track of the target vehicle, solving the optimization problem into an optimal control problem of discrete time state constraint by using a dynamic programming idea; if an optimization solution can be obtained, obtaining a cooperative optimization control strategy about the target vehicle, and applying the cooperative optimization control strategy about the target vehicle to the target vehicle,controlling operation of the target vehicle; if the optimization solution can not be obtained, executing the second-stage control; the second stage control: controlling the speed of the vehicle k by using Bang-Bang control to ensure that the vehicle k and the vehicle k'2Satisfy the vehicle following comfortable distance (namely, in figure 6, the vehicle k is controlled to satisfy the vehicle k by utilizing the Bang-Bang control firstly'2Gap of) and further controlling vehicle k 'by Bang-Bang control'1Accelerating to ensure that vehicles participating in the process that the vehicles pass through the conflict area can smoothly pass through the conflict area;
(4) for the vehicle combination situation AAH, under the reason R4 that the vehicle combination situation cannot smoothly pass through the conflict region, the optimal solution cannot be obtained by executing the first-stage control, so the second-stage control is executed; the second stage control: controlling the speed of the vehicle k by using Bang-Bang control to ensure that the vehicle k and the vehicle k'2Satisfy the vehicle following comfortable distance (namely, in figure 6, the vehicle k is controlled to satisfy the vehicle k by utilizing the Bang-Bang control firstly'2Gap of) and further controlling vehicle k 'by Bang-Bang control'1And accelerating to ensure that the vehicles participating in the process that the vehicles pass through the conflict area can smoothly pass through the conflict area.
Fig. 7 is a flowchart of vehicle control when the vehicle combination situation is AAA in the embodiment of the present invention, which is described as follows:
(1) for the vehicle combination AAA, under the reason R1 that the vehicle cannot smoothly pass through the collision region, the vehicle participating in the process of the vehicle passing through the collision region can smoothly pass through the collision region by executing the first stage control, specifically: k 'of vehicle'1Determining a target vehicle, controlling the target vehicle to accelerate, optimizing the running track of the target vehicle, resolving the optimization problem into an optimal control problem of discrete time state constraint, solving by using a dynamic programming idea to obtain an optimized solution, obtaining a cooperative optimization control strategy about the target vehicle, acting the cooperative optimization control strategy about the target vehicle on the target vehicle, and controlling the running of the target vehicle; the second-stage control is no longer executed;
(2) For the vehicle combination AAA, under the reason R2 that the collision region cannot be smoothly passed, the first stage control is executed first: determining a vehicle k as a target vehicle, controlling the target vehicle to accelerate, optimizing the running track of the target vehicle, resolving the optimization problem into an optimal control problem of discrete time state constraint, and solving by using a dynamic programming idea; if an optimization solution can be obtained, obtaining a cooperative optimization control strategy related to the target vehicle, and acting the cooperative optimization control strategy related to the target vehicle on the target vehicle to control the operation of the target vehicle; if the optimization solution can not be obtained, executing the second-stage control; the second stage control: control of vehicle k 'with Bang-Bang control'2Decelerating to ensure that the vehicles participating in the process that the vehicles pass through the conflict area can smoothly pass through the conflict area;
(3) for the vehicle combination AAA, under the reason R3 that the collision region cannot be smoothly passed, the first stage control is executed first: k 'of vehicle'1Determining the target vehicle, controlling the target vehicle to accelerate, optimizing the running track of the target vehicle, solving the optimization problem into an optimal control problem of discrete time state constraint by using a dynamic programming idea; if an optimization solution can be obtained, obtaining a cooperative optimization control strategy related to the target vehicle, and acting the cooperative optimization control strategy related to the target vehicle on the target vehicle to control the operation of the target vehicle; if the optimization solution can not be obtained, executing the second-stage control; the second stage control: control of vehicle k 'with Bang-Bang control'1Speed of (2), vehicle k and vehicle k'1Satisfy the vehicle following comfortable distance (namely: in figure 7, the vehicle k is controlled by utilizing the Bang-Bang control firstly'1Satisfies a clearance with vehicle k '), and further controls vehicle k ' by Bang-Bang control '2Speed of (2), vehicle k and vehicle k'2Satisfy the vehicle following comfort distance (i.e. ' control vehicle k by Bang-Bang control ' in FIG. 7) '2To satisfy a clearance with the vehicle k)), in the process of ensuring that the participating vehicles pass through the collision zoneThe vehicle can smoothly pass through the conflict area;
(4) for the vehicle combination situation AAA, under the reason R4 that the conflict region cannot be smoothly passed, the optimization solution cannot be obtained by executing the first-stage control, so the second-stage control is executed; the second stage control: control of vehicle k 'with Bang-Bang control'1Speed of (2), vehicle k and vehicle k'1Satisfy the vehicle following comfortable distance (namely: in figure 7, the vehicle k is controlled by utilizing the Bang-Bang control firstly'1Satisfies a clearance with vehicle k '), and further controls vehicle k ' by Bang-Bang control '2And the vehicle is decelerated to ensure that the vehicle participating in the process of passing through the conflict area can smoothly pass through the conflict area.
The time complexity of the simplified method for controlling the multiple vehicle tracks under the mixed traffic flow does not exceed O (T)4). The MATLAB is utilized to construct a microscopic traffic flow simulation environment, simulation analysis is carried out on multi-vehicle track simplification control under mixed traffic flow, and the effectiveness of the simplification method is verified: a simulation experiment is carried out on a common notebook (configuration: i5-7200U, CPU @2.5GHZ and RAM 8G), and the calculation time under various multi-vehicle conditions is counted. Before simplification (namely, according to the situation that two or three vehicles which can be optimally controlled need to be controlled to smoothly pass through a conflict area in a concentrated mode of the planned cooperative control strategy in the step S4, the vehicles which need to be controlled are simultaneously controlled and all the vehicles are solved by adopting a dynamic programming idea), the calculation time for controlling the two vehicles is about 20 seconds, and the calculation time for controlling the three vehicles is about 1 hour; after simplification (namely, the simplified method of the multi-vehicle track control under the mixed traffic flow is adopted for control), the calculation time of the multi-vehicle control is not more than 300 milliseconds. The time complexity of the algorithm under various multi-vehicle control conditions can be found by numerical simulation and analysis, the time complexity of the whole bottom control operation is greatly reduced by the simplified method, the timeliness is improved, and the practicability of the condition that two or three vehicles are cooperatively controlled to meet the optimization requirement in engineering practice is enhanced.
While the present invention has been described above by way of example with reference to the accompanying drawings, it is to be understood that the invention is not limited to the specific embodiments shown herein.

Claims (5)

1. A simplified method for controlling multiple vehicle tracks under mixed traffic flow is characterized by comprising the following steps:
s1, determining a micro-following model, and describing the following state of the vehicle by using the micro-following model, wherein the following state of the vehicle comprises the speed, the acceleration and the position of the vehicle;
s2, acquiring the time and speed of the vehicle passing through the upstream monitoring point of the conflict area in the mixed traffic flow, and predicting the initial trajectory of the vehicle between the upstream monitoring point and the conflict end point by using the micro-following model; a road section with a certain distance between the upstream monitoring point and the conflict starting point; the collision starting point is positioned between the upstream monitoring point and the collision terminal point; the road sections between the collision starting point and the collision terminal point form a collision area;
s3, based on the microcosmic car-following model, adding acceleration constraint, distance constraint and safety constraint aiming at the vehicle collision type existing at the intersection under no signal indication, and establishing a collision cooperation model; the vehicle conflict types comprise cross conflict and confluence conflict; the cross conflict means that vehicles in different driving directions run in a cross mode at a large angle; the confluent conflict means that vehicles in different driving directions converge and drive in the same direction at a small angle;
s4, aiming at various situations which can not pass through the conflict area smoothly and possibly occur in the process that the vehicle passes through the conflict area under the mixed traffic flow scene, a cooperative control strategy set is prepared;
s5, judging whether the vehicle can smoothly pass through a conflict area or not by the conflict coordination model based on the vehicle initial track; if the judgment result is that the vehicle can smoothly pass through the conflict area, the vehicle continues to run according to the speed of the micro retardation model; if the judgment result is that the vehicle cannot smoothly pass through the conflict area, further determining the specific situation of the vehicle in the process of passing through the conflict area, and judging the number of the optimally controlled vehicles in the simulated cooperative control strategy corresponding to the specific situation of the vehicle in the process of passing through the conflict area according to the cooperative control strategy set simulated in the step S4; if only one vehicle capable of being controlled optimally exists in the corresponding simulated cooperative control strategy, executing step S6; if two or three vehicles capable of being controlled optimally exist in the corresponding simulated cooperative control strategy, executing step S7;
s6, determining an optimally controlled vehicle participating in the process that the vehicle passes through a conflict area as a target vehicle, optimizing the running track of the target vehicle according to a corresponding planned cooperative control strategy, resolving the optimization problem into an optimal control problem of discrete time state constraint, solving by using a dynamic programming idea to obtain a cooperative optimal control strategy about the target vehicle, acting the cooperative optimal control strategy about the target vehicle on the target vehicle, and controlling the operation of the target vehicle;
and S7, performing phased control aiming at the condition that two or three vehicles capable of being optimally controlled exist in the corresponding simulated cooperative control strategy: executing first-stage control, and if executing the first-stage control can enable a vehicle participating in the process that the vehicle passes through a conflict area to smoothly pass through the conflict area, not executing second-stage control; executing the second-stage control if the execution of the first-stage control does not enable the vehicle participating in the process that the vehicle passes through the conflict area to smoothly pass through the conflict area;
the first stage control: determining one of two or three vehicles which can be optimally controlled and participate in the process that the vehicles pass through a conflict area as a target vehicle, controlling the speed of the target vehicle, optimizing the running track of the target vehicle, resolving the optimization problem into an optimal control problem of discrete time state constraint, and solving by using a dynamic programming idea; if an optimization solution can be obtained, obtaining a cooperative optimization control strategy related to the target vehicle, and acting the cooperative optimization control strategy related to the target vehicle on the target vehicle to control the operation of the target vehicle; if the optimal solution can not be obtained, executing second-stage control;
the second stage control: one or two of the vehicles can be optimally controlled by controlling two or three vehicles in the process of passing through the conflict area by using the Bang-Bang control, so that the vehicles in the process of passing through the conflict area by the participating vehicles can smoothly pass through the conflict area.
2. The simplified method of multi-vehicle trajectory control under mixed traffic flow according to claim 1, characterized in that: in step S3, the establishing the conflict coordination model specifically includes:
assuming that the X road and the Y road are two one-way lanes with intersection, the vehicle k on the X road will pass through the interval between two vehicles of the continuous traffic flow on the Y road, wherein the two vehicles of the continuous traffic flow on the Y road respectively use k'1And k'2Is represented by, wherein vehicle k'1Denotes a front vehicle, vehicle k'2Representing a rear vehicle;
Figure FDA0002719367220000021
wherein the conflicting collaborative utility is represented by Uk(t) indicating whether the vehicle k can smoothly pass through the collision area on the X road; | uk(t) | denotes the absolute value of the acceleration or deceleration of the vehicle k at time t on the X-road,
Figure FDA0002719367220000022
denotes vehicle k 'on Y road'2The absolute value of acceleration or deceleration at time t;
Figure FDA0002719367220000023
at time t, represents vehicle k ' on the X road and vehicle k ' on the Y road '1The relative distance between the two or more of them,
Figure FDA0002719367220000024
at time t, represents vehicle k ' on the X road and vehicle k ' on the Y road '2Relative distance between, xk(t) represents the position of the vehicle k on the X road at time t,
Figure FDA0002719367220000025
denotes vehicle k 'on Y road'1At the position of the instant t of time,
Figure FDA0002719367220000026
denotes vehicle k 'on Y road'2Position at time t,/aIs the vehicle body length;
Figure FDA0002719367220000027
representing a minimum inter-vehicle distance between the optimally controllable vehicle and a vehicle ahead of the optimally controllable vehicle;
Figure FDA0002719367220000028
representing a minimum inter-vehicle distance between the non-optimally controllable vehicle and a preceding vehicle following the non-optimally controllable vehicle; when the vehicle passes through the collision area, the vehicle k on the X road actually follows the vehicle k 'on the Y road'1Run, and vehicle k 'on Y road'2The vehicles k on the actual X-road are driven, and the acceleration or deceleration of the vehicles k can be calculated according to the microcosmic car-following model; bsafeRepresents a maximum allowable deceleration; phiAA set of optimally controllable vehicles; phiHA set of non-optimally controlled vehicles; eta1Representing a safety factor; eta2Representing a polite coefficient;
polite coefficient eta2The expression of (a) is as follows:
Figure FDA0002719367220000029
wherein v iskIs the speed of the vehicle k, veIs the desired velocity, vthIs a given threshold speed, β1And beta2Is a constant;
for collaborative decision Ik(t + τ) is represented as follows:
Figure FDA0002719367220000031
wherein, IkA value of (t + τ) of 1 indicates that the vehicle k can smoothly pass through the collision region at time t + τ; i iskA value of 0 for (t + τ) indicates that vehicle k cannot smoothly pass through the collision zone at time t + τ.
3. The simplified method of multi-vehicle trajectory control under mixed traffic flow according to claim 1, characterized in that: in step S4, for various situations that may occur in the process of the vehicle passing through the conflict area in the mixed traffic flow scene, the method plans a cooperative control strategy set, which specifically includes:
assuming that the X road and the Y road are two one-way lanes with intersection, the vehicle k on the X road will pass through the interval between two vehicles of the continuous traffic flow on the Y road, wherein the two vehicles of the continuous traffic flow on the Y road respectively use k'1And k'2Is represented by, wherein vehicle k'1Denotes a front vehicle, vehicle k'2Representing a rear vehicle;
for various situations which can occur in the process that vehicles pass through a conflict area in a mixed traffic flow scene, k 'of the vehicles is determined based on the micro-following model'1K 'of vehicle'2The relationship between the conflict areas is divided into the conflict areas which can be smoothly passed and the conflict areas which can not be smoothly passed; the failure to smoothly pass through the collision region is further divided into four cases, the first case is denoted by R1 and represents the vehicles k and k'1The distance between the two parts is too close to satisfy the constraint condition of smoothly passing through the conflict area; the second case is marked as R2 and represents vehicle k and vehicle k'2The distance between the two parts is too close to satisfy the constraint condition of smoothly passing through the conflict area; the third case is marked as R3 and represents vehicle k and vehicle k'1And k 'with vehicle'2The basic spacing requirement is satisfied, but the process of passing through the conflict area is not comfortable; the fourth case is marked as R4 and represents vehicle k and vehicle k'1And k 'with vehicle'2The distances between the two parts are too close to meet the constraint condition that the two parts can smoothly pass through a conflict area;
for four cases that can not pass through the conflict area smoothly, the method needs to be applied toThe optimally controllable vehicles carry out cooperative control; h denotes a vehicle which is not optimally controllable, A denotes a vehicle which is optimally controllable, N denotes no preceding vehicle participation or no following vehicle participation, and the combination order of the vehicles is defined as vehicle k'1K 'of vehicle'2；
Based on different vehicle combinations, different vehicle type combinations and the four conditions that the conflict area can not be smoothly passed, a cooperative control strategy set is planned, and the following table shows that:
Figure FDA0002719367220000032
Figure FDA0002719367220000041
Figure FDA0002719367220000051
in the above table, the non-optimization means that the vehicle has no corresponding control strategy under the condition that the vehicle cannot smoothly pass through the conflict area; under the condition that optimization cannot be carried out, when the conflict type is cross conflict, a vehicle k on an X road takes the intersection point of the X road and a Y road as a stopped virtual front vehicle, continuously decelerates along the micro following model, even stops and waits until a vehicle interval meeting a passing conflict area appears on the Y road, and the vehicle k does not pass the conflict area; when the conflict type is confluence conflict, the vehicle k on the X road takes the confluence point of the X road and the Y road as a stopped virtual front vehicle, and continuously decelerates or even stops to wait by following the microcosmic following model until the vehicle interval meeting the passing conflict area appears on the Y road, and the vehicle k passes through the conflict area; the confluence point of the X path and the Y path refers to the position where the X path traffic flow is converged into the Y path traffic flow;
the control state is unknown, for the case R3 where part cannot pass through the collision region smoothly,in this case, it is necessary to determine the vehicle k and the vehicle k'1K 'of vehicle'2In the process of passing through the conflict area, which corresponding vehicles form discomfort, and corresponding control strategies are adopted according to the conditions of R1, R2 and R4 that the vehicles cannot pass through the conflict area smoothly;
the acceleration of the vehicle k is controlled by a decision variable u of the vehicle k at the time tk(t) satisfies:
Figure FDA0002719367220000052
and v isk(t)+uk(t)τ≤ve；
The control vehicle k decelerates, and a decision variable u of the vehicle k at the time t is usedk(t) satisfies:
Figure FDA0002719367220000053
and v isk(t)+uk(t)τ≥0；
The uncontrolled vehicle k is a decision variable u for the vehicle k at time tk(t) satisfies:
Figure FDA0002719367220000054
i.e. uk(t)＝0；
The control vehicle k'1The acceleration is to make the vehicle k 'at the time t'1Decision variables of
Figure FDA0002719367220000055
Satisfies the following conditions:
Figure FDA0002719367220000056
and is
Figure FDA0002719367220000057
The vehicle k 'is not controlled'1Is to make the vehicle k 'at time t'1Decision variables of
Figure FDA0002719367220000058
Satisfies the following conditions:
Figure FDA0002719367220000059
namely, it is
Figure FDA00027193672200000510
The control vehicle k'2Deceleration is performed by making the vehicle k 'at time t'2Decision variables of
Figure FDA00027193672200000511
Satisfies the following conditions:
Figure FDA0002719367220000061
and is
Figure FDA0002719367220000062
The vehicle k 'is not controlled'2Is to make the vehicle k 'at time t'2Decision variables of
Figure FDA0002719367220000063
Satisfies the following conditions:
Figure FDA0002719367220000064
namely, it is
Figure FDA0002719367220000065
Wherein u isk(t) as a decision variable for the vehicle k at time t, representing the acceleration of the vehicle k at time t; v. ofk(t) is the speed of vehicle k at time t;
Figure FDA0002719367220000066
is the safe following speed of the vehicle k at the moment t + tau predicted according to the microcosmic following model, wherein Lk(t) represents the relative distance between the vehicle k and its following preceding vehicle at time t,
Figure FDA0002719367220000067
representing the speed of the car k before the car k follows at the time t;
Figure FDA0002719367220000068
k 'of vehicle at time t'1Is a decision variable of vehicle k'1Acceleration at time t;
Figure FDA0002719367220000069
is vehicle k'1Velocity at time t;
Figure FDA00027193672200000610
is vehicle k 'predicted from the microscopic follow model'1Safe following speed at time t + tau, wherein
Figure FDA00027193672200000611
Denotes vehicle k 'at time t'1The relative distance between the car and the car before the car is driven,
Figure FDA00027193672200000612
denotes vehicle k'1The speed of the car before the car is followed at the time t;
Figure FDA00027193672200000613
k 'of vehicle at time t'2Is a decision variable of vehicle k'2Acceleration at time t;
Figure FDA00027193672200000614
is vehicle k'2Velocity at time t;
Figure FDA00027193672200000615
is vehicle k 'predicted from the microscopic follow model'2Safe following speed at time t + tau, wherein
Figure FDA00027193672200000616
Denotes vehicle k 'at time t'2The relative distance between the car and the car before the car is driven,
Figure FDA00027193672200000617
denotes vehicle k'2The speed of the car before the car is followed at the time t; τ is the reaction time of the vehicle driving; v. ofeIs the desired speed.
4. The simplified method of multi-vehicle trajectory control under mixed traffic flow according to claim 1, characterized in that: if there are two or three vehicles capable of being controlled optimally in the corresponding planned cooperative control strategy, step S7 is executed, which specifically includes:
assuming that the X road and the Y road are two one-way lanes with intersection, the vehicle k on the X road will pass through the interval between two vehicles of the continuous traffic flow on the Y road, wherein the two vehicles of the continuous traffic flow on the Y road respectively use k'1And k'2Is represented by, wherein vehicle k'1Denotes a front vehicle, vehicle k'2Representing a rear vehicle;
for various situations which can occur in the process that vehicles pass through a conflict area in a mixed traffic flow scene, k 'of the vehicles is determined based on the micro-following model'1K 'of vehicle'2The relationship between the conflict areas is divided into the conflict areas which can be smoothly passed and the conflict areas which can not be smoothly passed; the failure to smoothly pass through the collision region is further divided into four cases, the first case is denoted by R1 and represents the vehicles k and k'1The distance between the two parts is too close to satisfy the constraint condition of smoothly passing through the conflict area; the second case is marked as R2 and represents vehicle k and vehicle k'2The distance between the two parts is too close to satisfy the constraint condition of smoothly passing through the conflict area; the third case is marked as R3 and represents vehicle k and vehicle k'1And k 'with vehicle'2The basic spacing requirement is satisfied, but the process of passing through the conflict area is not comfortable; the fourth case is marked as R4 and represents vehicle k and vehicle k'1And k 'with vehicle'2The distances between the two parts are too close to meet the constraint condition that the two parts can smoothly pass through a conflict area;
aiming at four conditions that the vehicle can not smoothly pass through a conflict area, the vehicle which can be optimally controlled needs to be cooperatively controlled; h denotes a vehicle which is not optimally controllable, A denotes a vehicle which is optimally controllable, N denotes no preceding vehicle participation or no following vehicle participation, and the combination order of the vehicles is defined as vehicle k'1K 'of vehicle'2(ii) a Thus, different vehicle combination scenarios include HHA, HAH, AHH, HAA, AAH, AHA, AAA, AHN, HAN, NAH, NHA, AAN, NAA, HHH, HHN, NHH; the following steps are performed according to step S7 for six cases, among which the vehicle combination case is AAN, NAA, HAA, AHA, AAH, AAA:
for the vehicle combination situation AAN, under the reason R1 or R3 that the vehicle cannot smoothly pass through the conflict area, the vehicle participating in the process that the vehicle passes through the conflict area can smoothly pass through the conflict area by executing the first-stage control, specifically: k 'of vehicle'1Determining a target vehicle, controlling the target vehicle to accelerate, optimizing the running track of the target vehicle, resolving the optimization problem into an optimal control problem of discrete time state constraint, solving by using a dynamic programming idea to obtain an optimized solution, obtaining a cooperative optimization control strategy about the target vehicle, acting the cooperative optimization control strategy about the target vehicle on the target vehicle, and controlling the running of the target vehicle; the second-stage control is no longer executed;
for the vehicle combination situation NAA, under the reason that the vehicle cannot smoothly pass through the conflict area, R2 or R3, the vehicle participating in the process that the vehicle passes through the conflict area can smoothly pass through the conflict area by executing the first-stage control, specifically: determining a vehicle k as a target vehicle, controlling the target vehicle to accelerate, optimizing the running track of the target vehicle, resolving the optimization problem into an optimal control problem of discrete time state constraint, solving by using a dynamic programming idea to obtain an optimized solution, obtaining a cooperative optimization control strategy about the target vehicle, acting the cooperative optimization control strategy about the target vehicle on the target vehicle, and controlling the running of the target vehicle; the second-stage control is no longer executed;
for the vehicle combination situation HAA, under the reason R1 that the collision region cannot be smoothly passed, the first stage control is executed first: determining a vehicle k as a target vehicle, controlling the target vehicle to decelerate, optimizing the running track of the target vehicle, solving the optimization problem into an optimal control problem of discrete time state constraint by using a dynamic programming idea; if an optimization solution can be obtained, obtaining a cooperative optimization control strategy related to the target vehicle, and acting the cooperative optimization control strategy related to the target vehicle on the target vehicle to control the operation of the target vehicle; if the optimization solution can not be obtained, executing the second-stage control; the second stage control: controlling the speed of the vehicle k by using Bang-Bang control to ensure that the vehicle k and the vehicle k'1Satisfies the comfortable following distance of the vehicle, and further utilizes Bang-Bang to control the vehicle k'2Decelerating to ensure that the vehicles participating in the process that the vehicles pass through the conflict area can smoothly pass through the conflict area;
for the vehicle combination situation HAA, under the reason R2 that the collision region cannot be smoothly passed, the first stage control is executed first: determining a vehicle k as a target vehicle, controlling the target vehicle to accelerate, optimizing the running track of the target vehicle, resolving the optimization problem into an optimal control problem of discrete time state constraint, and solving by using a dynamic programming idea; if an optimization solution can be obtained, obtaining a cooperative optimization control strategy related to the target vehicle, and acting the cooperative optimization control strategy related to the target vehicle on the target vehicle to control the operation of the target vehicle; if the optimization solution can not be obtained, executing the second-stage control; the second stage control: controlling a vehicle with Bang-Bang controlk′2Decelerating to ensure that the vehicles participating in the process that the vehicles pass through the conflict area can smoothly pass through the conflict area;
for the vehicle combination situation HAA, under the reason R3 that the collision region cannot be smoothly passed, the first stage control is executed first: k 'of vehicle'2Determining the target vehicle, controlling the target vehicle to decelerate, optimizing the running track of the target vehicle, solving the optimization problem into an optimal control problem of discrete time state constraint by using a dynamic programming idea; if an optimization solution can be obtained, obtaining a cooperative optimization control strategy related to the target vehicle, and acting the cooperative optimization control strategy related to the target vehicle on the target vehicle to control the operation of the target vehicle; if the optimization solution can not be obtained, executing the second-stage control; the second stage control: controlling the speed of the vehicle k by using Bang-Bang control to ensure that the vehicle k and the vehicle k'1Satisfies the comfortable following distance of the vehicle, and further utilizes Bang-Bang to control the vehicle k'2Decelerating to ensure that the vehicles participating in the process that the vehicles pass through the conflict area can smoothly pass through the conflict area;
for the vehicle combination condition HAA, under the condition that the reason R4 that the conflict region cannot be successfully passed, the first-stage control is executed to obtain the optimal solution, so the second-stage control is executed; the second stage control: controlling the speed of the vehicle k by using Bang-Bang control to ensure that the vehicle k and the vehicle k'1Satisfies the comfortable following distance of the vehicle, and further utilizes Bang-Bang to control the vehicle k'2Decelerating to ensure that the vehicles participating in the process that the vehicles pass through the conflict area can smoothly pass through the conflict area;
for the vehicle combination situation AHA, under the reason R1 that the vehicle cannot smoothly pass through the conflict area, the vehicle participating in the process that the vehicle passes through the conflict area can smoothly pass through the conflict area by executing the first-stage control, specifically: k 'of vehicle'1Determining the target vehicle, controlling the target vehicle to accelerate, optimizing the running track of the target vehicle, and resolving the optimization problem into a discrete time shapeSolving the optimal control problem of the state constraint by using a dynamic planning idea to obtain an optimal solution, obtaining a cooperative optimization control strategy about the target vehicle, and acting the cooperative optimization control strategy about the target vehicle on the target vehicle to control the operation of the target vehicle; the second-stage control is no longer executed;
for the vehicle combination situation AHA, under the reason R2 that the vehicle cannot smoothly pass through the conflict area, the vehicle participating in the process that the vehicle passes through the conflict area can smoothly pass through the conflict area by executing the first-stage control, specifically: k 'of vehicle'2Determining a target vehicle, controlling the target vehicle to decelerate, optimizing the running track of the target vehicle, resolving the optimization problem into an optimal control problem of discrete time state constraint, solving by using a dynamic programming idea to obtain an optimized solution, obtaining a cooperative optimization control strategy about the target vehicle, acting the cooperative optimization control strategy about the target vehicle on the target vehicle, and controlling the running of the target vehicle; the second-stage control is no longer executed;
for the vehicle combination AHA, first, the first stage control is executed for the reason R3 that the conflict area cannot be smoothly passed: k 'of vehicle'1Determining the target vehicle, controlling the target vehicle to accelerate, optimizing the running track of the target vehicle, solving the optimization problem into an optimal control problem of discrete time state constraint by using a dynamic programming idea; if an optimization solution can be obtained, obtaining a cooperative optimization control strategy related to the target vehicle, and acting the cooperative optimization control strategy related to the target vehicle on the target vehicle to control the operation of the target vehicle; if the optimization solution can not be obtained, executing the second-stage control; the second stage control: control of vehicle k 'with Bang-Bang control'1Speed of (2), vehicle k and vehicle k'1Satisfies the comfortable following distance of the vehicle, and further utilizes Bang-Bang to control the vehicle k'2The speed is reduced, and the vehicles participating in the process that the vehicles pass through the conflict area can be ensured to be smoothPassing through the conflict area;
for the vehicle combination situation AHA, under the condition that the vehicle combination situation AHA cannot smoothly pass through the conflict region R4, the optimization solution cannot be obtained by executing the first-stage control, and therefore the second-stage control is executed; the second stage control: control of vehicle k 'with Bang-Bang control'1Speed of (2), vehicle k and vehicle k'1Satisfies the comfortable following distance of the vehicle, and further utilizes Bang-Bang to control the vehicle k'2Decelerating to ensure that the vehicles participating in the process that the vehicles pass through the conflict area can smoothly pass through the conflict area;
for the vehicle combination situation AAH, under the reason R1 that the vehicle cannot smoothly pass through the conflict area, the vehicle participating in the process that the vehicle passes through the conflict area can smoothly pass through the conflict area by executing the first-stage control, specifically: k 'of vehicle'1Determining a target vehicle, controlling the target vehicle to accelerate, optimizing the running track of the target vehicle, resolving the optimization problem into an optimal control problem of discrete time state constraint, solving by using a dynamic programming idea to obtain an optimized solution, obtaining a cooperative optimization control strategy about the target vehicle, acting the cooperative optimization control strategy about the target vehicle on the target vehicle, and controlling the running of the target vehicle; the second-stage control is no longer executed;
for the vehicle combination situation AAH, under the reason R2 that the collision region cannot be smoothly passed, the first stage control is executed first: determining a vehicle k as a target vehicle, controlling the target vehicle to accelerate, optimizing the running track of the target vehicle, resolving the optimization problem into an optimal control problem of discrete time state constraint, and solving by using a dynamic programming idea; if an optimization solution can be obtained, obtaining a cooperative optimization control strategy related to the target vehicle, and acting the cooperative optimization control strategy related to the target vehicle on the target vehicle to control the operation of the target vehicle; if the optimization solution can not be obtained, executing the second-stage control; the second stage control: firstly, the Bang-Bang control is utilized to control the speed of the vehicle k, so that the vehicle k and the Bang-Bang controlK 'of vehicle'2Satisfies the comfortable following distance of the vehicle, and further utilizes Bang-Bang to control the vehicle k'1Speed of (2), vehicle k and vehicle k'1The following comfortable distance of the vehicles is met, and the vehicles participating in the process that the vehicles pass through the conflict area can smoothly pass through the conflict area;
for the vehicle combination situation AAH, under the reason R3 that the collision region cannot be smoothly passed, the first stage control is executed first: k 'of vehicle'1Determining the target vehicle, controlling the target vehicle to accelerate, optimizing the running track of the target vehicle, solving the optimization problem into an optimal control problem of discrete time state constraint by using a dynamic programming idea; if an optimization solution can be obtained, obtaining a cooperative optimization control strategy related to the target vehicle, and acting the cooperative optimization control strategy related to the target vehicle on the target vehicle to control the operation of the target vehicle; if the optimization solution can not be obtained, executing the second-stage control; the second stage control: controlling the speed of the vehicle k by using Bang-Bang control to ensure that the vehicle k and the vehicle k'2Satisfies the comfortable following distance of the vehicle, and further utilizes Bang-Bang to control the vehicle k'1Accelerating to ensure that vehicles participating in the process that the vehicles pass through the conflict area can smoothly pass through the conflict area;
for the vehicle combination situation AAH, under the reason R4 that the vehicle combination situation cannot smoothly pass through the conflict region, the optimal solution cannot be obtained by executing the first-stage control, so the second-stage control is executed; the second stage control: controlling the speed of the vehicle k by using Bang-Bang control to ensure that the vehicle k and the vehicle k'2Satisfies the comfortable following distance of the vehicle, and further utilizes Bang-Bang to control the vehicle k'1Accelerating to ensure that vehicles participating in the process that the vehicles pass through the conflict area can smoothly pass through the conflict area;
for the vehicle combination AAA, under the reason R1 that the vehicle cannot smoothly pass through the collision region, the vehicle participating in the process of the vehicle passing through the collision region can smoothly pass through the collision region by executing the first stage control, specifically:k 'of vehicle'1Determining a target vehicle, controlling the target vehicle to accelerate, optimizing the running track of the target vehicle, resolving the optimization problem into an optimal control problem of discrete time state constraint, solving by using a dynamic programming idea to obtain an optimized solution, obtaining a cooperative optimization control strategy about the target vehicle, acting the cooperative optimization control strategy about the target vehicle on the target vehicle, and controlling the running of the target vehicle; the second-stage control is no longer executed;
for the vehicle combination AAA, under the reason R2 that the collision region cannot be smoothly passed, the first stage control is executed first: determining a vehicle k as a target vehicle, controlling the target vehicle to accelerate, optimizing the running track of the target vehicle, resolving the optimization problem into an optimal control problem of discrete time state constraint, and solving by using a dynamic programming idea; if an optimization solution can be obtained, obtaining a cooperative optimization control strategy related to the target vehicle, and acting the cooperative optimization control strategy related to the target vehicle on the target vehicle to control the operation of the target vehicle; if the optimization solution can not be obtained, executing the second-stage control; the second stage control: control of vehicle k 'with Bang-Bang control'2Decelerating to ensure that the vehicles participating in the process that the vehicles pass through the conflict area can smoothly pass through the conflict area;
for the vehicle combination AAA, under the reason R3 that the collision region cannot be smoothly passed, the first stage control is executed first: k 'of vehicle'1Determining the target vehicle, controlling the target vehicle to accelerate, optimizing the running track of the target vehicle, solving the optimization problem into an optimal control problem of discrete time state constraint by using a dynamic programming idea; if an optimization solution can be obtained, obtaining a cooperative optimization control strategy related to the target vehicle, and acting the cooperative optimization control strategy related to the target vehicle on the target vehicle to control the operation of the target vehicle; if the optimization solution can not be obtained, executing the second-stage control; the second stage control: first useBang-Bang control vehicle k'1Speed of (2), vehicle k and vehicle k'1Satisfies the comfortable following distance of the vehicle, and further utilizes Bang-Bang to control the vehicle k'2Speed of (2), vehicle k and vehicle k'2The following comfortable distance of the vehicles is met, and the vehicles participating in the process that the vehicles pass through the conflict area can smoothly pass through the conflict area;
for the vehicle combination situation AAA, under the reason R4 that the conflict region cannot be smoothly passed, the optimization solution cannot be obtained by executing the first-stage control, so the second-stage control is executed; the second stage control: control of vehicle k 'with Bang-Bang control'1Speed of (2), vehicle k and vehicle k'1Satisfies the comfortable following distance of the vehicle, and further utilizes Bang-Bang to control the vehicle k'2And the vehicle is decelerated to ensure that the vehicle participating in the process of passing through the conflict area can smoothly pass through the conflict area.
5. The simplified method of multi-vehicle trajectory control under mixed traffic flow according to any of claims 1-4, wherein: and constructing a microscopic traffic flow simulation environment, and performing simulation analysis on multi-vehicle track simplified control under the mixed traffic flow.
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