CN114228715B - Vehicle queue joint control method, device, equipment and storage medium - Google Patents

Vehicle queue joint control method, device, equipment and storage medium Download PDF

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CN114228715B
CN114228715B CN202111445485.1A CN202111445485A CN114228715B CN 114228715 B CN114228715 B CN 114228715B CN 202111445485 A CN202111445485 A CN 202111445485A CN 114228715 B CN114228715 B CN 114228715B
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current vehicle
vehicle
acceleration
information
target
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CN114228715A (en
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魏翼鹰
杨寅鹏
史孟颜
邹琳
张晖
刘伟
张亚磊
周宸
赵品
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Wuhan University of Technology WUT
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
    • B60W30/14—Adaptive cruise control
    • B60W30/16—Control of distance between vehicles, e.g. keeping a distance to preceding vehicle
    • B60W30/165—Automatically following the path of a preceding lead vehicle, e.g. "electronic tow-bar"
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
    • B60W40/02—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to ambient conditions
    • B60W40/06—Road conditions
    • B60W40/068—Road friction coefficient
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
    • B60W40/10—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to vehicle motion
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
    • B60W40/10—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to vehicle motion
    • B60W40/105—Speed
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
    • B60W40/10—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to vehicle motion
    • B60W40/107—Longitudinal acceleration
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
    • B60W40/10—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to vehicle motion
    • B60W40/112—Roll movement
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
    • B60W40/10—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to vehicle motion
    • B60W40/114—Yaw movement
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • B60W2050/0001—Details of the control system
    • B60W2050/0043—Signal treatments, identification of variables or parameters, parameter estimation or state estimation
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2520/00—Input parameters relating to overall vehicle dynamics
    • B60W2520/10—Longitudinal speed
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2520/00—Input parameters relating to overall vehicle dynamics
    • B60W2520/10—Longitudinal speed
    • B60W2520/105—Longitudinal acceleration
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2520/00—Input parameters relating to overall vehicle dynamics
    • B60W2520/14—Yaw
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2552/00—Input parameters relating to infrastructure
    • B60W2552/40—Coefficient of friction
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2554/00—Input parameters relating to objects
    • B60W2554/40—Dynamic objects, e.g. animals, windblown objects
    • B60W2554/404—Characteristics
    • B60W2554/4041—Position
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2554/00—Input parameters relating to objects
    • B60W2554/40—Dynamic objects, e.g. animals, windblown objects
    • B60W2554/404—Characteristics
    • B60W2554/4042—Longitudinal speed
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2554/00—Input parameters relating to objects
    • B60W2554/80—Spatial relation or speed relative to objects
    • B60W2554/802—Longitudinal distance
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2554/00—Input parameters relating to objects
    • B60W2554/80—Spatial relation or speed relative to objects
    • B60W2554/804—Relative longitudinal speed
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/10—Internal combustion engine [ICE] based vehicles
    • Y02T10/40—Engine management systems

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  • Engineering & Computer Science (AREA)
  • Automation & Control Theory (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Physics & Mathematics (AREA)
  • Mathematical Physics (AREA)
  • Human Computer Interaction (AREA)
  • Steering Control In Accordance With Driving Conditions (AREA)
  • Control Of Driving Devices And Active Controlling Of Vehicle (AREA)

Abstract

The invention relates to a vehicle queue joint control method, a device, equipment and a storage medium, which comprise the following steps: acquiring vehicle road information, wherein the vehicle road information comprises running information of a current vehicle, road surface friction coefficient and nearby environment information; obtaining the actual steering condition of the current vehicle and the target steering condition of the current vehicle according to the running information of the current vehicle, the road friction coefficient and the preset model; obtaining target acceleration of the current vehicle according to the running information of the current vehicle, the nearby environment information and the preset model; the actual lateral displacement of the current vehicle is adjusted according to the actual steering condition of the current vehicle and the target steering condition of the current vehicle, and the actual longitudinal displacement of the current vehicle is adjusted according to the running information of the current vehicle and the target acceleration of the current vehicle. The invention controls the lateral displacement and acceleration of the vehicle, so that the vehicle runs according to a preset track, keeps a safe distance from the front vehicle, and realizes the transverse and longitudinal combined control of the vehicle queue.

Description

Vehicle queue joint control method, device, equipment and storage medium
Technical Field
The present invention relates to the field of vehicle control technologies, and in particular, to a vehicle queue joint control method, apparatus, device, and storage medium.
Background
The intelligent network automobile is used as a collection of the intelligent automobile and the Internet of vehicles, benefits from the leap development of a sensor technology, an automatic control technology and an information fusion technology, can acquire information such as a front road, a vehicle speed, a relative vehicle distance and the like through the Internet of vehicles, processes the information through the sensor fusion technology, and realizes the path tracking control of the vehicles and the following of a vehicle team through a proper control strategy.
In recent decades, with the development of intelligent vehicles and the continuous improvement of the capabilities of intelligent traffic systems, motion control is gradually one of the problems in the research field of intelligent vehicles and the core problem, and the main content of the motion control comprises transverse control and longitudinal control. However, independent longitudinal and transverse control cannot meet actual running requirements of the intelligent vehicle, and path tracking of the intelligent network-connected vehicle can be realized only by cooperation of the transverse control and the longitudinal control under an actual road working condition.
The existing methods generally assume that algorithms are evaluated under good road conditions. But less consideration is given to the influence of road conditions on the driving process of the motorcade and whether the motorcade is suitable for driving under different road conditions.
Disclosure of Invention
In view of the foregoing, it is necessary to provide a vehicle queue joint control method, apparatus, device and storage medium, so as to solve the problem that the running of the vehicle queue is affected by the different road conditions in the prior art.
In order to achieve the technical purpose, the invention adopts the following technical scheme:
in a first aspect, the present invention provides a vehicle queue joint control method, including:
acquiring vehicle road information, wherein the vehicle road information comprises running information of a current vehicle, road surface friction coefficient and nearby environment information;
obtaining the actual steering condition of the current vehicle and the target steering condition of the current vehicle according to the running information of the current vehicle, the road friction coefficient and the preset model;
obtaining target acceleration of the current vehicle according to the running information of the current vehicle, the nearby environment information and the preset model;
the actual lateral displacement of the current vehicle is adjusted according to the actual steering condition of the current vehicle and the target steering condition of the current vehicle, and the actual longitudinal displacement of the current vehicle is adjusted according to the running information of the current vehicle and the target acceleration of the current vehicle.
Preferably, the current vehicle travel information includes an expected road trajectory; obtaining the actual steering condition of the current vehicle and the target steering condition of the current vehicle according to the running information of the current vehicle, the road friction coefficient and the preset model, wherein the method comprises the following steps:
setting pre-aiming time of a driver according to the friction coefficient of the road surface;
calculating the front wheel corner of the current vehicle according to the central line position of the expected road track and the running information of the current vehicle to obtain the actual steering condition of the current vehicle;
and obtaining the target steering condition of the current vehicle according to the running information of the current vehicle and the road friction coefficient.
Preferably, the method further includes obtaining a target steering condition of the current vehicle according to the running information of the current vehicle and the road friction coefficient, and further including:
calculating the ideal steering condition of the current vehicle according to the front wheel rotation angle of the current vehicle;
and correcting the ideal steering condition of the current vehicle according to the road friction coefficient and the running information of the current vehicle to obtain the target steering condition of the current vehicle.
Preferably, the steering condition of the vehicle includes a yaw rate and a centroid slip angle of the vehicle; adjusting the actual lateral displacement of the current vehicle based on the actual steering condition of the current vehicle and the expected steering condition of the current vehicle, comprising:
when the actual steering condition of the current vehicle and the target condition of the current vehicle differ by more than a preset threshold, the actual yaw rate and the actual centroid side-slip angle output by the vehicle are consistent with the target yaw rate and the target centroid side-slip angle through a preset controller.
Preferably, the vicinity environment information further includes a front vehicle speed and a front vehicle acceleration; obtaining the target acceleration of the current vehicle according to the running information of the current vehicle, the nearby environment information and the preset model, wherein the method comprises the following steps:
setting a preset safety distance between two vehicles;
calculating the distance between the current vehicle and the front vehicle according to the nearby environment information and the running information of the current vehicle;
and obtaining the target acceleration of the current vehicle according to the preset safety distance, the distance between the current vehicle and the front vehicle, the speed of the front vehicle and the acceleration of the front vehicle.
Preferably, the obtaining the target acceleration of the current vehicle according to the preset safety distance, the distance between the current vehicle and the preceding vehicle, the speed of the preceding vehicle and the acceleration of the preceding vehicle includes:
judging the acceleration and deceleration condition of the current vehicle according to the preset safety distance and the distance between the current vehicle and the front vehicle;
and obtaining the target acceleration of the current vehicle according to the acceleration and deceleration condition of the current vehicle, the speed of the front vehicle, the acceleration of the front vehicle and the running information of the current vehicle.
Preferably, the vicinity environmental information includes a gravitational acceleration coefficient; according to the acceleration and deceleration condition of the current vehicle, the speed of the front vehicle, the acceleration of the front vehicle and the running information of the current vehicle, obtaining the target acceleration of the current vehicle comprises the following steps:
and optimizing the target acceleration according to the road adhesion coefficient and the gravity acceleration coefficient.
In a second aspect, the present invention also provides a vehicle queue joint control device, including:
the acquisition module is used for acquiring vehicle road information, wherein the vehicle road information comprises running information of a current vehicle, road surface friction coefficient and nearby environment information;
the steering module is used for obtaining the actual steering condition of the current vehicle and the target steering condition of the current vehicle according to the running information of the current vehicle, the road friction coefficient and the preset model;
the acceleration module is used for obtaining the target acceleration of the current vehicle according to the running information of the current vehicle, the nearby environment information and the preset model;
the control module is used for adjusting the actual lateral displacement of the current vehicle according to the actual steering condition of the current vehicle and the target steering condition of the current vehicle, and adjusting the actual longitudinal displacement of the current vehicle according to the running information of the current vehicle and the target acceleration of the current vehicle.
In a third aspect, the invention also provides an electronic device comprising a memory and a processor, wherein,
a memory for storing a program;
and the processor is coupled with the memory and is used for executing the program stored in the memory so as to realize the steps in the vehicle queue joint control method in any implementation mode.
In a fourth aspect, the present invention further provides a computer readable storage medium storing a computer readable program or instructions, where the program or instructions, when executed by a processor, implement the steps in the vehicle queue joint control method in any one of the above implementations.
The beneficial effects of adopting the embodiment are as follows: the invention provides a vehicle queue joint control method, device, equipment and storage medium, which are used for obtaining the actual steering condition, the target steering condition and the target acceleration of a current vehicle by obtaining the running information, the road friction coefficient and the nearby environment information of the current vehicle, setting a safety distance, adjusting the transverse lateral displacement of the current vehicle according to the current road condition, the actual steering condition and the target steering condition, adjusting the acceleration of the current vehicle according to the target acceleration and the safety distance, controlling the distance between vehicle queues, and realizing the transverse and longitudinal joint control of the vehicle queues on different road conditions.
Drawings
FIG. 1 is a flow chart of an embodiment of a vehicle queue combined control method according to the present invention;
FIG. 2 is a flowchart illustrating an embodiment of the step S102 in FIG. 1;
FIG. 3 is a flowchart illustrating an embodiment of the step S103 in FIG. 1;
FIG. 4 is a schematic diagram illustrating a vehicle queue combined control device according to an embodiment of the present invention;
fig. 5 is a schematic structural diagram of a vehicle queue joint control electronic device according to an embodiment of the present invention.
Detailed Description
Preferred embodiments of the present invention will now be described in detail with reference to the accompanying drawings, which form a part hereof, and together with the description serve to explain the principles of the invention, and are not intended to limit the scope of the invention.
In the description of the present application, the meaning of "a plurality" is two or more, unless explicitly defined otherwise.
Reference herein to "an embodiment" means that a particular feature, structure, or characteristic described in connection with the embodiment may be included in at least one embodiment of the invention. The appearances of such phrases in various places in the specification are not necessarily all referring to the same embodiment, nor are separate or alternative embodiments mutually exclusive of other embodiments. Those of skill in the art will explicitly and implicitly appreciate that the embodiments described herein may be combined with other embodiments.
The invention provides a vehicle queue joint control method, a device, equipment and a storage medium, which are respectively described below.
Referring to fig. 1, fig. 1 is a schematic flow chart of an embodiment of a vehicle queue combined control method provided by the present invention, and a vehicle queue combined control method is disclosed in an embodiment of the present invention, including:
s101, acquiring vehicle road information, wherein the vehicle road information comprises running information of a current vehicle, road surface friction coefficient and nearby environment information;
s102, obtaining the actual steering condition of the current vehicle and the target steering condition of the current vehicle according to the running information of the current vehicle, the road friction coefficient and a preset model;
s103, obtaining target acceleration of the current vehicle according to the running information of the current vehicle, the nearby environment information and a preset model;
s104, according to the actual steering condition of the current vehicle and the target steering condition of the current vehicle, adjusting the actual lateral displacement of the current vehicle, and according to the running information of the current vehicle and the target acceleration of the current vehicle, adjusting the actual longitudinal displacement of the current vehicle.
In step S101, the running information and the road friction coefficient of the current vehicle are obtained through the sensors of the vehicle itself or through communication with surrounding vehicles, and the vehicle queues are jointly controlled, so that the parameters between the vehicle queues need to be continuously adjusted according to the running information and the road friction coefficient of the current vehicle.
In step S102, the preset model is a driver model, and the driver model may obtain information in front of the road through "pretightening" by using the "pretightening-following" driver modeling theory. According to the acquired running information of the current vehicle, the road friction coefficient and the preset model, the actual yaw rate, the actual centroid slip angle, the target yaw rate and the target centroid slip angle of the vehicle can be calculated.
In step S103, the current acceleration of the vehicle and the distance between the current vehicle and the preceding vehicle can be obtained through the running information of the current vehicle, the nearby environment information and the preset model, and whether the current vehicle needs to accelerate or decelerate is determined, so as to calculate the target acceleration of the current vehicle.
In step S104, the actual steering condition of the current vehicle and the target steering condition of the current vehicle are compared, the actual steering condition of the current vehicle is adjusted to be close to the target steering condition of the current vehicle, the actual lateral displacement of the current vehicle is adjusted, the vehicle is driven along the preset track route, the speed of the current vehicle is adjusted according to the driving information of the current vehicle and the target acceleration of the current vehicle, and therefore the longitudinal displacement of the current vehicle is adjusted, and the vehicle is driven at a preset safety distance with the front vehicle.
Compared with the prior art, the vehicle queue joint control method, device, equipment and storage medium provided by the embodiment obtain the actual steering condition, the target steering condition and the target acceleration of the current vehicle by acquiring the running information, the road friction coefficient and the nearby environment information of the current vehicle, set a safety distance, adjust the transverse lateral displacement of the current vehicle according to the current road condition, the actual steering condition and the target steering condition, adjust the acceleration of the current vehicle according to the target acceleration and the safety distance, control the distance between the vehicle queues, and realize the transverse and longitudinal joint control of the vehicle queues on different road conditions.
Referring to fig. 2, fig. 2 is a flowchart illustrating an embodiment of step S102 in fig. 1, and in some embodiments of the present invention, the driving information of the current vehicle includes an expected road track; obtaining the actual steering condition of the current vehicle and the target steering condition of the current vehicle according to the running information of the current vehicle, the road friction coefficient and the preset model, wherein the method comprises the following steps:
s201, setting pre-aiming time of a driver according to the friction coefficient of the road surface;
s202, calculating the front wheel corner of the current vehicle according to the position of the central line of the expected road track and the running information of the current vehicle to obtain the actual steering condition of the current vehicle;
s203, obtaining the target steering state of the current vehicle according to the running information of the current vehicle and the road friction coefficient.
In step S201, the pre-aiming time of the driver is the time for which the driver wants to operate the current steering wheel, and the actual lateral displacement of the vehicle is made to approximate to the expected lateral displacement of the automobile as much as possible after the pre-aiming time. The pre-aiming time is generally set to 0.8-1.5s according to the neural response lag and the action response lag condition of the driver, the nonlinearity of the lateral dynamics characteristic of the vehicle and the complex driving condition of the automobile.
In step S202, the front wheel turning angle of the current vehicle, which is an important parameter when the vehicle turns, can be calculated from the center line position of the expected road track and the running information of the current vehicle by the driver model, and the actual turning condition of the current vehicle and the ideal turning condition of the vehicle can be known from the front wheel turning angle of the vehicle.
In step S203, different road surface friction coefficients correspond to different stable steering conditions of the vehicle, so that the current vehicle can safely realize steering and can travel according to a preset track route according to the traveling information of the current vehicle and the road surface friction coefficients, and the target steering condition of the current vehicle is obtained.
In the above embodiment, the pre-aiming time is set according to the actual situation, so that the driver can adjust the actual steering condition of the current vehicle as soon as possible, safely travel along the preset track route, calculate the front wheel steering angle of the current vehicle, obtain the actual steering condition and the target steering condition of the vehicle, and make the actual steering condition of the vehicle approach the target steering condition as much as possible.
In some embodiments of the present invention, the method further includes obtaining a target steering condition of the current vehicle according to the running information of the current vehicle and the road friction coefficient, and further including:
calculating the ideal steering condition of the current vehicle according to the front wheel rotation angle of the current vehicle;
and correcting the ideal steering condition of the current vehicle according to the road friction coefficient and the running information of the current vehicle to obtain the target steering condition of the current vehicle.
In the above embodiment, the state parameter of the vehicle is calculated by the two-degree-of-freedom model of the vehicle, and the linear two-degree-of-freedom differential equation is:
Figure BDA0003383994240000081
wherein m represents the mass of the vehicle body; i z Representing the moment of inertia of the vehicle body; ω represents the yaw rate of the vehicle, β represents the centroid slip angle (the quotient of the lateral speed and the longitudinal speed) of the vehicle, δ represents the front wheel turning angle, v of the vehicle x Representing longitudinal speed, v of the vehicle y Representing the lateral speed of the car, k1 is the front wheel cornering stiffness of the car, k2 is the rear wheel cornering stiffness of the car, a is the front wheelbase of the car, b is the rear wheelbase of the car, and L is the wheelbase (sum of the front and rear wheelbases) of the car.
The expected yaw rate and centroid slip angle during steering travel of the vehicle can be obtained from the steady-state yaw rate gain and the steady-state centroid slip angle gain.
The ideal yaw rate expression is:
Figure BDA0003383994240000091
the ideal centroid slip angle expression is:
Figure BDA0003383994240000092
wherein, the liquid crystal display device comprises a liquid crystal display device,
Figure BDA0003383994240000093
representing the stability factor.
Judging whether the vehicle is stable or not by a centroid side deviation angle phase plane method, wherein the stability is an ideal condition, namely:
Figure BDA0003383994240000094
wherein, the liquid crystal display device comprises a liquid crystal display device,
Figure BDA0003383994240000095
is the centroid cornering angular velocity, beta is the centroid cornering angle, E 1 ，E 2 Is a stability boundary region parameter.
In consideration of constraints of the vehicle under actual running conditions, such as the limit of ground adhesion, the vehicle is unstable without reaching the upper limit of the expected value, so that the ideal vehicle state value should be corrected, μ is the road adhesion coefficient, and g is the gravitational acceleration.
The target yaw rate obtained by the correction is:
Figure BDA0003383994240000096
the corrected target centroid slip angle is as follows:
Figure BDA0003383994240000097
in some embodiments of the invention, the steering conditions of the vehicle include yaw rate and centroid slip angle of the vehicle; adjusting the actual lateral displacement of the current vehicle based on the actual steering condition of the current vehicle and the expected steering condition of the current vehicle, comprising:
when the actual steering condition of the current vehicle and the target condition of the current vehicle differ by more than a preset threshold, the actual yaw rate and the actual centroid side-slip angle output by the vehicle are consistent with the target yaw rate and the target centroid side-slip angle through a preset controller.
In the above embodiment, when the actual steering condition of the current vehicle and the target condition of the current vehicle differ by more than a preset threshold, the reference yaw rate and the reference centroid side offset angle of the steering of the vehicle are calculated according to the front wheel rotation angle of the current vehicle and the running speed of the vehicle, and the yaw rate and the centroid side offset angle output by the vehicle are kept consistent with the target yaw rate and the target centroid side offset angle as much as possible through the established vehicle state feedback controller, so that the running stability of the vehicle is maintained.
Referring to fig. 3, fig. 3 is a flowchart illustrating an embodiment of step S103 in fig. 1, where in some embodiments of the present invention, the nearby environmental information further includes a front vehicle speed and a front vehicle acceleration; obtaining the target acceleration of the current vehicle according to the running information of the current vehicle, the nearby environment information and the preset model, wherein the method comprises the following steps:
s301, setting a preset safety distance between two vehicles;
s302, calculating the distance between the current vehicle and the front vehicle according to the nearby environment information and the running information of the current vehicle;
303. and obtaining the target acceleration of the current vehicle according to the preset safety distance, the distance between the current vehicle and the front vehicle, the speed of the front vehicle and the acceleration of the front vehicle.
In step S301, when the vehicle is traveling under a complex road surface condition, particularly, a wet low adhesion road surface condition, when the vehicle is performing emergency braking or acceleration, the tire force tends to be saturated due to the limitation of the road surface condition, so that the braking or acceleration requirement is not met, a rear-end collision accident is liable to occur, and therefore, a preset safe distance between the vehicles is to be set.
In step S302, the vehicle queue is in the environment of the internet of vehicles, and the running speed, the size and the angular orientation of the nearby objects can be obtained, the actual distance between the nearby objects and the front target object is measured through feedback of system data, and the speed difference between the current vehicle and the front vehicle and the distance between the vehicles are determined through the information.
In step S303, the acquired information such as the speed of the preceding vehicle, the speed of the following vehicle, etc. is transferred to the upper controller, which is an Intelligent Driver Model (IDM),
Figure BDA0003383994240000111
the desired acceleration of the vehicle is calculated by solving for the desired acceleration through the intelligent driver model.
Wherein: a, a i Acceleration for vehicle i; v i Is the speed of vehicle i; deltav i The speed difference between the vehicle i and the front vehicle; v 0 Is the free flow speed; s is(s) 1 Is the desired inter-vehicle distance; s is an actual workshopA distance; s is(s) 0 Is a static safety interval; t is the safe headway; c is the maximum acceleration; d is a comfortable deceleration; θ is a power coefficient, and the value of θ can be obtained by calibrating model parameters.
In the above embodiment, the safe distance between the vehicles is set, and in the running process of the vehicles, the acceleration or deceleration adjustment is required to be continuously performed according to the state of the front vehicle so as to keep a certain safe distance from the front vehicle, and the running condition of the vehicles and the front vehicle are determined to keep the safe distance by calculating the target acceleration of the vehicles.
In some embodiments of the present invention, obtaining a target acceleration of a current vehicle according to a preset safety distance, a distance between the current vehicle and a preceding vehicle, a preceding vehicle speed, and a preceding vehicle acceleration includes:
judging the acceleration and deceleration condition of the current vehicle according to the preset safety distance and the distance between the current vehicle and the front vehicle;
and obtaining the target acceleration of the current vehicle according to the acceleration and deceleration condition of the current vehicle, the speed of the front vehicle, the acceleration of the front vehicle and the running information of the current vehicle.
In the above embodiment, the acceleration/deceleration condition of the current vehicle is determined by the acceleration/deceleration logic of the adaptive cruise according to the information such as the speed of the preceding vehicle, the acceleration of the preceding vehicle, and the speed of the current vehicle, and the target acceleration of the current vehicle is further calculated according to the current vehicle acceleration/deceleration condition, the speed of the preceding vehicle, the acceleration of the preceding vehicle, and the running information of the current vehicle.
In some embodiments of the invention, the nearby environmental information includes a gravitational acceleration coefficient; according to the acceleration and deceleration condition of the current vehicle, the speed of the front vehicle, the acceleration of the front vehicle and the running information of the current vehicle, obtaining the target acceleration of the current vehicle comprises the following steps:
and optimizing the target acceleration according to the road adhesion coefficient and the gravity acceleration coefficient.
In the above embodiment, the road surface attachment coefficient is obtained from the vicinity environment information, and the calculated target acceleration is optimized with the road surface attachment coefficient as a constraint condition, to obtain the target acceleration in consideration of the road surface attachment coefficient.
And limiting the obtained target acceleration, wherein the target acceleration is less than or equal to the road surface adhesion coefficient and is equal to the gravity acceleration coefficient.
After the target acceleration considering the road surface adhesion coefficient is obtained, the target acceleration considering the road surface adhesion coefficient is used as the input of a lower controller, a dynamic inverse model is built to output corresponding throttle opening and braking pressure, and the vehicle is driven according to the target acceleration as far as possible. The dynamic inverse model is an adaptive cruise inverse dynamic model.
According to the invention, the expected driving path is obtained through V2X communication and radar, the speed, displacement, acceleration and road adhesion coefficient of the front vehicle are obtained, the driver model is helped to better maintain the stability of the vehicle in the vehicle queue driving through the vehicle stability controller with vehicle stability judgment, the acceleration/deceleration judgment is carried out longitudinally according to the speed, distance, acceleration, road adhesion coefficient and other information of the current vehicle and the front vehicle, different target accelerations are obtained according to different road conditions, and the position, speed and acceleration of the vehicle are controlled through the dynamics inverse model of the lower layer, so that the safety in the vehicle queue driving process is better increased.
In order to better implement the vehicle queue combined control method according to the embodiment of the present invention, referring to fig. 4 correspondingly on the basis of the vehicle queue combined control method, fig. 4 is a schematic structural diagram of an embodiment of a vehicle queue combined control device provided by the present invention, and the embodiment of the present invention provides a vehicle queue combined control device 400, including:
an acquisition module 401, configured to acquire vehicle road information, where the vehicle road information includes running information of a current vehicle, a road surface friction coefficient, and nearby environmental information;
the steering module 402 is configured to obtain an actual steering condition of the current vehicle and a target steering condition of the current vehicle according to the running information of the current vehicle, the road friction coefficient and a preset model;
the acceleration module 403 is configured to obtain a target acceleration of the current vehicle according to the running information, the nearby environmental information, and the preset model of the current vehicle;
the control module 404 is configured to adjust an actual lateral displacement of the current vehicle according to an actual steering condition of the current vehicle and a target steering condition of the current vehicle, and adjust an actual longitudinal displacement of the current vehicle according to traveling information of the current vehicle and a target acceleration of the current vehicle.
What needs to be explained here is: the apparatus 400 provided in the foregoing embodiments may implement the technical solutions described in the foregoing method embodiments, and the specific implementation principles of the foregoing modules or units may be referred to the corresponding content in the foregoing method embodiments, which is not described herein again.
Referring to fig. 5, fig. 5 is a schematic structural diagram of a vehicle queue combined control electronic device according to an embodiment of the invention. Based on the vehicle queue combined control method, the invention also correspondingly provides vehicle queue combined control equipment which can be computing equipment such as a mobile terminal, a desktop computer, a notebook computer, a palm computer, a server and the like. The vehicle queue combined control device includes a processor 510, a memory 520, and a display 530. Fig. 5 shows only some of the components of the electronic device, but it should be understood that not all of the illustrated components are required to be implemented and that more or fewer components may be implemented instead.
The memory 520 may be an internal storage unit of the vehicle queue combined control device in some embodiments, such as a hard disk or memory of the vehicle queue combined control device. The memory 520 may also be an external storage device of the vehicle queue management device in other embodiments, such as a plug-in hard disk, smart Media Card (SMC), secure Digital (SD) Card, flash memory Card (Flash Card) or the like, which are provided on the vehicle queue management device. Further, the memory 520 may also include both an internal storage unit and an external storage device of the vehicle queue unified control device. The memory 520 is used for storing application software installed in the vehicle queue combined control device and various data, such as program codes for installing the vehicle queue combined control device. The memory 520 may also be used to temporarily store data that has been output or is to be output. In one embodiment, the memory 520 stores a vehicle queue association control program 540, and the vehicle queue association control program 540 is executable by the processor 510 to implement the vehicle queue association control method according to the embodiments of the present application.
The processor 510 may in some embodiments be a central processing unit (Central Processing Unit, CPU), microprocessor or other data processing chip for executing program code or processing data stored in the memory 520, such as for performing a vehicle queue joint control method or the like.
The display 530 may be an LED display, a liquid crystal display, a touch-sensitive liquid crystal display, an OLED (Organic Light-Emitting Diode) touch, or the like in some embodiments. The display 530 is used to display information at the vehicle fleet joint control device and to display a visual user interface. The components 510-530 of the vehicle queue combined control device communicate with each other via a system bus.
In one embodiment, the steps in the vehicle fleet joint control method as described above are implemented when the processor 510 executes the vehicle fleet joint control program 540 in the memory 520.
The present invention is not limited to the above-mentioned embodiments, and any changes or substitutions that can be easily understood by those skilled in the art within the technical scope of the present invention are intended to be included in the scope of the present invention.

Claims (7)

1. A vehicle queue joint control method, characterized by comprising:
acquiring vehicle road information, wherein the vehicle road information comprises running information of a current vehicle, road surface friction coefficient and nearby environment information;
obtaining the actual steering condition of the current vehicle and the target steering condition of the current vehicle according to the running information of the current vehicle, the road friction coefficient and a preset model;
obtaining target acceleration of the current vehicle according to the running information of the current vehicle, the nearby environment information and a preset model;
according to the actual steering condition of the current vehicle and the target steering condition of the current vehicle, the actual lateral displacement of the current vehicle is adjusted, and according to the running information of the current vehicle and the target acceleration of the current vehicle, the actual longitudinal displacement of the current vehicle is adjusted;
the method comprises the steps that a preset model is a driver model, and the driver model can acquire information in front of a road through pretightening through a pretightening-following driver modeling theory;
wherein the nearby environmental information further includes a front vehicle speed and a front vehicle acceleration; the obtaining the target acceleration of the current vehicle according to the running information of the current vehicle, the nearby environment information and the preset model comprises the following steps:
setting a preset safety distance between two vehicles;
calculating the distance between the current vehicle and the front vehicle according to the nearby environment information and the running information of the current vehicle;
obtaining target acceleration of the current vehicle according to the preset safety distance, the distance between the current vehicle and the front vehicle, the speed of the front vehicle and the acceleration of the front vehicle;
the obtaining the target acceleration of the current vehicle according to the preset safety distance, the distance between the current vehicle and the front vehicle, the front vehicle speed and the front vehicle acceleration comprises the following steps:
judging the acceleration and deceleration condition of the current vehicle according to the preset safety distance and the distance between the current vehicle and the front vehicle;
obtaining target acceleration of the current vehicle according to the acceleration and deceleration conditions of the current vehicle, the speed of the front vehicle, the acceleration of the front vehicle and the running information of the current vehicle;
wherein the vicinity environmental information includes a gravitational acceleration coefficient; the step of obtaining the target acceleration of the current vehicle according to the acceleration and deceleration condition of the current vehicle, the speed of the front vehicle, the acceleration of the front vehicle and the running information of the current vehicle comprises the following steps:
and optimizing the target acceleration according to the road adhesion coefficient and the gravity acceleration coefficient.
2. The vehicle queue joint control method according to claim 1, characterized in that the running information of the current vehicle includes an expected road trajectory; the obtaining the actual steering condition of the current vehicle and the target steering condition of the current vehicle according to the running information of the current vehicle, the road friction coefficient and the preset model comprises the following steps:
setting pre-aiming time of a driver according to the road friction coefficient;
calculating the front wheel corner of the current vehicle according to the central line position of the expected road track and the running information of the current vehicle to obtain the actual steering condition of the current vehicle;
and obtaining the target steering condition of the current vehicle according to the running information of the current vehicle and the road friction coefficient.
3. The vehicle queue joint control method according to claim 2, wherein the obtaining the target steering condition of the current vehicle according to the running information of the current vehicle and the road surface friction coefficient, further comprises:
calculating the ideal steering condition of the current vehicle according to the front wheel rotation angle of the current vehicle;
and correcting the ideal steering condition of the current vehicle according to the road friction coefficient and the running information of the current vehicle to obtain the target steering condition of the current vehicle.
4. The vehicle queue joint control method according to claim 3, characterized in that the steering condition of the vehicle includes a yaw rate and a centroid slip angle of the vehicle; the adjusting the actual lateral displacement of the current vehicle according to the actual steering condition of the current vehicle and the target steering condition of the current vehicle comprises the following steps:
when the actual steering condition of the current vehicle and the target condition of the current vehicle differ by more than a preset threshold, the actual yaw rate and the actual centroid side-slip angle output by the vehicle are consistent with the target yaw rate and the target centroid side-slip angle through a preset controller.
5. A vehicle queue joint control device, characterized by comprising:
the system comprises an acquisition module, a control module and a control module, wherein the acquisition module is used for acquiring vehicle road information, and the vehicle road information comprises running information of a current vehicle, road friction coefficient and nearby environment information;
the steering module is used for obtaining the actual steering condition of the current vehicle and the target steering condition of the current vehicle according to the running information of the current vehicle, the road friction coefficient and the preset model;
the acceleration module is used for obtaining the target acceleration of the current vehicle according to the running information, the nearby environment information and the preset model of the current vehicle;
the control module is used for adjusting the actual lateral displacement of the current vehicle according to the actual steering condition of the current vehicle and the target steering condition of the current vehicle, and adjusting the actual longitudinal displacement of the current vehicle according to the running information of the current vehicle and the target acceleration of the current vehicle;
the method comprises the steps that a preset model is a driver model, and the driver model can acquire information in front of a road through pretightening through a pretightening-following driver modeling theory;
wherein the nearby environmental information further includes a front vehicle speed and a front vehicle acceleration; the obtaining the target acceleration of the current vehicle according to the running information of the current vehicle, the nearby environment information and the preset model comprises the following steps:
setting a preset safety distance between two vehicles;
calculating the distance between the current vehicle and the front vehicle according to the nearby environment information and the running information of the current vehicle;
obtaining target acceleration of the current vehicle according to the preset safety distance, the distance between the current vehicle and the front vehicle, the speed of the front vehicle and the acceleration of the front vehicle;
the obtaining the target acceleration of the current vehicle according to the preset safety distance, the distance between the current vehicle and the front vehicle, the front vehicle speed and the front vehicle acceleration comprises the following steps:
judging the acceleration and deceleration condition of the current vehicle according to the preset safety distance and the distance between the current vehicle and the front vehicle;
obtaining target acceleration of the current vehicle according to the acceleration and deceleration conditions of the current vehicle, the speed of the front vehicle, the acceleration of the front vehicle and the running information of the current vehicle;
wherein the vicinity environmental information includes a gravitational acceleration coefficient; the step of obtaining the target acceleration of the current vehicle according to the acceleration and deceleration condition of the current vehicle, the speed of the front vehicle, the acceleration of the front vehicle and the running information of the current vehicle comprises the following steps:
and optimizing the target acceleration according to the road adhesion coefficient and the gravity acceleration coefficient.
6. An electronic device comprising a memory and a processor, wherein,
the memory is used for storing programs;
the processor, coupled to the memory, is configured to execute the program stored in the memory to implement the steps in the vehicle queue joint control method according to any one of the preceding claims 1 to 4.
7. A computer-readable storage medium storing a computer-readable program or instructions that, when executed by a processor, is capable of implementing the steps in the vehicle queue joint control method according to any one of claims 1 to 4.
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