CN114333316B - Vehicle speed guiding method considering speed tracking deviation and driving characteristics of driver - Google Patents
Vehicle speed guiding method considering speed tracking deviation and driving characteristics of driver Download PDFInfo
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- CN114333316B CN114333316B CN202111665544.6A CN202111665544A CN114333316B CN 114333316 B CN114333316 B CN 114333316B CN 202111665544 A CN202111665544 A CN 202111665544A CN 114333316 B CN114333316 B CN 114333316B
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Abstract
The invention provides a vehicle speed guiding method considering a driver speed tracking deviation and driving characteristics. Firstly, acquiring driving GPS data of a driver, and calculating to obtain driving characteristic parameters of the driver; on the basis, the guiding vehicle speed is calculated based on the signal lamp time sequence and the vehicle position information which are acquired by the intelligent drive test unit and the vehicle running speed information fed back by the driver tracking speed module; then, the personalized guiding speed is updated in a rolling way according to the speed tracking deviation of the driver, and the personalized guiding speed is dynamically issued for guiding the vehicle speed. The method meets the longitudinal driving behavior habit of different drivers, establishes a closed-loop vehicle speed guiding optimization model by considering the speed tracking deviation of the drivers, and improves the applicability and the intelligent level of the existing vehicle speed guiding method.
Description
Technical Field
The invention relates to a vehicle speed guiding method considering a driver speed tracking deviation and driving characteristics, and belongs to the field of intelligent traffic.
Background
With the continuous development of computer technology, sensing technology and communication technology, a vehicle-road cooperative system (Cooperative VehicleInfrastructure System, CVIS) is developed, so that real-time acquisition of vehicle information and road information can be realized, further information sharing of people, vehicles, roads and environments is realized, vehicle running is more intelligent, and green, safe and efficient traveling of the vehicle is realized. Based on the vehicle-road cooperation technology, the ecological driving strategy research and application of the signalized intersection get a great deal of attention, and when a vehicle enters the area near the intersection, the intelligent vehicle-mounted unit transmits the running state information (speed, acceleration and running position) of the vehicle to the intelligent road test unit; then, the intelligent drive test unit combines the vehicle running state information, the time sequence information of the signal lamp and the current road traffic state information, and the running vehicle speed guiding method calculates a guiding speed curve of the vehicle. Finally, the guiding information is sent to the intelligent vehicle-mounted unit through the communication unit, the intelligent vehicle-mounted unit is released to a driver through HMI (Human MachineInterfaces), the driver runs according to the guiding speed curve, the driver can pass through the intersection without stopping, delay of the vehicle and pollutant emission are reduced, and ecological driving in the range of the signalized intersection is achieved. However, the existing vehicle speed guiding method does not consider the driver speed tracking deviation and the driving characteristic at the same time, and in view of this, the present invention proposes a vehicle speed guiding method that considers the driver speed tracking deviation and the driving characteristic.
Disclosure of Invention
The invention aims to provide a vehicle speed guiding method considering speed tracking deviation and driving characteristics of drivers, and aims to meet longitudinal driving behavior habits of different drivers, and establish a closed-loop vehicle speed guiding optimization model considering the speed tracking deviation of the drivers, so that the applicability and the intelligentization level of the conventional vehicle speed guiding method are improved. The system structure of the vehicle speed guiding method is shown in fig. 1.
The system comprises a driver driving characteristic parameter calculation module, a personalized guiding speed calculation method module and a driver tracking guiding speed module. The driving characteristic parameter calculation module of the driver is used for collecting driving GPS data of the driver, obtaining speed-acceleration data of the acceleration and deceleration process of the driver through data preprocessing, and then obtaining the maximum acceleration a through fitting the speed-acceleration data of the acceleration process through a polynomial fitting function polyfit () in a MATLAB programming environment max Fitting the deceleration process speed-acceleration data to the speed-related coefficient gamma to obtain a deceleration a dec Taking 80 percent quantile speed of which the speed is arranged from small to large as driving highest speed v top And recording the preference parameters alpha and beta of the driver for the journey time and the oil consumption, and inputting alpha=1 and beta=0 if the journey time of the driver through the intersection is expected to be shortest; if the driver expects the minimum energy consumption through the intersection, inputting alpha=0 and beta=1, and selecting the minimum travel time or the minimum energy consumption guiding speed from the final alternative guiding speed schemes according to the preference parameters by the system; the personalized guiding speed calculation method module is used for calculating the actual tracking speed v of the driver according to the driving characteristic parameter, the distance d between the vehicle and the stop line, the phase timing (Signal Phaseand Time, SPaT) information of the downstream signal lamp and the actual tracking speed v of the driver act Scrolling calculates and outputs a guiding speed v adv The method comprises the steps of carrying out a first treatment on the surface of the The driver tracking and guiding speed module feeds back the driver follow to the personalized guiding speed calculation method module in real timeTracking speed. The personalized guiding speed calculation method module is used for realizing a vehicle speed guiding method considering the tracking deviation of the speed of a driver and the driving characteristics based on the driving characteristic parameters of the driver, the tracking speed of the driver, the distance between the vehicle and a stop line and the phase timing information of a signal lamp by rolling calculation at the frequency of 1HZ, and the realization steps of the method comprise the following steps:
s1) the system calculates and obtains driving characteristic parameters of the driver according to GPS data of the driver, and records preference parameters alpha and beta of the driver for journey time and oil consumption.
S2) the system calculates the guiding speed based on the signal lamp time sequence and the vehicle position information acquired by the intelligent drive test unit and the vehicle running speed information fed back by the driver tracking speed module according to the driving characteristic parameters of the driver, and issues the guiding speed to the driver through the vehicle-mounted HMI.
S3) after the driver knows the guiding speed, tracking the guiding speed, feeding back the actual tracking speed of the vehicle to the personalized guiding speed calculating method module, and returning to the step S2, calculating in a rolling way and issuing the guiding speed.
In the steps, the specific implementation method is as follows:
s1, after GPS data of driving of a driver are obtained by a system in S1, preprocessing the GPS data to obtain speed data of the acceleration and deceleration process of the driver, fitting the speed data of the acceleration and deceleration process by a MATLAB fitting tool box to obtain acceleration and deceleration characteristic parameters of the driver, fitting an acceleration curve as shown in FIG. 2 to obtain maximum acceleration and speed correlation coefficient, and taking the deceleration as a fixed value a dec Fitting as shown in FIG. 3, driving maximum speed v top To 80 percent quantile in the driving speed from small to large arrangement, the driver may directly input the preference parameters α and β to the system. S2, after the vehicle-mounted computer obtains driving characteristic parameters, calculating a green light time window [ t ] of the vehicle passing through the intersection without stopping according to the position and the speed of the vehicle and the acquired time sequence information of the signal lamp min ,t max ]。t min And t max The fastest and slowest times when the vehicle is not stopped through the intersection, respectively.
Then, the system calculates the green light time window according to the calculatedPort [ t ] min ,t max ]And (3) combining the acceleration and deceleration characteristic parameters of the driver, automatically calculating all speed guide curves possibly passing through a green light time window, traversing according to the preference parameters alpha and beta of the driver for the journey time and the oil consumption to obtain the speed guide curve which is most suitable for the preference of the driver, and issuing the speed guide curve to the driver through the vehicle-mounted HMI.
In S3, after the driver knows the guiding speed through the vehicle-mounted HMI, the driver controls the vehicle to track the guiding speed, an intuitive tracking rule is that acceleration control is adopted when the actual speed is lower than the guiding speed, deceleration control is adopted once the actual speed is higher than the guiding speed, but a large number of experiments find that the simple rule can cause frequent switching of an accelerator control system and a brake control system near the guiding speed, and adverse effect is caused on the vehicle, and the method establishes an assumption tracking rule as follows:
in which a is act Representing the acceleration and deceleration value, v, of a vehicle operated by the driver in dependence on the difference between the current tracking speed and the guiding speed act V is the actual tracking speed of the vehicle adv For published guidance speed, ε is at [ -0.2,0.2]Acceleration values uniformly and randomly distributed in the range indicate that a driver cannot accurately control the vehicle when actually maneuvering the vehicle to accelerate and decelerate, and certain control deviation can be generated. When v act Beyond v adv When delta m/s, the driver controls the brake pedal to decelerate; when v act Beyond v adv When delta m/s is less than or equal to delta m/s, the driver does not perform acceleration and deceleration operation, and the current speed of the vehicle is kept to run at a constant speed; when v act Less than v adv When the vehicle is accelerated, the driver controls the accelerator pedal. v adv Will follow v act Is dynamic update of the variation of (1) assuming a dynamic update frequency of 1Hz, and v act Not exceeding the driving maximum speed v top And feeding back the vehicle tracking speed to the personalized guiding speed calculating method module in real time, so as to realize rolling calculation of the guiding speed.
The vehicle speed guiding method considering the speed tracking deviation and the driving characteristics of the driver has the following beneficial effects:
(1) The vehicle speed guiding method can guide the vehicle to pass through the intersection at the intersection green light time window, and is beneficial to reducing delay and pollutant emission of the vehicle.
(2) According to the vehicle speed guiding method, the guiding speed curves are calculated and issued in a personalized mode according to the driving characteristics of different drivers, different driving habits of different drivers can be met, and the applicability of the vehicle speed guiding method is improved.
(3) The vehicle speed guiding method considers the speed tracking deviation of the driver, calculates and distributes the guiding speed in a rolling way, and ensures that the actual driving speed curve most probably tends to be optimal.
Drawings
Fig. 1 is a system configuration diagram of a vehicle speed guiding method.
Fig. 2 is a graph of a driver acceleration curve fit.
FIG. 3 is a driver deceleration curve fitting graph.
Fig. 4 is a graph of guide speed and driver tracking speed.
Fig. 5 is a vehicle displacement diagram.
Detailed Description
The invention is further described below with reference to the drawings and detailed description.
The system collects GPS data of a driver in the driving process, and fits the data to obtain acceleration and deceleration characteristic parameters of the driver.
After the vehicle enters the speed guiding area, the system obtains the position, speed and intersection phase time sequence information of the vehicle, a green light window searching algorithm is utilized to obtain a green light time window through which the vehicle can pass without stopping, and then, the guiding speed curve is issued by combining driving characteristic parameters of a driver.
The driver tracks the guiding speed curve and runs, and the system calculates and issues the guiding speed in a rolling way by combining the tracking speed deviation of the driver. In order to more specifically describe a vehicle speed guiding method according to the present invention, which considers the tracking deviation and driving characteristics of the driver, a specific simulation example is given below:
the system acquires GPS data of the running of a driver vehicle, preprocesses the GPS data to obtain speed data of the acceleration and deceleration process of the driver, and fits the speed data through a MATLAB fitting tool box, as shown in fig. 2 and 3, a max ＝1.21m/s 2 ，γ＝0.035，a dec ＝0.85m/s 2 ，v top =16.67, the preference parameters α and β of the driver for the travel time and fuel consumption are recorded as 0 and 1, respectively, and the threshold δ is taken as 1m/s.
Assuming that the current signal lamp is red light and the remaining red light time is 4s, the vehicle enters a speed guiding area at the initial speed of 8m/s, the guiding area is within 200m from an intersection, the guiding speed curve and the driver tracking speed curve of the method are shown in fig. 4, the guiding speed is not released after the 17 th vehicle passes through the intersection, the displacement time image of the vehicle is shown in fig. 5, and the method can guide the vehicle to pass through the intersection at the green light window of the intersection and is easy to be followed by the driver.
Claims (2)
1. A vehicle speed guiding method taking the speed tracking deviation and driving characteristics of a driver into consideration is characterized in that:
step one: the system calculates and obtains driving characteristic parameters of the driver according to GPS data of the driver;
step two: the system calculates the guiding speed according to the driving characteristic parameters of the driver based on the signal lamp time sequence and the vehicle position information acquired by the intelligent drive test unit and the vehicle running speed information fed back by the driver tracking speed module, and issues the guiding speed to the driver through the vehicle-mounted HMI;
step three: after the driver knows the guiding speed, tracking the guiding speed, feeding back the actual tracking speed of the vehicle to the personalized guiding speed calculation method module, calculating in a rolling way and issuing the guiding speed;
after the system in the first step obtains GPS data of the driver driving, preprocessing the GPS data to obtain speed data of the acceleration and deceleration process of the driver, and fitting the acceleration and deceleration process data through a MATLAB fitting tool box to obtain the drivingThe acceleration and deceleration characteristic parameter of the member obtains the maximum acceleration and velocity correlation coefficient, and the deceleration is a dec Driving highest speed v top The preference parameters alpha and beta are directly input into the system;
if the driver expects the shortest travel time through the intersection, inputting alpha=1, beta=0; if the driver desires the minimum energy consumption through the intersection, inputs a=0, β=1,
step two, after the vehicle-mounted computer obtains driving characteristic parameters, calculating a green light time window [ t ] of the vehicle passing through the intersection without stopping according to the position and the speed of the vehicle and the acquired time sequence information of the signal lamp min ,t max ]；t min And t max The fastest time and the slowest time of the vehicle passing through the intersection without stopping are respectively; the system then calculates a green light time window t min ,t max ]Combining the acceleration and deceleration characteristic parameters of the driver, automatically calculating all speed guide curves possibly passing through a green light time window, traversing according to the preference parameters alpha and beta of the driver for the travel time and the oil consumption to obtain a speed guide curve which is most in line with the preference of the driver, and issuing the speed guide curve to the driver through a vehicle-mounted HMI;
step three, after the driver knows the guiding speed through the vehicle-mounted HMI, the driver operates the vehicle to track the guiding speed, and an assumption tracking rule is established as follows:
in which a is act Representing the acceleration and deceleration value, v, of a vehicle operated by the driver in dependence on the difference between the current tracking speed and the guiding speed act V is the actual tracking speed of the vehicle adv For published guidance speed, ε is at [ -0.2,0.2]Acceleration values uniformly and randomly distributed in the range indicate that a driver cannot accurately control the vehicle when actually controlling acceleration and deceleration of the vehicle, and certain control deviation can be generated; when v act Beyond v adv When delta m/s, the driver controls the brake pedal to decelerate; when v act Beyond v adv When delta m/s is less than or equal to delta m/s, the driver does not perform acceleration and deceleration operation, and the current speed of the vehicle is kept to run at a constant speed; when v act Less thanv adv When the vehicle is started, the driver controls the accelerator pedal to accelerate; v adv Will follow v act Is dynamic update of the variation of (1) assuming a dynamic update frequency of 1Hz, and v act Not exceeding the driving maximum speed v top And feeding back the vehicle tracking speed to the personalized guiding speed calculating method module in real time, so as to realize rolling calculation of the guiding speed.
2. The method according to claim 1, characterized in that: fitting the acceleration process speed-acceleration data to obtain the maximum acceleration a through a polynomial fitting function polyfit () in a MATLAB programming environment max Fitting the deceleration process speed-acceleration data to the speed-related coefficient gamma to obtain a deceleration a dec Taking 80 percent quantile speed of which the speed is arranged from small to large as driving highest speed v top 。
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| CN108510769B (en) * | 2018-05-28 | 2020-12-22 | 北京交通大学 | Mobile block intersection vehicle speed guiding system and method based on vehicle-road cooperation |
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| CN108961753A (en) * | 2018-07-17 | 2018-12-07 | 重庆大学 | A kind of speed bootstrap technique based on bus or train route communication |
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