CN114708734B - Entrance ramp network connection manual driving vehicle main line converging cooperative control method - Google Patents
Entrance ramp network connection manual driving vehicle main line converging cooperative control method Download PDFInfo
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- G—PHYSICS
- G08—SIGNALLING
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- G08G1/00—Traffic control systems for road vehicles
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- G08G1/0104—Measuring and analyzing of parameters relative to traffic conditions
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- G—PHYSICS
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- G08G1/0145—Measuring and analyzing of parameters relative to traffic conditions for specific applications for active traffic flow control
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- G—PHYSICS
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- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/065—Traffic control systems for road vehicles by counting the vehicles in a section of the road or in a parking area, i.e. comparing incoming count with outgoing count
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- G—PHYSICS
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- G08G—TRAFFIC CONTROL SYSTEMS
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Abstract
The invention discloses a cooperative control method for importing an entrance ramp network-connected manual driving vehicle into a main line, which comprises the steps of collecting data by mounting equipment, constructing a prediction model, predicting a time interval set of a vehicle head and analyzing the scale of each vehicle which can be imported into a clearance in a merging area, and finally implementing different guiding strategies on ramp vehicles to enable the ramp vehicles to be imported into the main line smoothly, and the like, so that the problems that the ramp vehicles are subjected to strategy generation and the vehicles are imported into the main line safely and orderly are solved; the method comprises the steps that the existing data acquisition equipment and computing equipment are utilized to enable a guide system to be associated with an internet map APP, and strategy generation and instruction transmission are possible; the method has the advantages that the vehicles on the ramp are accurately guided through the guiding strategy, the driving operation instructions of the vehicles on the ramp are issued to the driver, the success rate and the safety of the vehicles successfully converging into a main line are guaranteed, and the continuity and the efficient commuting capacity of the whole road traffic are further guaranteed.
Description
Technical Field
The invention relates to the field of traffic control, in particular to a cooperative control method for converging vehicles into a main line by networking on an entrance ramp.
Background
In the existing traffic system, because the quantity of automobiles kept in a city is large, traffic jam is easily formed on some main road sections, and therefore in the construction process of the traffic system, the problem of traffic jam or jam is greatly relieved by taking an elevated road or an express way as an important component.
However, it has to be acknowledged that, because the vehicle has a merging problem in the process of entering the expressway, under the condition of a large traffic flow, if the vehicle is not guided, accidents such as scratch and the like easily occur, which is not beneficial to the smoothness of the road, and in the actual situation, drivers often merge according to experience or driving technologies, which has a relatively high risk and a relatively high driving requirement for the drivers. Therefore, the cooperative control method for the entrance ramp network connection manual driving vehicle to converge into the main line is provided for carrying out strategy guidance on the operation of converging the ramp into the main line.
Disclosure of Invention
The invention aims to provide a cooperative control method for an entrance ramp network connection manually-driven vehicle to converge into a main line.
The technical problem solved by the invention is as follows: the problem of how to generate strategies for ramp vehicles and guide the vehicles to safely and orderly converge into a main line is solved.
The invention can be realized by the following technical scheme: an entrance ramp networking manual driving vehicle convergence main line cooperative control method comprises the following steps:
the method comprises the following steps: setting data acquisition equipment and data calculation equipment, and establishing an instruction and data transmission channel with an internet map APP;
step two: establishing and training a short-time headway prediction model according to historical data;
step three: obtaining a predicted headway set according to the constructed short-time headway prediction model;
step four: analyzing the scale of each vehicle allowed to be imported into the importable gap in the merging area according to the predicted headway time set, thereby obtaining the number of vehicles allowed to be imported into each importable gap;
step five: and combining the scale of a plurality of vehicles allowed to be merged and the real-time position data of the ramp vehicles on the high-precision map, which are output in the fourth step, to implement different guiding strategies on the ramp vehicles, so that the ramp vehicles are smoothly merged into the main line.
The invention has the further technical improvements that: in the first step, the data acquisition equipment comprises a multi-target radar and a high-definition video acquisition device, dynamic driving data of ramp and main line vehicles are acquired at the main line, the confluence point and the entrance ramp position, the dynamic driving data comprises flow, vehicle speed and headway time, a road side calculation unit is installed at the ramp entrance, network communication between the road side calculation unit and an internet map APP is established, and a communication channel is provided for data and instruction transmission in a follow-up guidance strategy.
The invention has further technical improvements that: and in the third step, the short-time headway prediction model is constructed by grey correlation analysis and time convolution network based on entropy, and the model calculates the value of grey correlation grade between the predicted headway and the historical headway so as to obtain a predicted headway set output by the short-time headway prediction model.
The invention has the further technical improvements that: in the fourth step, when each vehicle scale m allowed to merge into in the merge-into gap is analyzed, the headway on the outer lane of the main line needs to meet the following conditions:
t c +(m-1)t f ≤t h ≤t c +mt f ；
after the conditions are met, m vehicles on the ramp are allowed to enter a conflagable gap on the main line.
The invention has the further technical improvements that: the different guidance strategies described in the step five include a single vehicle guidance strategy and a vehicle grouping guidance strategy, when the number of vehicles allowed to be merged into each merge clearance on the main line is 1, the single vehicle guidance strategy is adopted, and when the number of vehicles allowed to be merged into each merge clearance on the main line is greater than 1, the vehicle grouping guidance strategy is adopted.
The invention has further technical improvements that: the single-vehicle guiding strategy comprises a single-vehicle acceleration guiding strategy and a single-vehicle deceleration guiding strategy, so that the vehicle is accelerated or decelerated uniformly to a desired speed, then the vehicle runs to a confluence area in a uniform speed running mode, the total running time of a speed changing stage and a uniform speed stage is calculated and compared with any time length capable of converging into a clearance, and when the total running time does not exceed the time length capable of converging into the clearance, the corresponding vehicle can successfully converge into a main line; otherwise, the vehicle can not be converged into the main line, and the bicycle guide strategy is not implemented at the moment.
The invention has the further technical improvements that: the vehicle grouping guide strategy comprises the steps of firstly carrying out grouping operation on ramp vehicles, using a full-speed-difference following model to carry out following guide on vehicles to be grouped, giving guide acceleration to the vehicles to be grouped, and enabling the vehicles to be grouped and a head vehicle to form a grouping fleet.
The invention has the further technical improvements that: in the vehicle grouping guiding strategy, calculating the total time length of the time length used for successful vehicle grouping and the time length used for driving from a ramp to a confluence area at a constant speed after successful grouping, and comparing the total time length with any time length capable of merging into a gap, wherein when the total time length does not exceed the time length capable of merging into the gap, the corresponding vehicle grouping can be successfully merged into a main line; otherwise, the vehicle can not be converged into the main line in a marshalling mode, and at the moment, the vehicle marshalling guide strategy is not implemented, and the single-vehicle guide strategy is implemented.
Compared with the prior art, the invention has the following beneficial effects:
1. the method comprises the following steps that the existing data acquisition equipment and computing equipment are utilized, a guide system is associated with an internet map APP, and strategy generation and instruction transmission are possible; and acquiring and predicting data of the headway of the vehicle on the main line, thereby obtaining the interflowable gap existing on the main line and the scale of the vehicle which can be allowed to interflowly, providing accurate data support for subsequent guidance, and facilitating the generation and the actual application of a subsequent guidance strategy.
2. The method has the advantages that the vehicles on the ramp are accurately guided through the guiding strategy, and driving operation instructions including acceleration and deceleration operation and constant speed operation are issued to a driver, so that the vehicles can be converged into a preset convergence gap in the guiding strategy, the success rate and the safety of the vehicles successfully converging into a main line are guaranteed, and the continuity and the efficient commuting capacity of the whole road traffic are further guaranteed.
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To facilitate understanding for those skilled in the art, the present invention will be further described with reference to the accompanying drawings.
FIG. 1 is a flow chart illustrating a control method according to the present invention;
FIG. 2 is a schematic diagram of a vehicle consist afflux main line state according to the present invention.
Detailed Description
To further illustrate the technical means and effects of the present invention adopted to achieve the predetermined objects, the following detailed description of the embodiments, structures, characteristics and effects according to the present invention will be made with reference to the accompanying drawings and preferred embodiments.
Referring to fig. 1-2, a cooperative control method for an entrance ramp network connection manually-driven vehicle to converge into a main line includes the following steps:
the method comprises the following steps: installing multi-target radars and high-definition video acquisition devices on the main line, the front and the back of the confluence point and the entrance ramp to acquire the running track data of the main line and ramp vehicles, and realizing real-time and accurate sensing of traffic running dynamic information such as flow, density, speed, headway and the like of the ramp and the main line vehicles; installing a roadside computing unit at the ramp entrance, providing computational support for various algorithms at the front end, collecting lane-level high-precision map data 200 meters before and after the ramp and a confluence point, and performing bidirectional instruction and data intercommunication on the roadside computing unit and an internet map APP;
step two: according to the track data of the main line vehicle, the roadside computing unit carries out short-time prediction on the headway of the traffic zone, and specifically comprises the steps of constructing an EB-GRA-TCN model, wherein the EB-GRA-TCN represents a short-time headway prediction model which comprises grey correlation analysis and a time convolution network TCN based on entropy;
the optimal head-time distance hysteresis step selection process related to grey correlation analysis based on entropy is as follows:
(1) Setting the time sequence data of the headway to be predicted as
Wherein the content of the first and second substances,
represents the headway of the kth vehicle at the time t + j, j is the predicted step length, j = (1, 2.. Multidot., M);
suppose that
The value of (a) is related to the historical headway of i time steps before the time t, and the time sequence data of the historical headway of i time steps before the time t is made to be
Where i is the hysteresis step, i = (1, 2.., τ);
(2) Calculating a grey correlation coefficient:
and
the grey correlation coefficient between them is:
wherein, zeta is a resolution coefficient, and zeta belongs to [0,1];
(3) Calculating the grey correlation density:
(4) Calculating gray associated entropy:
wherein E (t, i) belongs to [0,1], and ln (M) is the maximum ash entropy value.
(5) Calculate gray correlation grade (GRG): the GRG represents the correlation between the predicted headway and the historical headway data, and the larger the calculated value is, the higher the correlation between the predicted headway and the historical headway data is, the corresponding calculation mode is as follows:
(6) The optimum hysteresis step is τ best The step length corresponding to the data with the highest GRG value is obtained, and the output data of the short-time headway prediction model is
The short-time headway prediction is based on a framework of a time convolution network TCN, and the framework comprises three parts: causal convolution, expansion convolution and residual connection;
and (3) causal convolution: in order to make the convolutional neural network have a structure for processing time series data, the TCN adopts a causal convolution architecture method, and the causal convolution has two characteristics: (1) Information leakage does not exist, namely the future convolution result is only related to historical observation data; (2) The deeper the causal convolutional layer accumulates, indicating a longer trace back of historical data.
And (3) expanding convolution:
with the increase of the historical tracing length, the network depth needs to be deepened, and the model parameters and complexity are increased. Thus, TCNs introduce hole convolutions in the network architecture. By adding a hole with a certain length in the convolution calculation, the memory of data with longer history time is achieved by skipping part of input.
For one-dimensional headway timing data and filter f: {0,1., R-1}, the definition of the hole calculation is as follows:
wherein d is a voiding factor and d =1,2,4 n R is the filter size, h s-d*i The input headway is the input headway;
f(s) represents a calculation result of a new headway time sequence on the position s after 1-time hole convolution calculation;
the dilation convolution introduces a sampling interval of fixed length between two adjacent filters, and the calculation formula of the receptive field is:
field＝(R-1)*d
residual connection:
as the depth of the network increases, gradient extinction and explosion problems can occur. Therefore, TCNs use residual connections to solve the network degradation problem. The residual structure characterizes the output 0 as a superposition of the input x and the input nonlinear transformation F (x), and the calculation formula of the residual structure output is as follows:
O＝Activation(x+F(x))
wherein Activation () is an Activation function.
Step three: analyzing the interflowable gaps in the merging area according to the short-time locomotive prediction result in the step two, and analyzing the scale and the optimal interflowable position of each vehicle allowed to be interflowable in the interflowable gap:
let t be the minimum critical time gap for the ramp vehicle to merge into the main line c The minimum time required for the ramp vehicle to converge into the main line is t f And when the headway on the outer lane of the main line meets the following conditions:
t c +(m-1)t f ≤t h ≤t c +mt f
then m vehicles on the ramp can merge into the main line at the moment, and further, the time length of the y-th interflowable gap on the main line is marked as t and the number of vehicles allowed to merge into the gap is marked as t y And m y 。
Step four: according to the scale of the vehicles allowed to merge obtained in the third step and the real-time position data of the ramp vehicles on the high-precision map, the road side calculating unit generates a control scheme of ramp vehicle marshalling, the road side calculating unit and the internet map APP realize bidirectional interaction of data and instructions, the internet map APP is used for issuing instructions to manually driven vehicles on the ramp, and the ramp vehicles are guided to smoothly merge into the mainline;
specifically, the number m of vehicles allowed to enter each affluxable gap on the main line is calculated y When m is y When the number of vehicles on the ramp is not less than 1, only 1 ramp vehicle is allowed to enter the gap, and a guiding strategy of a single vehicle is formulated by combining the position and speed information of the vehicles on the ramp; when m is y When the number is more than 1, a plurality of vehicles on the ramp can be allowed to merge.
Judging whether the vehicles on the ramp meet the condition of converging into the main line in a group or not according to the position and speed information of the vehicles on the ramp: if so, establishing a vehicle marshalling guide strategy, and guiding the vehicles on the ramp to be gathered into a main line in a group; if not, a bicycle guiding strategy is formulated.
1. The bicycle guidance strategy includes the following:
setting the expected speed v required by the vehicle to be merged into the ramp to be smoothly merged into the main line * Setting the distance between the vehicle to be converged on the ramp and the tail end of the confluence area to be L s The length of the confluence region is L c ；
If the current speed v (t) of the vehicle to be converged is less than or equal to v, executing a single-vehicle acceleration guide strategy on the vehicle to be converged; if the current speed v (t) > v of the vehicle to be merged is greater than v, a single-vehicle deceleration guiding strategy is executed on the vehicle to be merged, and the specific guiding strategy is as follows:
1.1, a single-vehicle acceleration guiding strategy:
the single-vehicle acceleration guiding strategy refers to that the vehicle is accelerated to the expected speed v uniformly * Then, the vehicle runs to the confluence area at a constant speed, and the time t required for the vehicle to be merged to run to the confluence area u ＝t u1 +t u2 ；
Wherein, t u1 The time length of the uniform acceleration running of the single vehicle,
a u the acceleration which can be accepted by the driver is a calibrated reference value;
t u2 in order to keep the running time at a constant speed,
if t u ≤t y If the single vehicle can successfully utilize the main line to be converged into the main line at the gap according to the acceleration guide strategy; on the contrary, the vehicle can not be inserted into the main line by using the main line, and the vehicle acceleration guiding strategy is not implemented.
1.2, a bicycle deceleration guiding strategy:
the single-vehicle acceleration guiding strategy refers to a driving mode that a vehicle uniformly decelerates to a desired speed v and then uniformly drives to a confluence area, and the time t required by the vehicle to be converged to drive to the confluence area d ＝t d1 +t d2 。
Wherein, t d1 The time length of the uniform deceleration running of the single vehicle,
a d is the acceleration;
t d2 in order to keep the running time constant,
if t d ≤t y If the bicycle is in the deceleration guiding strategy, the main line can be successfully utilized to be converged into the main line at the gap; on the contrary, the vehicle can not be converged into the main line by utilizing the convergence gap in the main line, and the vehicle deceleration guiding strategy is not implemented.
2. The vehicle consist guidance strategy includes the following:
2.1 ramp vehicle marshalling
And supposing that the front vehicle on the ramp runs at a constant speed at the current speed, using a full-speed-difference following model to carry out following guidance on the rear vehicle to be organized, and giving a guiding acceleration to the vehicle to be organized so as to form a vehicle fleet with the front vehicle. The full speed difference following model is as follows:
wherein, the first and the second end of the pipe are connected with each other,
acceleration of a vehicle to be marshalled;
omega is the sensitivity coefficient of the driver, omega is more than 0 and the unit is s -1 ；
Lambda is the reaction coefficient of the driver to the speed difference, lambda is more than 0 and the unit is s -1 ；
v e (t) is the speed of the vehicles to be marshalled, and e represents the number of the vehicles to be marshalled;
Δ v (t) is a speed difference between a leading vehicle (a vehicle already grouped) and a vehicle to be grouped, and Δ v (t) = v l -v e (t)，v l The ramp head vehicle speed; v (Δ x) is a speed optimization function, and the calculation method of V (Δ x) is as follows:
V(Δx)＝V 1 +V 2 tan[C 1 (Δx-l c )-C 2 ]
wherein l c Is the length of the vehicle to be marshalled;
Δ x is a distance difference between a leading vehicle (a grouped vehicle) and a vehicle to be grouped, and Δ x = x l -x e (t)，x l Is the head position of the ramp, x e (t) is the position of the vehicle to be marshalled;
V 1 ，V 2 ，C 1 ，C 2 are calibration parameters.
2.2 duration of time used for vehicle grouping
When the speed between the grouped vehicles and the vehicles to be grouped is equal and the distance is less than L * And then, considering that the grouping of the vehicle fleet is successful, and marking the time length used for completing the grouping of the e-th vehicle as t e Namely:
wherein v is e (t+t e ) Is t + t e The speed of the e-th vehicle to be marshalled at the moment meets the following requirements:
x e (t+t e ) Is t + t e The position of the e-th vehicle to be marshalled meets the following requirements:
x l (t+t e ) Is the t + t e Position of the vehicle at the moment, x l (t+t e )＝x l (t)+v l t e ；
L * And (4) successfully grouping the vehicles according to the headway threshold.
At this time, when the vehicle formation is 1 including m y After the vehicle team, the time length for completing the vehicle grouping can be calculated
2.3, motorcade uniform speed driving stage
After the vehicle is organized into groups, the vehicles run at constant speed t in a motorcade form q2 Time is up to the area to be merged, wait for the occurrence of the merge-into gap, merge into the main line, t q2 The calculation method of (2) is as follows:
wherein L is s，l And the distance between the head car and the tail end of the area to be converged on the ramp at the start time of the grouping of the motorcades.
The total time taken for the marshalling fleet to arrive at the area to be integrated is t q ＝t q1 +t q2 ；
When if t is q ≤t y If so, the vehicle can successfully use the main line pluggable clearance to merge into the main line according to a vehicle marshalling guide strategy; on the contrary, the vehicles can not be successfully grouped into a fleet which is imported into the main line, the vehicle grouping guiding strategy is not implemented, and the single vehicle guiding strategy is implemented.
Although the present invention has been described with reference to the preferred embodiments, it is to be understood that the invention is not limited to the disclosed embodiments, but is intended to cover various modifications, equivalents and alternatives falling within the spirit and scope of the invention.
Claims (6)
1. A cooperative control method for an entrance ramp network connection manual driving vehicle to converge into a main line is characterized by comprising the following steps: the method comprises the following steps:
the method comprises the following steps: setting data acquisition equipment and data calculation equipment, and establishing an instruction and data transmission channel with an internet map APP;
establishing and training a short-time headway prediction model according to historical data;
thirdly, obtaining a predicted headway set according to the constructed short-time headway prediction model;
step four: analyzing the scale of each vehicle allowed to be merged in the merging gap in the merging area according to the predicted headway set, and when the headway set on the outer lane of the main line
And the minimum time required for the ramp vehicle to merge into the main line
Satisfies the following conditions:
that is, the number of vehicles allowed to be merged into each affluxable gap is obtained
Wherein, in the process,
a minimum critical time gap for the ramp vehicle to merge into the main line;
step five: combining a plurality of vehicle scales allowed to be merged and real-time position data of ramp vehicles on the high-precision map, which are output in the step four, implementing different guiding strategies for the ramp vehicles, and enabling the ramp vehicles to be smoothly merged into a main line;
the different guiding strategies comprise a single-vehicle guiding strategy and a vehicle grouping guiding strategy, when the number of vehicles allowed to be imported into each importable gap on the main line is 1, the single-vehicle guiding strategy is adopted, and when the number of vehicles allowed to be imported into each importable gap on the main line is larger than 1, the vehicle grouping guiding strategy is adopted.
2. The method for cooperatively controlling the entrance ramp network connection manual driving vehicle to converge into the main line according to claim 1, wherein in the first step, the data acquisition device comprises a multi-target radar and a high-definition video acquisition device, dynamic driving data of ramps and main line vehicles are acquired at the main line, the confluence point and the entrance ramp positions, the dynamic driving data comprise flow, vehicle speed and headway, a road side calculation unit is installed at the ramp entrance, network communication between the ramp entrance and an internet map APP is established, and a communication channel is provided for data and instruction transmission in a subsequent guidance strategy.
3. The method for cooperatively controlling the merging of the network-connected manually-driven vehicles into the main line of the entrance ramp according to claim 1, wherein the short-time headway prediction model in the third step is constructed by entropy-based gray correlation analysis and time convolution network, and the model calculates the gray correlation level value between the predicted headway and the historical headway so as to obtain the predicted headway set output by the short-time headway prediction model.
4. The method for cooperatively controlling the entrance ramp network connection manual driving vehicle to merge into the main line according to claim 1, wherein the single vehicle guiding strategy comprises a single vehicle acceleration guiding strategy and a single vehicle deceleration guiding strategy, so that the vehicle is uniformly accelerated or uniformly decelerated to a desired speed, then the vehicle travels to the merging area in a uniform speed traveling mode, the total traveling time length of a speed change stage and a uniform speed stage is calculated and compared with the time length of any gap which can be merged, and when the total traveling time length does not exceed the time length of the gap which can be merged, the corresponding vehicle can successfully merge into the main line; otherwise, the vehicle can not be converged into the main line, and the single vehicle guiding strategy is not implemented at the moment.
5. The method for cooperatively controlling the afflux main line of the manually driven vehicle connected with the on-ramp network of the entrance according to claim 1, wherein the vehicle grouping guidance strategy requires that the vehicle on the ramp is firstly grouped, the vehicle to be grouped is followed and guided by using a full speed difference following model, and the vehicle to be grouped is given a guidance acceleration so as to form a grouping fleet with a head vehicle.
6. The cooperative control method for the merging main line of the manually driven vehicle on the entrance ramp network according to claim 5, characterized in that in the vehicle grouping guiding strategy, the total duration of the duration used for the successful vehicle grouping and the duration used for the vehicle to travel from the ramp to the merging area at a constant speed after the successful vehicle grouping is calculated and compared with any time length capable of merging into the gap, and when the total duration does not exceed the time length capable of merging into the gap, the corresponding vehicle grouping can be successfully merged into the main line; otherwise, the vehicle can not be converged into the main line in a marshalling mode, and at the moment, the vehicle marshalling guide strategy is not implemented, and the single-vehicle guide strategy is implemented.
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| CN114999160B (en) * | 2022-07-18 | 2022-10-21 | 四川省公路规划勘察设计研究院有限公司 | Vehicle safety confluence control method and system based on vehicle-road cooperative road |
| CN115547035B (en) * | 2022-08-31 | 2023-08-29 | 交通运输部公路科学研究所 | Beyond-visual-distance collision avoidance running control method and device and information physical system |
| CN115880884B (en) * | 2022-09-23 | 2023-10-27 | 长安大学 | Expressway ramp mixed traffic flow control method based on controllable intelligent network vehicle connection |
| CN115578865B (en) * | 2022-09-28 | 2023-08-29 | 东南大学 | Automatic driving vehicle converging gap selection optimization method based on artificial intelligence |
| CN115641717B (en) * | 2022-10-19 | 2023-09-19 | 长沙理工大学 | Highway main line-ramp vehicle cooperative confluence control method, device and storage medium based on mixed traffic flow |
| CN117198082B (en) * | 2023-11-06 | 2024-04-05 | 北京理工大学前沿技术研究院 | Double-layer optimization-based vehicle ramp afflux decision method and system |
| CN117218881B (en) * | 2023-11-08 | 2024-02-13 | 北京理工大学前沿技术研究院 | Intelligent vehicle collaborative import decision planning method and system in full network environment |
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