CN114852076A - Automatic driving vehicle track planning method under mixed traffic flow environment - Google Patents

Automatic driving vehicle track planning method under mixed traffic flow environment Download PDF

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CN114852076A
CN114852076A CN202210330965.1A CN202210330965A CN114852076A CN 114852076 A CN114852076 A CN 114852076A CN 202210330965 A CN202210330965 A CN 202210330965A CN 114852076 A CN114852076 A CN 114852076A
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track
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planning
trajectory
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丁川
赵慧敏
鲁光泉
于滨
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Beihang University
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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, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
    • B60W30/18—Propelling the vehicle
    • B60W30/18009—Propelling the vehicle related to particular drive situations
    • B60W30/18159—Traversing an intersection
    • 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
    • B60W60/00—Drive control systems specially adapted for autonomous road vehicles
    • B60W60/001—Planning or execution of driving tasks
    • 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
    • B60W2050/0019—Control system elements or transfer functions
    • 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
    • B60W2050/0019—Control system elements or transfer functions
    • B60W2050/0028—Mathematical models, e.g. for simulation
    • 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
    • B60W2554/00—Input parameters relating to objects
    • B60W2554/40—Dynamic objects, e.g. animals, windblown objects
    • B60W2554/402—Type
    • B60W2554/4023—Type large-size vehicles, e.g. trucks
    • 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
    • B60W2720/00—Output or target parameters relating to overall vehicle dynamics
    • B60W2720/10—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
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Abstract

The invention provides an automatic driving vehicle track planning method for fixed signal timing in a manual and automatic driving mixed environment, which comprises the following steps: collecting information of vehicles driving into an intersection control area; judging the type of a driven vehicle, if the driven vehicle is a manually driven vehicle, predicting the track of the vehicle by adopting a Newell following model, and if the driven vehicle is an automatically driven vehicle, planning the track of the automatically driven vehicle by adopting a sectional track planning method; and storing the track information of the vehicle, updating the current vehicle information when the next vehicle is detected to enter, and starting vehicle track planning. The invention belongs to a heuristic algorithm, realizes the trajectory planning of automatic driving vehicles in a mixed-driving environment, improves the planning efficiency on the premise of ensuring the safety, and can realize the vehicle trajectory planning on signal intersections under different traffic flows, signal phases and vehicle permeabilities.

Description

Automatic driving vehicle track planning method under mixed traffic flow environment
Technical Field
The invention relates to the technical field of road traffic control, in particular to a method for planning a track of an automatic driving vehicle in a mixed traffic flow environment.
Background
Signalized intersections are used as the core part of urban roads, are the key for improving the traffic efficiency of the urban roads, and are always focused. Under the cooperative system of the vehicle and the road, the automatic driving vehicle track at the intersection entrance road is planned and guided, so that the congestion of the signalized intersection can be effectively relieved, and the integral traffic capacity of the urban road is improved.
Under the mixed traffic flow environment of the manually driven vehicles and the automatically driven vehicles, the automatically driven vehicles are controllable vehicles. The signal control intersection is oriented, and the trajectory planning of the automatic driving vehicle requires that the vehicle passes through the intersection as soon as possible on the premise of ensuring safety. Most of typical automatic driving vehicle trajectory planning models change the position and the speed of a vehicle in real time by controlling the acceleration (deceleration) speed of the vehicle, so as to achieve the purpose of controlling the vehicle trajectory. However, such an optimal vehicle control model generally requires the establishment of complex nonlinear objective functions and constraints, and is difficult to solve and computationally inefficient. For vehicle trajectory planning, a detailed acceleration adjustment can theoretically obtain an optimal running trajectory under a certain target, but considering the actual control effect of the vehicle and the complexity of calculation, an optimal control model is not the optimal choice for vehicle trajectory control. Further, although the traffic efficiency at a road intersection can be improved by controlling the autonomous vehicles, the popularization of the autonomous vehicles requires a certain time, and the traffic flow of roads will appear in a state where the autonomous vehicles and the manually driven vehicles are mixed in a future period of time.
Therefore, how to provide an automatic driving vehicle trajectory planning method in a mixed traffic flow environment is a problem that needs to be solved urgently by the technical personnel in the field.
Disclosure of Invention
In view of the above, the trajectory planning method for the automatic driving vehicle facing the fixed signal timing in the mixed traffic flow environment of the manual and automatic driving vehicles realizes the trajectory planning of the automatic driving vehicle at the signal intersection in the mixed traffic flow environment, and improves the passing efficiency of the signal intersection on the premise of meeting the safety constraint.
In order to achieve the purpose, the invention adopts the following technical scheme:
an automatic driving vehicle track planning method under mixed traffic flow environment comprises the following steps;
s1, when the signalized intersection control area detects that the current vehicle n enters, acquiring the entering information of the vehicle n, wherein the entering information comprises entering time, entering speed and entering position, and taking the entering information as the input parameters of the trajectory planning;
s2, planning the track of the nth vehicle in the time interval according to the input parameters and the vehicle type: when it is detected that the entering vehicle is the manually driven vehicle, the routine proceeds to S3, and when it is detected that the entering vehicle is the automatically driven vehicle, the routine proceeds to S4;
s3, adopting a Newell following model to predict the track of the manually driven vehicle entering the signalized intersection control area, and predicting to obtain the vehicle running speed and position information;
s4, planning the track of the automatic driving vehicle by adopting a sectional track planning method according to the judgment of whether the front vehicle and the current automatic driving vehicle meet the minimum safety distance constraint or not based on the predicted track information of the front vehicle for the automatic driving vehicle entering the signalized intersection control area, and planning to obtain the vehicle running speed and the track information;
and S5, when detecting that the (n + 1) th vehicle enters the intersection control area, taking the planned track information of the vehicle n as the track information of the front vehicle, taking the driving information of the (n + 1) th vehicle as the information of the current driving vehicle, updating the corresponding storage list, continuing to execute S1, and starting the track planning of the (n + 1) th vehicle.
Preferably, in S1: the signal intersection control area is an area formed by a position on an entrance way at a fixed distance from a stop line, and the signal control is carried out on the intersection in a fixed signal timing mode.
Preferably, the S3 includes:
s31, predicting the running position and the running speed of the current vehicle by adopting a Newell following model based on the track information of the previous vehicle n-1 and the running-in information of the current vehicle n:
judging whether the distance between the vehicle n and the front vehicle n-1 always meets the minimum safe distance constraint x when the manually driven vehicle n runs in a mode of accelerating firstly and then keeping the speed at a constant speed n (t)≤x n-1 (t-τ n )-d n If yes, go to step 32; if not, adjusting the predicted track to enable the distance between the vehicle n and the front vehicle n-1 to be the minimum safe distance x n (t) represents the position of the vehicle n at time t, τ n Representing the time displacement of the vehicle n, d n Representing the spatial displacement of the vehicle n;
s32: and judging whether the vehicle n passes through the intersection at the same green light phase as the front vehicle n-1, if so, predicting to obtain a predicted track of the vehicle, and updating the track of the vehicle n at the time t to be the predicted track.
Preferably, the predicted trajectory of the vehicle is:
Figure BDA0003573066590000031
Figure BDA0003573066590000032
in the formula (I), the compound is shown in the specification,
Figure BDA0003573066590000033
and
Figure BDA0003573066590000034
representing the predicted trajectory of the vehicle when safety constraints are taken into account,
Figure BDA0003573066590000035
indicating the moment when the vehicle reaches the stop line when safety constraints are taken into account,
Figure BDA0003573066590000036
according to t fm The distance and speed relation between the vehicle n and the front vehicle n-1 at the moment is established, and an equation set is established to solve t fm And t fa ：
Figure BDA0003573066590000037
Figure BDA0003573066590000038
Updating a current predicted trajectory
Figure BDA0003573066590000039
And
Figure BDA00035730665900000310
preferably, the S32 further includes: if the vehicle n does not pass through the intersection in the same green light phase as the front vehicle n-1, the fact that the vehicle n decelerates and stops in front of the stop line is indicated, and the driving track of the vehicle is as follows:
Figure BDA00035730665900000311
Figure BDA00035730665900000312
in the formula (I), the compound is shown in the specification,
Figure BDA00035730665900000313
and
Figure BDA00035730665900000314
representing the predicted trajectory of the vehicle, t, taking into account signal control and safety constraints d Indicating the moment at which the vehicle starts to decelerate, t s Indicating the time at which the vehicle speed decreases to 0, t d The calculation formula of (2) is as follows:
Figure BDA00035730665900000315
t d and t s The relation of (A) is as follows:
Figure BDA00035730665900000316
updating n predicted trajectories of vehicles
Figure BDA0003573066590000041
And
Figure BDA0003573066590000042
preferably, the S4 includes:
s41: generating an initial track of the vehicle n according to a driving mode of firstly accelerating and then keeping constant speed based on the driving speed and the driving time of the vehicle n;
s42: generating a space-time safety track according to the track information of the front vehicle n-1; judging whether the initial track of the vehicle n collides with the space-time safety track of the front vehicle n-1, if so, judging that the initial track does not meet the space-time safety constraint, and entering S43; if not, the process goes to S44;
s43, when the initial track of the vehicle n does not meet the safety constraint, starting forward track planning, and adjusting the track;
s44, judging whether the signal phase is a green light when the vehicle drives to a stop line according to the current planned track, if so, the current track is the final planned track of the vehicle n; if not, starting the backward trajectory planning, and adjusting the trajectory of the vehicle by changing the time of the vehicle reaching the stop line.
Preferably, in S42, the spatio-temporal safety trajectory S is generated based on the trajectory information of the preceding vehicle n-1 n-1 The calculation formula of the middle position and the running speed is as follows:
Figure BDA0003573066590000043
Figure BDA0003573066590000044
in the formula, τ c Denotes the minimum headway of the autonomous vehicle, s denotes the safe headway of the autonomous vehicle, l c Indicating the length of the autonomous vehicle,
Figure BDA0003573066590000045
represents the corresponding position of the space-time safety track of the vehicle n-1 at the time t,
Figure BDA0003573066590000046
and the corresponding speed of the vehicle n-1 space-time safety track at the time t is shown.
Preferably, the S43 includes:
at t fa Change the acceleration of the vehicle intoa，aLess than 0, the space-time safe track of the vehicle track and the front vehicle is at t fm The position and velocity at the time are the same and are formulated as:
Figure BDA0003573066590000047
Figure BDA0003573066590000048
then the acceleration of the vehicle track is kept consistent with the acceleration of the space-time safety track of the front vehicle, and at the moment, the vehicle track is increased by t on the basis of the initial track fa Time to t fm A deceleration section of time and
t fm a merging section after the moment;
according to the space-time safety track of the vehicle track and the front vehicle at t fm Establishing an equation set under the condition that the position and the speed of the moment are the same, and solving t fm And t fa ：
Figure BDA0003573066590000051
Figure BDA0003573066590000052
Updating the planned trajectory of vehicle n
Figure BDA0003573066590000053
And
Figure BDA0003573066590000054
and proceeds to S44.
Preferably, the vehicle track is increased by t on the basis of the initial track fa Time to t fm Deceleration segment of time and t fm The planned trajectory of the vehicle in the merging section after the moment is:
Figure BDA0003573066590000055
Figure BDA0003573066590000056
in the formula (I), the compound is shown in the specification,
Figure BDA0003573066590000057
and
Figure BDA0003573066590000058
representing the planned trajectory of the vehicle taking into account safety constraints,
Figure BDA0003573066590000059
indicating the moment when the vehicle reaches the stop line when safety constraints are taken into account,
Figure BDA00035730665900000510
preferably, the S44 includes:
at t bm Time t bm Change the acceleration of the vehicle intoa，a< 0, then at t ba Change the acceleration of the vehicle into
Figure BDA00035730665900000511
The vehicle is made to arrive at the stop line at the next green phase start time:
Figure BDA00035730665900000512
L n -1 (t)＝t g
in the formula, t g Indicating the moment at which the green phase starts, t e Indicating the time at which the vehicle n reaches the stop line when no signal control is considered, c the signal period length, L n -1 (t) represents the time at which the vehicle n reaches the stop line;
then the acceleration of the new planned track of the vehicle and the acceleration of the original planned track are at t 0 To t bm Consistent with each other. At this time, the new trajectory adds a deceleration section and an acceleration section on the original planned trajectory, and the new planned trajectory of the vehicle is:
Figure BDA0003573066590000061
Figure BDA0003573066590000062
in the formula (I), the compound is shown in the specification,
Figure BDA0003573066590000063
and
Figure BDA0003573066590000064
representing a planned trajectory of the vehicle taking into account signal control and safety constraints; according to the new vehicle track and the original planning track at t bm Establishing an equation set under the condition that the time position and the speed are the same, and solving t bm And t ba ：
Figure BDA0003573066590000065
Figure BDA0003573066590000066
Updating n planned trajectories for a vehicle
Figure BDA0003573066590000067
And
Figure BDA0003573066590000068
through the technical scheme, compared with the prior art, the invention has the beneficial effects that:
the invention aims at the traffic flow environment where manual vehicles and automatic vehicles are mixed, combines signal timing information and phase information, and the central control center plans the track of the automatic driving vehicles at the fixed signal timing intersection, wherein the predicted track of the front vehicles is considered, and the tracks of the manual driving vehicles and the automatic driving vehicles are reasonably planned, so that the parking and delay of the vehicles passing through the intersection are reduced, and the traffic efficiency of the whole intersection is improved. On the premise of ensuring safety, the planning efficiency is improved, and vehicle track planning can be realized for signal intersections under different traffic flows, signal phases and vehicle permeability.
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In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings needed to be used in the description of the embodiments or the prior art will be briefly introduced below, it is obvious that the drawings in the following description are only embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the provided drawings without creative efforts;
fig. 1 is a flow chart of the real-time planning of the trajectory of an automated driving vehicle at a signalized intersection in a manual and automated driving mixed environment according to an embodiment of the present invention:
fig. 2 is a schematic diagram of a four-lane signalized intersection provided by an embodiment of the present invention:
FIG. 3 is a schematic diagram of a situation where a vehicle trajectory violates safety constraints, according to an embodiment of the present invention:
fig. 4 is a schematic diagram of a vehicle trajectory generated by using a forward trajectory planning method according to an embodiment of the present invention:
fig. 5 is a schematic diagram of a situation when a vehicle track reaches a stop line in a red light phase according to an embodiment of the present invention:
fig. 6 is a schematic diagram of a vehicle trajectory generated by using a backward trajectory planning method according to an embodiment of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
As shown in fig. 1, the invention provides a real-time planning method for a trajectory of an automatically-driven vehicle at a signalized intersection in a manual and automatic driving mixed environment, which comprises the following steps:
s1: when detecting that the nth vehicle enters the signalized intersection control area, acquiring the entering information of the vehicle n, wherein the entering information comprises entering time, entering speed and entering position, and taking the entering information of the vehicle as an input parameter of the track planning.
S2: and planning the track of the vehicle n according to the category of the vehicle n and by combining the input parameters, wherein the track of the vehicle is a set of driving positions of the vehicle within a period of time. When the entering vehicle is detected to be a manually driven vehicle, the step 3 is entered, and when the entering vehicle is detected to be an automatically driven vehicle, the step 4 is entered.
S3: and for the manually driven vehicle entering the control area, predicting the track of the manually driven vehicle by adopting a Newell following model, and storing the predicted vehicle running speed and position information.
S4: and planning the track of the automatic driving vehicle by adopting a sectional track planning method for the automatic driving vehicle entering the control area, and storing the planned vehicle running speed and track information.
S5: when detecting that the (n + 1) th vehicle enters the intersection control area, updating information of the previous vehicle and the driven vehicle, wherein the method specifically comprises the following steps: and taking the planned track information of the vehicle n as the track information of the front vehicle, taking the driving information of the (n + 1) th vehicle as the information of the current driving vehicle, and updating the corresponding storage list. After the (n + 1) th vehicle enters the control area, the list for storing the information of the previous vehicle is updated to the track information of the vehicle n, and the information for storing the current planning vehicle is updated to the driving information of the (n + 1) th vehicle. And (5) continuing to execute the step 1 and starting vehicle track planning.
Further, as shown in fig. 2, this embodiment takes a typical four-entrance signalized intersection as an example, each direction includes a left-turn exclusive lane, a straight lane and a right-turn lane, the signalized intersection control area is an area formed at a position 300 meters away from the stop line on the entrance, the left-turn and straight-run direction flow rates of each entrance are the same, and are set to be 600veh/h, and the traffic capacity of each lane is set to be 3600 veh/h. The intersection has four phases which are respectively a south-north entrance way straight-going phase, a south-north entrance way left-turning phase, an east-west entrance way left-turning phase and an east-west entrance way straight-going phase, each phase is sequentially allocated with a green light time of 20s and an emptying time of 3s, all right-turning vehicles are not controlled by signal lamps, and steps required by the embodiment of the invention are described in detail:
in one embodiment, the specific step of performing S1 includes:
when the control area detects that the nth vehicle enters, acquiring the entering information of the vehicle n, wherein the entering information comprises entering time, entering speed and entering position, and taking the vehicle entering information as an input parameter of the trajectory planning.
In one embodiment, the specific step of performing S2 includes:
and planning the track of the vehicle n according to the category of the vehicle n and by combining the input parameters, wherein the track of the vehicle is a set of driving positions of the vehicle within a period of time. When it is detected that the entering vehicle is a manually driven vehicle, the routine proceeds to S3, and when it is detected that the entering vehicle is an automatically driven vehicle, the routine proceeds to S4.
In one embodiment, the specific step of performing S3 includes: and for the manually driven vehicle entering the control area, predicting the track of the manually driven vehicle by adopting a Newell following model, and storing the predicted vehicle running speed and position information.
S31, based on the track information of the preceding vehicle n-1 and the driving information of the current vehicle n, predicting the driving position and the driving speed of the current vehicle by adopting a Newell following model, which specifically comprises the following steps: judging whether the distance between the vehicle n and the front vehicle n-1 always meets the minimum safe distance constraint x when the manually driven vehicle n runs in a mode of accelerating firstly and then keeping the speed at a constant speed n (t)≤x n-1 (t-τ n )-d n If yes, the process proceeds to S32, and the predicted trajectory of the vehicle is:
Figure BDA0003573066590000081
Figure BDA0003573066590000082
in the formula, x n (t) indicates the position of the vehicle n at time t, e.g. x n (10) That is, 200 means that the nth vehicle is located 200 m away from the start point of the signalized intersection control area at the 10 th second, and x n (t)≤L，τ n Representing the time displacement of the vehicle n, d n Representing the spatial displacement, v, of the vehicle n max Indicating the maximum travel speed, v, permitted on the road n (t) represents the speed of the vehicle n at time t, v n (t)≤v max ，v 0 Indicating the entry speed, t, of the vehicle 0 Indicating the time of entry of the vehicle, t e Representing the moment at which the vehicle reaches the stop line, x, irrespective of signal control and safety constraints n (t e )＝L,
Figure BDA0003573066590000091
Is the acceleration of the vehicle travel.
Otherwise, the predicted track is adjusted to enable the distance between the vehicle n and the front vehicle n-1 to be the minimum safe distance. In particular to: at t fa Change the acceleration of the vehicle intoa(a< 0) for a distance t between the vehicle n and the preceding vehicle n-1 fm The time satisfies x n (t fm )＝x n-1 (t fm -τ n )-α n And when t > t fm While still maintaining x n (t)＝x n-1 (t-τ n )-α n The predicted trajectory of the vehicle is:
Figure BDA0003573066590000092
Figure BDA0003573066590000093
in the formula (I), the compound is shown in the specification,
Figure BDA0003573066590000094
and
Figure BDA0003573066590000095
representing the predicted trajectory of the vehicle when safety constraints are taken into account,
Figure BDA0003573066590000096
indicating the moment when the vehicle reaches the stop line when safety constraints are taken into account,
Figure BDA0003573066590000097
according to t fm The distance and speed relation between the vehicle n and the front vehicle n-1 at the moment is established, and an equation set is established to solve t fm And t fa ：
Figure BDA0003573066590000098
Figure BDA0003573066590000099
Updating a current predicted trajectory
Figure BDA00035730665900000910
And
Figure BDA00035730665900000911
and entered into S32.
S32, judging whether the vehicle n passes through the intersection at the same green light phase as the front vehicle n-1, if so, considering that the vehicle runs according to the predicted track in S31, and if not, indicating that the vehicle n can generate a deceleration stop behavior in front of the stop line, wherein the running track of the vehicle is as follows:
Figure BDA00035730665900000912
Figure BDA0003573066590000101
in the formula (I), the compound is shown in the specification,
Figure BDA0003573066590000102
and
Figure BDA0003573066590000103
representing the predicted trajectory of the vehicle, t, taking into account signal control and safety constraints d Indicating the moment at which the vehicle starts to decelerate, t s Indicating the time at which the vehicle speed decreases to 0, t d The calculation formula of (2) is as follows:
Figure BDA0003573066590000104
t d and t s The relation of (A) is as follows:
Figure BDA0003573066590000105
updating n predicted trajectories of vehicles
Figure BDA0003573066590000106
And
Figure BDA0003573066590000107
and S4, planning the track of the automatic driving vehicle entering the control area by adopting a sectional track planning method, and storing the planned vehicle running speed and track information.
And S41, based on the entrance speed and the entrance time of the vehicle n, generating an initial track of the vehicle n according to a driving mode of firstly accelerating and then keeping constant speed, wherein the initial track generally consists of an accelerating section and a constant speed section. The calculation formula of the position and the running speed of the vehicle n at the time t in the initial track is as follows:
Figure BDA0003573066590000108
Figure BDA0003573066590000109
in the formula, t e Representing the time, x, at which the vehicle has reached the stop line following the initial trajectory n (t e )。
S42, generating space-time safe track S according to the track information of the front vehicle n-1 n-1 To satisfy the minimum safe distance constraint of vehicle n-1 from vehicle n. As shown in FIG. 3, it is determined whether the initial trajectory of the vehicle n collides with the spatiotemporal safety trajectory of the preceding vehicle n-1, i.e., whether there is a collision
Figure BDA00035730665900001010
If yes, the initial trajectory does not meet the space-time safety constraint, and the step is entered into S43; if not, the process proceeds to S44. Wherein the space-time safe trajectory S n-1 The calculation formula of the middle position and the driving speed is as follows:
Figure BDA00035730665900001011
Figure BDA00035730665900001012
in the formula, τ c Representing the minimum headway of the autonomous vehicle, s representing the safe headway of the autonomous vehicle, l c Indicating the length of the autonomous vehicle,
Figure BDA0003573066590000111
represents the corresponding position of the space-time safety track of the vehicle n-1 at the time t,
Figure BDA0003573066590000112
and the corresponding speed of the vehicle n-1 space-time safety track at the time t is shown.
S43, when the initial track of the vehicle n does not meet the safety constraint, starting a forward track plan, and adjusting the track, wherein the specific method comprises the following steps: at t fa Change the acceleration of the vehicle intoa(aLess than 0) to make the vehicle track and the space-time safety track of the front vehicle at t fm The position and velocity at the time are the same and are formulated as:
Figure BDA0003573066590000113
Figure BDA0003573066590000114
the acceleration of the vehicle trajectory thereafter remains the same as the acceleration of the spatiotemporal safety trajectory. As shown in fig. 4, the vehicle trajectory is increased by a deceleration segment and a merging segment based on the initial trajectory, and the planned trajectory of the vehicle is:
Figure BDA0003573066590000115
Figure BDA0003573066590000116
in the formula (I), the compound is shown in the specification,
Figure BDA0003573066590000117
and
Figure BDA0003573066590000118
representing the planned trajectory of the vehicle taking into account safety constraints,
Figure BDA0003573066590000119
indicating the moment when the vehicle reaches the stop line when safety constraints are taken into account,
Figure BDA00035730665900001110
according to the space-time safety track of the vehicle track and the front vehicle at t fm Establishing an equation set under the condition that the position and the speed of the moment are the same, and solving t fm And t fa ：
Figure BDA00035730665900001111
Figure BDA00035730665900001112
Updating the planned trajectory of vehicle n
Figure BDA00035730665900001113
And
Figure BDA00035730665900001114
and enters 4).
S44, as shown in fig. 5, judging whether the signal phase is a green light when the vehicle travels to the stop line according to the current planned trajectory, if so, the current trajectory is the final planned trajectory of the vehicle n; if not, starting backward trajectory planning, and adjusting the trajectory of the vehicle by changing the time of the vehicle reaching the stop line. The specific method comprises the following steps: first at t bm Time of day will vehicle accelerationBecome intoa(a< 0), followed by t ba Change the vehicle acceleration into
Figure BDA0003573066590000121
The vehicle is just allowed to reach the stop line at the start of the next green phase:
Figure BDA0003573066590000122
L n -1 (t)＝t g (22)
in the formula, t g Indicating the moment at which the green phase starts, t e Indicating the time at which the vehicle n reaches the stop line when no signal control is considered, c the signal period length, L n -1 (t) represents the time at which the vehicle n reaches the stop line. And when planning the backward track of the automatic driving vehicle, judging whether the vehicle track reaches the signalized intersection in the green light period by combining the signal timing information and the phase information.
Acceleration of the new trajectory and the original planned trajectory at t 0 To t bm And a new trajectory as shown in fig. 6 is generated. At this time, the new trajectory adds a deceleration section and an acceleration section on the original planned trajectory, and the new planned trajectory of the vehicle is:
Figure BDA0003573066590000123
Figure BDA0003573066590000124
in the formula (I), the compound is shown in the specification,
Figure BDA0003573066590000125
and
Figure BDA0003573066590000126
representing the planned trajectory of the vehicle taking into account signal control and safety constraints. According to the new vehicle track and the original planTrace at t bm Establishing an equation set under the condition that the time position and the speed are the same, and solving t bm And t ba ：
Figure BDA0003573066590000127
Figure BDA0003573066590000128
Updating n planned trajectories for a vehicle
Figure BDA0003573066590000129
And
Figure BDA00035730665900001210
and S5, when detecting that the (n + 1) th vehicle enters the intersection control area, updating the information of the previous vehicle and the driven vehicle, executing S1, and starting vehicle trajectory planning.
The method for planning the trajectory of the automatically driven vehicle in the mixed traffic flow environment provided by the invention is described in detail, a specific example is applied in the embodiment to explain the principle and the implementation mode of the invention, and the description of the embodiment is only used for helping to understand the method and the core idea of the invention; meanwhile, for a person skilled in the art, according to the idea of the present invention, there may be variations in the specific embodiments and the application scope, and in summary, the content of the present specification should not be construed as a limitation to the present invention.
The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined in this embodiment may be applied to other embodiments without departing from the spirit or scope of the invention. Thus, the present invention is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims (10)

1. An automatic driving vehicle track planning method under mixed traffic flow environment is characterized by comprising the following steps;
s1, when the signalized intersection control area detects that the current vehicle n enters, acquiring the entering information of the vehicle n, wherein the entering information comprises entering time, entering speed and entering position, and taking the entering information as the input parameters of the trajectory planning;
s2, planning the track of the nth vehicle in the time interval according to the input parameters and the vehicle type: when it is detected that the entering vehicle is the manually driven vehicle, the routine proceeds to S3, and when it is detected that the entering vehicle is the automatically driven vehicle, the routine proceeds to S4;
s3, adopting a Newell following model to predict the track of the manually driven vehicle entering the signalized intersection control area, and predicting to obtain the vehicle running speed and position information;
s4, planning the track of the automatic driving vehicle by adopting a sectional track planning method according to the judgment of whether the front vehicle and the current automatic driving vehicle meet the minimum safety distance constraint or not based on the predicted track information of the front vehicle for the automatic driving vehicle entering the signalized intersection control area, and planning to obtain the vehicle running speed and the track information;
and S5, when detecting that the (n + 1) th vehicle enters the intersection control area, taking the planned track information of the vehicle n as the track information of the front vehicle, taking the driving information of the (n + 1) th vehicle as the information of the current driving vehicle, updating the corresponding storage list, continuing to execute S1, and starting the track planning of the (n + 1) th vehicle.
2. The method for planning trajectories of automatically-driven vehicles under the mixed traffic flow environment according to claim 1, wherein in the step S1: the signal intersection control area is an area formed by a position on an entrance way at a fixed distance from a stop line, and the signal control is carried out on the intersection in a fixed signal timing mode.
3. The method for planning trajectories of autonomous vehicles under the mixed traffic flow environment according to claim 1, wherein the S3 includes:
s31, predicting the running position and the running speed of the current vehicle by adopting a Newell following model based on the track information of the previous vehicle n-1 and the driving information of the current vehicle n:
judging whether the distance between the vehicle n and the front vehicle n-1 always meets the minimum safe distance constraint x when the manually driven vehicle n runs in a mode of accelerating firstly and then keeping the speed at a constant speed n (t)≤x n-1 (t-τ n )-d n If yes, go to step 32; if not, adjusting the predicted track to enable the distance between the vehicle n and the front vehicle n-1 to be the minimum safe distance, enabling the position L meters away from the stop line to be the starting point of the control area, and enabling x to be the starting point of the control area n (t) represents the position of the vehicle n at time t, τ n Representing the time displacement of the vehicle n, d n Representing the spatial displacement of the vehicle n;
s32: and judging whether the vehicle n passes through the intersection at the same green light phase as the front vehicle n-1, if so, predicting to obtain a predicted track of the vehicle, and updating the track of the vehicle n at the time t to be the predicted track.
4. The method for planning trajectories of automatically driven vehicles in the mixed traffic flow environment according to claim 3, wherein the predicted trajectories of the vehicles are as follows:
Figure FDA0003573066580000021
Figure FDA0003573066580000022
in the formula (I), the compound is shown in the specification,
Figure FDA0003573066580000023
and
Figure FDA0003573066580000024
representing the predicted trajectory of the vehicle when safety constraints are taken into account,
Figure FDA0003573066580000025
indicating the moment when the vehicle reaches the stop line when safety constraints are taken into account,
Figure FDA0003573066580000026
according to t fm The distance and speed relation between the vehicle n and the front vehicle n-1 at the moment is established, and an equation set is established to solve t fm And t fa ：
Figure FDA0003573066580000027
Figure FDA0003573066580000028
Updating a current predicted trajectory
Figure FDA0003573066580000029
And
Figure FDA00035730665800000210
5. the method for planning trajectories of autonomous vehicles under the mixed traffic flow environment according to claim 1, wherein the S32 further comprises: if the vehicle n does not pass through the intersection in the same green light phase as the front vehicle n-1, the fact that the vehicle n decelerates and stops in front of the stop line is indicated, and the driving track of the vehicle is as follows:
Figure FDA00035730665800000211
Figure FDA00035730665800000212
in the formula (I), the compound is shown in the specification,
Figure FDA00035730665800000213
and
Figure FDA00035730665800000214
representing the predicted trajectory of the vehicle, t, taking into account signal control and safety constraints d Indicating the moment at which the vehicle starts to decelerate, t s Indicating the time at which the vehicle speed decreases to 0, t d The calculation formula of (2) is as follows:
Figure FDA00035730665800000215
t d and t s The relation of (A) is as follows:
Figure FDA0003573066580000031
updating n predicted trajectories of vehicles
Figure FDA0003573066580000032
And
Figure FDA0003573066580000033
6. the method for planning trajectories of autonomous vehicles under the mixed traffic flow environment according to claim 1, wherein the S4 includes:
s41: generating an initial track of the vehicle n according to a driving mode of firstly accelerating and then keeping constant speed based on the driving speed and the driving time of the vehicle n;
s42: generating a space-time safety track according to the track information of the front vehicle n-1; judging whether the initial track of the vehicle n collides with the space-time safety track of the front vehicle n-1, if so, judging that the initial track does not meet the space-time safety constraint, and entering S43; if not, the process goes to S44;
s43, when the initial track of the vehicle n does not meet the safety constraint, starting forward track planning, and adjusting the track;
s44, judging whether the signal phase is a green light when the vehicle drives to a stop line according to the current planned track, if so, the current track is the final planned track of the vehicle n; if not, starting backward trajectory planning, and adjusting the trajectory of the vehicle by changing the time of the vehicle reaching the stop line.
7. The method for planning trajectories of automatically-driven vehicles under the mixed traffic flow environment according to claim 6, wherein in the step S42, a space-time safe trajectory S is generated according to the trajectory information of the front vehicle n-1 n-1 The calculation formula of the middle position and the running speed is as follows:
Figure FDA0003573066580000034
Figure FDA0003573066580000035
in the formula, τ c Representing the minimum headway of the autonomous vehicle, s representing the safe headway of the autonomous vehicle, l c Indicating the length of the autonomous vehicle,
Figure FDA0003573066580000036
represents the corresponding position of the space-time safety track of the vehicle n-1 at the time t,
Figure FDA0003573066580000037
and the corresponding speed of the vehicle n-1 space-time safety track at the time t is shown.
8. The method for planning trajectories of autonomous vehicles under the mixed traffic flow environment according to claim 6, wherein the S43 includes:
at t fa Change the acceleration of the vehicle intoa，aLess than 0, the space-time safe track of the vehicle track and the front vehicle is at t fm The position and velocity at the time are the same and are formulated as:
Figure FDA0003573066580000038
Figure FDA0003573066580000039
then the acceleration of the vehicle track is kept consistent with the acceleration of the space-time safety track of the front vehicle, and at the moment, the vehicle track is increased by t on the basis of the initial track fa Time to t fm Deceleration segment of time and t fm A merging section after the moment;
according to the space-time safety track of the vehicle track and the front vehicle at t fm Establishing an equation set under the condition that the position and the speed of the moment are the same, and solving t fm And t fa ：
Figure FDA0003573066580000041
Figure FDA0003573066580000042
Updating the planned trajectory of vehicle n
Figure FDA0003573066580000043
And
Figure FDA0003573066580000044
and proceeds to S44.
9. The mixed-traffic flow environment automatic driving of claim 8A method for planning a trajectory of a moving vehicle, characterized in that the trajectory of the vehicle is increased by a t on the basis of an initial trajectory fa Time to t fm Deceleration segment of time and t fm The planned trajectory of the vehicle in the merging section after the moment is:
Figure FDA0003573066580000045
Figure FDA0003573066580000046
in the formula (I), the compound is shown in the specification,
Figure FDA0003573066580000047
and
Figure FDA0003573066580000048
representing the planned trajectory of the vehicle taking into account safety constraints,
Figure FDA0003573066580000049
indicating the moment when the vehicle reaches the stop line when safety constraints are taken into account,
Figure FDA00035730665800000410
10. the method for planning trajectories of autonomous vehicles under the mixed traffic flow environment according to claim 6, wherein the S44 includes:
at t bm Change the acceleration of the vehicle intoa，a< 0, then at t ba Change the acceleration of the vehicle into
Figure FDA00035730665800000411
The vehicle is made to arrive at the stop line at the next green phase start time:
Figure FDA00035730665800000412
L n -1 (t)＝t g
in the formula, t g Indicating the moment at which the green phase starts, t e Indicating the time at which the vehicle n reaches the stop line when no signal control is considered, c the signal period length, L n -1 (t) represents the time at which the vehicle n reaches the stop line;
thereafter, the acceleration of the newly planned trajectory of the vehicle and the acceleration of the planned trajectory of S41 or S43 are at t 0 To t bm Consistent with each other. At this time, the new trajectory adds a deceleration section and an acceleration section on the original planned trajectory, and the new planned trajectory of the vehicle is:
Figure FDA0003573066580000051
Figure FDA0003573066580000052
in the formula (I), the compound is shown in the specification,
Figure FDA0003573066580000053
and
Figure FDA0003573066580000054
representing a planned trajectory of the vehicle taking into account signal control and safety constraints; according to the new vehicle track and the original planning track at t bm Establishing an equation set under the condition that the time position and the speed are the same, and solving t bm And t ba ：
Figure FDA0003573066580000055
Figure FDA0003573066580000056
Updating n planned trajectories for a vehicle
Figure FDA0003573066580000057
And
Figure FDA0003573066580000058
CN202210330965.1A 2022-03-30 2022-03-30 Automatic driving vehicle track planning method under mixed traffic flow environment Pending CN114852076A (en)

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Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN116030645A (en) * 2023-01-17 2023-04-28 东南大学 Vehicle track and signal coordination control method for mixed traffic flow environment of signalized intersection
CN116092310A (en) * 2023-01-28 2023-05-09 西南交通大学 Intersection collaborative ecological driving control method and system for mixed traffic environment
CN116524722A (en) * 2023-06-26 2023-08-01 浙江大学 Mixed traffic flow-oriented vehicle ecological driving control method and electronic equipment
CN116704775A (en) * 2023-06-27 2023-09-05 大连海事大学 Mixed traffic flow traffic capacity calculation method considering intelligent network bus

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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN116030645A (en) * 2023-01-17 2023-04-28 东南大学 Vehicle track and signal coordination control method for mixed traffic flow environment of signalized intersection
CN116030645B (en) * 2023-01-17 2023-11-28 东南大学 Vehicle track and signal coordination control method for mixed traffic flow environment of signalized intersection
CN116092310A (en) * 2023-01-28 2023-05-09 西南交通大学 Intersection collaborative ecological driving control method and system for mixed traffic environment
CN116092310B (en) * 2023-01-28 2023-07-18 西南交通大学 Intersection collaborative ecological driving control method and system for mixed traffic environment
CN116524722A (en) * 2023-06-26 2023-08-01 浙江大学 Mixed traffic flow-oriented vehicle ecological driving control method and electronic equipment
CN116524722B (en) * 2023-06-26 2023-10-13 浙江大学 Mixed traffic flow-oriented vehicle ecological driving control method and electronic equipment
CN116704775A (en) * 2023-06-27 2023-09-05 大连海事大学 Mixed traffic flow traffic capacity calculation method considering intelligent network bus
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