CN114999140B - Linkage control method for mixed traffic expressway down ramp and near signal control area - Google Patents
Linkage control method for mixed traffic expressway down ramp and near signal control area Download PDFInfo
- Publication number
- CN114999140B CN114999140B CN202210621619.9A CN202210621619A CN114999140B CN 114999140 B CN114999140 B CN 114999140B CN 202210621619 A CN202210621619 A CN 202210621619A CN 114999140 B CN114999140 B CN 114999140B
- Authority
- CN
- China
- Prior art keywords
- vehicle
- vehicles
- internet
- expressway
- ramp
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
- 238000000034 method Methods 0.000 title claims abstract description 50
- 238000004891 communication Methods 0.000 claims description 42
- 230000001133 acceleration Effects 0.000 claims description 24
- 238000005516 engineering process Methods 0.000 claims description 11
- 238000011217 control strategy Methods 0.000 claims description 6
- 230000005540 biological transmission Effects 0.000 claims description 3
- 238000013507 mapping Methods 0.000 claims description 3
- 230000008569 process Effects 0.000 claims description 3
- 230000035484 reaction time Effects 0.000 claims description 3
- 230000004044 response Effects 0.000 claims description 3
- 238000005096 rolling process Methods 0.000 claims description 3
- 238000012163 sequencing technique Methods 0.000 claims description 3
- 238000013459 approach Methods 0.000 claims description 2
- 230000008901 benefit Effects 0.000 description 3
- 238000010586 diagram Methods 0.000 description 3
- 206010039203 Road traffic accident Diseases 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000009467 reduction Effects 0.000 description 1
Classifications
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/01—Detecting movement of traffic to be counted or controlled
- G08G1/0104—Measuring and analyzing of parameters relative to traffic conditions
- G08G1/0108—Measuring and analyzing of parameters relative to traffic conditions based on the source of data
- G08G1/0112—Measuring and analyzing of parameters relative to traffic conditions based on the source of data from the vehicle, e.g. floating car data [FCD]
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F17/00—Digital computing or data processing equipment or methods, specially adapted for specific functions
- G06F17/10—Complex mathematical operations
- G06F17/15—Correlation function computation including computation of convolution operations
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/01—Detecting movement of traffic to be counted or controlled
- G08G1/0104—Measuring and analyzing of parameters relative to traffic conditions
- G08G1/0125—Traffic data processing
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/01—Detecting movement of traffic to be counted or controlled
- G08G1/015—Detecting movement of traffic to be counted or controlled with provision for distinguishing between two or more types of vehicles, e.g. between motor-cars and cycles
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/16—Anti-collision systems
- G08G1/161—Decentralised systems, e.g. inter-vehicle communication
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/16—Anti-collision systems
- G08G1/166—Anti-collision systems for active traffic, e.g. moving vehicles, pedestrians, bikes
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/16—Anti-collision systems
- G08G1/167—Driving aids for lane monitoring, lane changing, e.g. blind spot detection
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/20—Monitoring the location of vehicles belonging to a group, e.g. fleet of vehicles, countable or determined number of vehicles
-
- 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
- Y02A—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE
- Y02A30/00—Adapting or protecting infrastructure or their operation
- Y02A30/60—Planning or developing urban green infrastructure
Landscapes
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Engineering & Computer Science (AREA)
- Mathematical Optimization (AREA)
- Mathematical Physics (AREA)
- Computational Mathematics (AREA)
- Theoretical Computer Science (AREA)
- Mathematical Analysis (AREA)
- Chemical & Material Sciences (AREA)
- Pure & Applied Mathematics (AREA)
- Analytical Chemistry (AREA)
- Data Mining & Analysis (AREA)
- Algebra (AREA)
- Databases & Information Systems (AREA)
- Software Systems (AREA)
- General Engineering & Computer Science (AREA)
- Computing Systems (AREA)
- Traffic Control Systems (AREA)
Abstract
The invention discloses a linkage control method for a mixed traffic expressway off ramp and a near signal control area, which comprises the following steps: s1: setting a mixed traffic scene of the connection of the expressway down ramp and the near signal control area; s2: establishing a linear vehicle longitudinal dynamics model by combining dynamics characteristics of a vehicle; s3: in order to ensure the stability of a motorcade, constructing a expressway off ramp and near signal control area linkage control method based on an information physical system in a mixed traffic scene; s31: in order to avoid long waiting time of heterogeneous vehicles in a link area and collision at a joint point, a first-in first-out cooperative control method is constructed; s32: in order to solve the phenomenon that a virtual motorcade stops when a near signal control area is constrained by the phase of a signal lamp, a distributed cooperative control method based on an information physical system is established.
Description
Technical Field
The invention relates to the field of cooperative control of internet-connected automatic vehicles and internet-connected person driving in mixed traffic, in particular to a method for controlling the linkage of an off-ramp and a near signal control area of a mixed traffic expressway.
Background
With the rapid development of automatic driving technology and communication technology, online automatic driving automobiles and online human driving automobiles are gradually developed and favored by the public, future traffic will be composed of online automatic driving automobiles and online human driving automobiles, novel mixed traffic will be formed, and the mixed traffic will last for a long time, but the mixed traffic also has common problems similar to the traditional traffic, such as traffic safety, traffic jam and the like. Therefore, how to solve the problems of traffic safety, traffic jam and the like in the mixed traffic environment is worth exploring.
The down-road ramp to the urban road is one of the complex traffic problems, for example, traffic accidents are easily caused and long waiting time is caused, so that the traffic efficiency of the whole road network is reduced. Meanwhile, after vehicles on the expressway off ramp and vehicles on the urban road are combined, the vehicles are often limited by traffic lights, so that the vehicles are easy to stop periodically, and the reduction of road traffic efficiency is further aggravated. The invention provides a linkage control method for a mixed traffic expressway down ramp and a near signal control area, which aims to avoid collision and long-time waiting when vehicles on the expressway down ramp drive into an urban road, so as to ensure that a mixed vehicle group can pass through the near signal control area consistently and stably under the constraint of traffic signal lamps.
By referring to related documents and patents, few documents are used for researching the problem of controlling the linkage of the expressway down ramp and the near signal control area. The invention provides a linkage control method for a mixed traffic expressway down ramp and a near signal control area, which can effectively ensure that a new vehicle team formed by the expressway down ramp drives into an urban road to uniformly and stably pass through the near signal control area under the constraint of a signal lamp, thereby improving the overall passing efficiency of the expressway and the urban road.
Disclosure of Invention
The invention aims to provide a linkage control method for a mixed traffic expressway down ramp and a near signal control area, which can avoid collision and long waiting time when the expressway down ramp vehicles drive into an urban road, ensure that new motorcades formed by the vehicles driving into the urban road of the expressway down ramp pass through the near signal control area consistently and stably under the constraint of signal lamps, and further improve the traffic efficiency and safety of the whole road network.
In order to achieve the above purpose, the present invention provides the following technical solutions: a linkage control method for a mixed traffic expressway down ramp and a near signal control area comprises the following steps:
s1: setting a mixed traffic scene of the connection of the expressway down ramp and the near signal control area;
S2: establishing a linear vehicle longitudinal dynamics model by combining dynamics characteristics of a vehicle;
s3: in order to ensure the stability of a motorcade, a expressway off ramp and near signal control area linkage control method based on an information physical system in a mixed traffic scene is constructed.
Further, the step S3 specifically includes the following steps:
S31: in order to avoid long waiting time of heterogeneous vehicles in a link area and collision at a joint point, a first-in first-out cooperative control method is constructed;
s32: in order to solve the phenomenon that a virtual motorcade stops when a near signal control area is constrained by the phase of a signal lamp, a distributed cooperative control method based on an information physical system is established.
Further, the mixed traffic scene of the S1 expressway off ramp connected with the near signal control area is set as follows:
The expressway off ramp is connected with the urban road to form a connection point, and when the traffic flow is high, a conflict area is formed; in addition, a signal lamp is arranged in front of the urban road connection point. The expressway off ramp and the urban road single lane are respectively provided with m vehicles and N vehicles, the total number of the vehicles is N=m+n, and the network-connected automatic vehicles and the network-connected human driving vehicles are mixed on the road. Under such a scene, the internet-connected automatic car and the internet-connected person driving car can mutually acquire state information through car-car communication, and the internet-connected automatic car can automatically regulate and control the state of the internet-connected automatic car according to the acquired state information, and the internet-connected person driving car follows the states of a plurality of cars in front of the internet-connected automatic car. In addition, all heterogeneous vehicles can acquire information of the signal lamp.
Further, the nonlinear longitudinal dynamics of the S2 vehicle are:
And v i (t) denotes the position and speed of the i-th vehicle, Is the mechanical efficiency of the transmission system. r i denotes the tire radius, T i (T) denotes the actual driving/braking torque, m i denotes the vehicle mass,/>Represents aerodynamic drag coefficient, g represents gravitational acceleration, and f i is rolling drag coefficient. θ (p i (T)) represents the inclination angle of the road, ζ i represents the vehicle dynamics inertia delay, and T i des (T) represents the desired driving/braking torque.
By using a linear feedback technique, a linear vehicle longitudinal dynamics model can be expressed as:
where u i (t) represents a control input to the vehicle;
When the external factors are not considered, the linear dynamics model of the ith vehicle is degenerated to:
where a i (t) represents the acceleration of the i-th vehicle.
Further, in S31, when the vehicle on the expressway off ramp enters the urban road, in order to avoid the long waiting time of the heterogeneous vehicle in the link area and the collision at the joint point, a first-in first-out cooperative control method is established, which specifically comprises the following steps:
s311: at the time t, heterogeneous vehicles in the link area mutually acquire the state information of the vehicles through vehicle-to-vehicle communication;
s312: the method comprises the steps of utilizing a mapping technology to project the state information of network-connected automatic vehicles and network-connected person driving on a expressway off ramp onto an urban road, and sequencing the projected vehicles and vehicles on the urban road according to a first-in first-out cooperative algorithm to form a virtual motorcade;
S313: to ensure that all heterogeneous vehicles in a virtual fleet are able to maintain a desired inter-vehicle distance and speed, we use an intelligent driver model, in the following form:
Wherein v i (t) is the speed of the ith following vehicle at time t and v max is the maximum speed; deltav i (t) and Deltas i (t) represent the speed difference and spacing of the ith vehicle from its preceding vehicle at time t; a max and a min represent a desired maximum acceleration and minimum deceleration, respectively; s 0 is the minimum parking safety distance, TH represents the reaction time of the following vehicle;
S314: according to the above, by utilizing newton's second law, the motion states of all vehicles in the virtual vehicle fleet can be further calculated as:
where Δt is the time step.
Further, when the virtual fleet gradually approaches the signal lamp, the virtual fleet is constrained by the phase of the signal lamp, and the phenomenon of stopping when running is caused, so that instability and traffic efficiency of the fleet are easily reduced, and in order to solve the phenomenon, a distributed cooperative control strategy is constructed, which comprises the following specific steps:
S321: according to the established longitudinal dynamics model of the vehicle, the longitudinal control strategy of the networked automatic vehicle is constructed as follows:
Wherein, Is the control input of the network connection automatic vehicle. /(I)And/>Is the control gain of the network-connected automatic vehicle. The phi jl,p,Xjl,p represents the weight and the communication connection relation between the position of the jth internet-connected automatic vehicle and the position of the first vehicle, the phi jl,v,Xjl,v represents the weight and the communication connection relation between the speed of the jth internet-connected automatic vehicle and the speed of the first vehicle, and the phi jl,a,Xjl,a represents the weight and the communication connection relation between the acceleration of the jth internet-connected automatic vehicle and the acceleration of the first vehicle; d jl represents the desired inter-vehicle distance between the jth networked vehicle and the first vehicle.
S322: because of uncontrollable driving of the internet-connected person, based on the vehicle dynamics model, the following strategy of driving of the internet-connected person is established as follows:
In the method, in the process of the invention, Representing the driver response parameters. Because of the uncontrollable driving of the internet protocol,Typically zero. /(I)Lambda io,p respectively represents weight and communication connection relation between driving position of ith Internet-connected person and parking position of the o-th vehicle,/>Lambda io,v respectively represents the weight and the communication connection relation between the driving speed of the ith Internet-connected person and the speed of the o vehicle,/>Lambda io,a respectively represents the weight and the communication connection relation between the driving acceleration of the ith internet-connected person and the acceleration of the o-th vehicle; d io represents the desired inter-vehicle distance between the ith networked human drive vehicle and the o-th vehicle. In addition, since the internet-connected person drives the car only with a communication function and no controllability, the car only follows the acquired states of a plurality of vehicles in front, and therefore, the above formula is degraded as follows:
further, the physical layer searches the running state of the virtual motorcade in the near signal control area, and how to obtain the state information of the heterogeneous vehicles and the phase information of the signal lamps through the information layer to adjust the states of the vehicles so that the vehicles can uniformly and stably pass through the near signal control area;
Further, the information layer reveals the communication topological structure of heterogeneous vehicles in the queue, the communication relation between vehicles and signal lamps.
Further, the range of the engagement area is defined as 80 meters, the range of the engagement point area is defined as 20 meters, the range of the near signal control area is defined as 300 meters, the communication range of the vehicle and the signal lamp is defined as 400 meters, and the communication range between the vehicles is positioned as 400 meters.
The beneficial effects are that:
the invention utilizes the communication technology, the automatic driving technology and the vehicle-road cooperative technology to obtain the state information of the heterogeneous vehicle and the phase information of the signal lamp as control inputs, designs a linkage control method for the mixed traffic expressway down ramp and the near signal control area, can improve the overall traffic efficiency of the expressway and the urban road, and can provide the advantage of a new view for solving the safety and the congestion of the novel mixed traffic.
Drawings
FIG. 1 is a schematic diagram of a mixed traffic scenario in which an expressway off ramp is engaged with an urban road according to the present invention;
Fig. 2 is a schematic diagram of a method for controlling the link between an expressway off ramp and a near signal control area based on an information physical system.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and specifically described below with reference to the drawings in the embodiments of the present invention. It should be understood that the preferred embodiments are presented by way of illustration only and not by way of limitation. Other advantages and effects of the present invention will be readily apparent to those skilled in the art from the present disclosure. The invention may be practiced or carried out in other embodiments that depart from the specific details, and the details of the present description may be modified or varied from the spirit and scope of the present invention.
Example 1
As shown in fig. 1 to 2, the present embodiment provides a method for controlling a mixed traffic expressway down ramp and a near signal control area in a linkage manner, which includes the following steps:
step S1: setting a mixed traffic scene of the connection of the expressway down ramp and the near signal control area;
The expressway off ramp is connected with the urban road to form a connection point, and when the traffic flow is high, a conflict area is formed; in addition, a signal lamp is arranged in front of the urban road junction, as shown in fig. 1. The junction in fig. 1 shows that the vehicles driving into the urban road on the expressway off-ramp easily collide with the vehicles on the urban road. The expressway off ramp and the urban road single lane are respectively provided with m vehicles and N vehicles, the total number of the vehicles is N=m+n, and the network-connected automatic vehicles and the network-connected human driving vehicles are mixed on the road. Under such a scene, the internet-connected automatic car and the internet-connected person driving car can mutually acquire state information through car-car communication, and the internet-connected automatic car can automatically regulate and control the state of the internet-connected automatic car according to the acquired state information, and the internet-connected person driving car follows the states of a plurality of cars in front of the internet-connected automatic car. In addition, all heterogeneous vehicles can acquire information of the signal lamp.
Step S2: establishing a linear vehicle longitudinal dynamics model by combining dynamics characteristics of a vehicle;
the nonlinear longitudinal dynamics of a vehicle can be expressed as follows:
Where p i (t) and v i (t) represent the position and speed of the ith vehicle, Is the mechanical efficiency of the transmission system. r i denotes the tire radius, T i (T) denotes the actual driving/braking torque, m i denotes the vehicle mass,/>Represents aerodynamic drag coefficient, g represents gravitational acceleration, and f i is rolling drag coefficient. θ (p i (T)) represents the inclination angle of the road, ζ i represents the vehicle dynamics inertia delay, and T i des (T) represents the desired driving/braking torque.
By using a linear feedback technique, a linear vehicle longitudinal dynamics model can be expressed as:
where u i (t) represents a control input to the vehicle;
When the external factors are not considered, the linear dynamics model of the ith vehicle is degenerated to:
where a i (t) represents the acceleration of the i-th vehicle.
Step S3: in order to ensure the stability of a motorcade, constructing a expressway off ramp and near signal control area linkage control method based on an information physical system in a mixed traffic scene, wherein the method can be further divided into the following steps:
step S31: constructing a first-in first-out cooperative control method;
When vehicles on the expressway off ramp enter the urban road, in order to avoid long waiting time of heterogeneous vehicles in a link area and collision at a joint point, a first-in first-out cooperative control method is established, and the specific steps are as follows:
Step S311: at the time t, heterogeneous vehicles in the link area mutually acquire the state information of the vehicles through vehicle-to-vehicle communication;
step S312: the method comprises the steps of utilizing a mapping technology to project the state information of network-connected automatic vehicles and network-connected person driving on a expressway off ramp onto an urban road, and sequencing the projected vehicles and vehicles on the urban road according to a first-in first-out cooperative algorithm to form a virtual motorcade;
Step S313: to ensure that all heterogeneous vehicles in a virtual fleet are able to maintain a desired inter-vehicle distance and speed, we use an intelligent driver model, in the following form:
Wherein v i (t) is the speed of the ith following vehicle at time t and v max is the maximum speed; deltav i (t) and Deltas i (t) represent the speed difference and spacing of the ith vehicle from its preceding vehicle at time t; a max and a min represent a desired maximum acceleration and minimum deceleration, respectively; s 0 is the minimum parking safety distance, TH represents the reaction time of the following vehicle.
Step S314: according to the above, by utilizing newton's second law, the motion states of all vehicles in the virtual vehicle fleet can be further calculated as:
where Δt is the time step.
Step S32: establishing a distributed cooperative control method based on an information physical system;
when the virtual motorcade is gradually close to the signal lamp, the phenomenon of stopping when running and time is restrained by the phase of the signal lamp, instability and traffic efficiency of the motorcade are easily caused to be reduced, and in order to solve the phenomenon, a distributed cooperative control strategy is constructed, and the method comprises the following specific steps:
step S321: according to the established longitudinal dynamics model of the vehicle, the longitudinal control strategy of the networked automatic vehicle is constructed as follows:
Wherein, Is the control input of the network connection automatic vehicle. /(I)And/>Is the control gain of the network-connected automatic vehicle. The phi jl,p,Xjl,p represents the weight and the communication connection relation between the position of the jth internet-connected automatic vehicle and the position of the first vehicle, the phi jl,v,Xjl,v represents the weight and the communication connection relation between the speed of the jth internet-connected automatic vehicle and the speed of the first vehicle, and the phi jl,a,Xjl,a represents the weight and the communication connection relation between the acceleration of the jth internet-connected automatic vehicle and the acceleration of the first vehicle; d jl represents the desired inter-vehicle distance between the jth networked vehicle and the first vehicle.
S322: because of uncontrollable driving of the internet-connected person, based on the vehicle dynamics model, the following strategy of driving of the internet-connected person is established as follows:
In the method, in the process of the invention, Representing the driver response parameters. Because of the uncontrollable driving of the internet protocol,Typically zero. /(I)Lambda io,p respectively represents weight and communication connection relation between driving position of ith Internet-connected person and parking position of the o-th vehicle,/>Lambda io,v respectively represents the weight and the communication connection relation between the driving speed of the ith Internet-connected person and the speed of the o vehicle,/>Lambda io,a respectively represents the weight and the communication connection relation between the driving acceleration of the ith internet-connected person and the acceleration of the o-th vehicle; d io represents the desired inter-vehicle distance between the ith networked human drive vehicle and the o-th vehicle. In addition, since the internet-connected person drives the car only with a communication function and no controllability, the car only follows the acquired states of a plurality of vehicles in front, and therefore, the above formula is degraded as follows:
S323: the constraint conditions of the mixed motorcade are set as follows:
since the state of the current vehicle depends on the constraints of the signal, the acceleration of the current vehicle constrained by the signal can be expressed as:
αi(t)＝θ(vi(t),△vi,0(t),di(t),vdesired)
Where θ is the following or control model function of the ith vehicle, v desired represents the desired speed, d i (t) represents the relative distance of the preceding vehicle or distance from the park line at red light, that can be expressed as:
the above equation shows that d i (t) is the distance from the current vehicle to the stop line if the phase of the signal lamp is red, otherwise the relative distance from the current vehicle to the preceding vehicle.
In order to keep the vehicles in the hybrid virtual fleet from stopping through the near signal control zone, the arrival times of the vehicles in the hybrid virtual fleet are estimated as
Where t i denotes the time to reach the signal at the desired speed in the green phase. t delay,i represents the delay time to avoid stopping under traffic light constraints.
Fig. 2 shows a schematic diagram of a link control method of an expressway off ramp and a near signal control area based on an information physical system. In the physical layer in fig. 2, the running state of the virtual fleet in the near signal control area is explored, and the state of the vehicle is adjusted by acquiring the state information of the heterogeneous vehicle and the phase information of the signal lamp through the information layer, so that the vehicle can uniformly and stably pass through the near signal control area; in the information layer of fig. 2, a typical hybrid vehicle group communication topology is constructed, revealing the relationship of heterogeneous vehicles in physical space to information space.
In fig. 2 the range of the splice area is defined as 80 meters, the splice point area is defined as 20 meters, the range of the near signal control area is defined as 300 meters, the communication range of the car to signal light is defined as 400 meters, and the communication range between the cars is located 400 meters.
The invention utilizes the communication technology, the automatic driving technology and the vehicle-road cooperative technology to obtain the state information of the heterogeneous vehicle and the phase information of the signal lamp as control inputs, designs a linkage control method for the mixed traffic expressway down ramp and the near signal control area, can improve the overall traffic efficiency of the expressway and the urban road, and can provide the advantage of a new view for solving the safety and the congestion of the novel mixed traffic.
The above embodiments are only for illustrating the technical solution of the present invention and not for limiting the same, and although the present invention has been described in detail with reference to the preferred embodiments, it should be understood by those skilled in the art that modifications and equivalents may be made thereto without departing from the spirit and scope of the technical solution of the present invention, which is intended to be covered by the scope of the claims of the present invention.
Claims (5)
1. A linkage control method for a mixed traffic expressway down ramp and a near signal control area is characterized by comprising the following steps of: the method comprises the following steps:
s1: setting a mixed traffic scene of the connection of the expressway down ramp and the near signal control area;
s2: according to S1, combining dynamics characteristics of a vehicle, establishing a linear vehicle longitudinal dynamics model;
s3: according to S2, to ensure the stability of the motorcade, constructing a expressway off ramp and near signal control area linkage control method based on an information physical system in a mixed traffic scene;
The step S3 comprises the following steps:
S31: constructing a first-in first-out cooperative control method;
When the vehicles on the expressway off ramp enter the urban road, the S31 establishes a first-in first-out cooperative control method for avoiding the long waiting time of the heterogeneous vehicles in the link area and the collision at the joint point, and the specific steps are as follows:
s311: at the time t, heterogeneous vehicles in the link area mutually acquire the state information of the vehicles through vehicle-to-vehicle communication;
s312: the method comprises the steps of utilizing a mapping technology to project the state information of network-connected automatic vehicles and network-connected person driving on a expressway off ramp onto an urban road, and sequencing the projected vehicles and vehicles on the urban road according to a first-in first-out cooperative algorithm to form a virtual motorcade;
S313: to ensure that all heterogeneous vehicles in a virtual fleet are able to maintain a desired inter-vehicle distance and speed, an intelligent driver model is used, in the following specific form:
Wherein v i (t) is the speed of the ith following vehicle at time t, and v max is the maximum speed; deltav i (t) and Deltas i (t) represent the speed difference and spacing of the ith vehicle from its preceding vehicle at time t; a max and a min represent a desired maximum acceleration and minimum deceleration, respectively; s 0 is the minimum parking safety distance, TH represents the reaction time of the following vehicle; a i (t) represents the acceleration of the i-th vehicle;
S314: according to the formula in S313, using newton' S second law, the motion states of all vehicles in the virtual fleet are further calculated as:
Wherein Δt is the time step; p i (t) represents the position of the i-th vehicle;
s32: establishing a distributed cooperative control method based on an information physical system;
s32 when virtual motorcade approaches the signal lamp gradually, the phenomenon of stopping when going and stopping when the constraint of signal lamp phase can appear, leads to the instability of motorcade and traffic efficiency to descend, in order to solve this phenomenon, constructs distributed cooperative control strategy, and the concrete step is:
S321: according to the established longitudinal dynamics model of the vehicle, the longitudinal control strategy of the networked automatic vehicle is constructed as follows:
Wherein, For control input of network-connected automatic vehicle,/>And/>The control gain of the network-connected automatic vehicle; the phi jl,p,Xjl,p represents the weight and the communication connection relation between the position of the jth internet-connected automatic vehicle and the position of the first vehicle, the phi jl,v,Xjl,v represents the weight and the communication connection relation between the speed of the jth internet-connected automatic vehicle and the speed of the first vehicle, and the phi jl,a,Xjl,a represents the weight and the communication connection relation between the acceleration of the jth internet-connected automatic vehicle and the acceleration of the first vehicle; d jl denotes a desired inter-vehicle distance between the jth networked vehicle and the first vehicle; ζ i represents the vehicle dynamics inertia delay;
s322: because of uncontrollable driving of the internet-connected person, based on the vehicle dynamics model, the following strategy of driving of the internet-connected person is established as follows:
In the method, in the process of the invention, Representing a driver response parameter; because of uncontrollable driving of the internet-connected person,/>Typically zero; /(I)Lambda io,p respectively represents weight and communication connection relation between driving position of ith Internet-connected person and parking position of the o-th vehicle,/>Lambda io,v respectively represents the weight and the communication connection relation between the driving speed of the ith Internet-connected person and the speed of the o vehicle,/>Lambda io,a respectively represents the weight and the communication connection relation between the driving acceleration of the ith internet-connected person and the acceleration of the o-th vehicle; d io represents the desired inter-vehicle distance between the ith networked human drive vehicle and the o-th vehicle; the network-connected person drives the car only with a communication function, has no controllability and only follows the acquired states of a plurality of vehicles in front, so that the above formula is degraded into:
S323: the constraint conditions of the mixed motorcade are set as follows:
since the state of the current vehicle depends on the constraints of the signal, the acceleration of the current vehicle constrained by the signal can be expressed as:
αi(t)＝θ(vi(t),△vi,0(t),di(t),vdesired)
Where θ is the following or control model function of the ith vehicle, v desired represents the desired speed, d i (t) represents the relative distance of the preceding vehicle or distance from the park line at red light, that can be expressed as:
the above indicates that d i (t) is the distance from the current vehicle to the stop line if the phase of the signal lamp is red, otherwise is the relative distance between the current vehicle and the preceding vehicle;
In order to keep the vehicles in the hybrid virtual fleet from stopping through the near signal control zone, the arrival times of the vehicles in the hybrid virtual fleet are estimated as
Where t i represents the time to reach the traffic light at the desired speed in the green phase and t delay,i represents the delay time to avoid stopping under traffic light constraints.
2. The method for controlling the linkage of the mixed traffic expressway off ramp and the near signal control area according to claim 1, which is characterized in that: the S1 specifically comprises the following steps:
The expressway off ramp is connected with the urban road to form a connection point, and when the traffic flow is high, a conflict area is formed; a signal lamp is arranged in front of an urban road connecting point, m vehicles and N vehicles are respectively arranged on an expressway down ramp and an urban road single lane, the total number of the vehicles is N=m+n, and the network-connected automatic vehicles and the network-connected human driving vehicles are mixed on the road; under such a scene, the internet-connected automatic car and the internet-connected person driving car can mutually acquire state information through car-car communication, and the internet-connected automatic car can automatically regulate and control the state of the internet-connected automatic car according to the acquired state information, and the internet-connected person driving car follows the states of a plurality of cars in front of the internet-connected automatic car; wherein, all heterogeneous vehicles can acquire the information of signal lamp.
3. The method for controlling the linkage of the mixed traffic expressway off ramp and the near signal control area according to claim 2, which is characterized in that: the nonlinear longitudinal dynamics of the S2 vehicle are as follows:
Where p i (t) and v i (t) represent the position and speed of the ith vehicle, Is the mechanical efficiency of the transmission, r i denotes the tire radius, T i (T) denotes the actual driving/braking torque, m i denotes the vehicle mass,/>Represents aerodynamic drag coefficient, g represents gravitational acceleration, f i is rolling drag coefficient, θ (p i (T)) represents inclination angle of road, ζ i represents vehicle kinetic inertial retardation, and T i des (T) represents desired driving/braking torque;
by using a linear feedback technique, a linear vehicle longitudinal dynamics model can be expressed as:
Where u i (t) represents a control input to the vehicle;
When the external factors are not considered, the linear dynamics model of the ith vehicle is degenerated to:
where a i (t) represents the acceleration of the i-th vehicle.
4. The method for controlling the linkage of the mixed traffic expressway off ramp and the near signal control area according to claim 3, wherein the method comprises the following steps:
In the physical layer, searching the running state of the virtual motorcade in the near signal control area, and how to acquire the state information of the heterogeneous vehicles and the phase information of the signal lamps through the information layer to adjust the states of the vehicles so that the vehicles can uniformly and stably pass through the near signal control area;
And in the information layer, the communication topological structure of heterogeneous vehicles in the queue, the communication relation among vehicles and the communication relation between the vehicles and the signal lamps are disclosed.
5. The method for controlling the linkage of the mixed traffic expressway off ramp and the near signal control area according to claim 4, wherein the method comprises the following steps:
The range of the engagement area is defined as 80 meters, the engagement point area is defined as 20 meters, the range of the near signal control area is defined as 300 meters, the communication range of the vehicle and the signal lamp is defined as 400 meters, and the communication range between vehicles is positioned as 400 meters.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210621619.9A CN114999140B (en) | 2022-06-02 | 2022-06-02 | Linkage control method for mixed traffic expressway down ramp and near signal control area |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210621619.9A CN114999140B (en) | 2022-06-02 | 2022-06-02 | Linkage control method for mixed traffic expressway down ramp and near signal control area |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN114999140A CN114999140A (en) | 2022-09-02 |
| CN114999140B true CN114999140B (en) | 2024-05-14 |
Family
ID=83031336
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202210621619.9A Active CN114999140B (en) | 2022-06-02 | 2022-06-02 | Linkage control method for mixed traffic expressway down ramp and near signal control area |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN114999140B (en) |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116434603B (en) * | 2022-12-05 | 2024-07-30 | 东南大学 | Automatic driving fleet horizontal and vertical synchronous safety control method based on SSM |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2017166474A1 (en) * | 2016-03-29 | 2017-10-05 | 中国科学院深圳先进技术研究院 | Method and system for intersection group-based traffic control |
| CN111260923A (en) * | 2020-01-20 | 2020-06-09 | 交通运输部公路科学研究所 | Expressway entrance ramp control method and system based on heterogeneous traffic scene |
| CN111583644A (en) * | 2020-05-08 | 2020-08-25 | 重庆大学 | Control method for network connection automatic vehicle of ramp convergence area on hybrid traffic express way |
| CN111754774A (en) * | 2020-07-02 | 2020-10-09 | 清华大学 | Safe self-organizing traffic control method for intelligent network-connected automobile at expressway ramp port |
| CN112437412A (en) * | 2020-10-30 | 2021-03-02 | 北方工业大学 | Mixed-driving vehicle formation control method based on vehicle-road cooperation |
| CN112820125A (en) * | 2021-03-24 | 2021-05-18 | 苏州大学 | Intelligent internet vehicle traffic guidance method and system under mixed traffic condition |
| CN114495527A (en) * | 2022-02-23 | 2022-05-13 | 长安大学 | Method and system for collaborative optimization of vehicle paths at internet intersection in mixed traffic environment |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20190311616A1 (en) * | 2018-04-10 | 2019-10-10 | Cavh Llc | Connected and automated vehicle systems and methods for the entire roadway network |
-
2022
- 2022-06-02 CN CN202210621619.9A patent/CN114999140B/en active Active
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2017166474A1 (en) * | 2016-03-29 | 2017-10-05 | 中国科学院深圳先进技术研究院 | Method and system for intersection group-based traffic control |
| CN111260923A (en) * | 2020-01-20 | 2020-06-09 | 交通运输部公路科学研究所 | Expressway entrance ramp control method and system based on heterogeneous traffic scene |
| CN111583644A (en) * | 2020-05-08 | 2020-08-25 | 重庆大学 | Control method for network connection automatic vehicle of ramp convergence area on hybrid traffic express way |
| CN111754774A (en) * | 2020-07-02 | 2020-10-09 | 清华大学 | Safe self-organizing traffic control method for intelligent network-connected automobile at expressway ramp port |
| CN112437412A (en) * | 2020-10-30 | 2021-03-02 | 北方工业大学 | Mixed-driving vehicle formation control method based on vehicle-road cooperation |
| CN112820125A (en) * | 2021-03-24 | 2021-05-18 | 苏州大学 | Intelligent internet vehicle traffic guidance method and system under mixed traffic condition |
| CN114495527A (en) * | 2022-02-23 | 2022-05-13 | 长安大学 | Method and system for collaborative optimization of vehicle paths at internet intersection in mixed traffic environment |
Non-Patent Citations (2)
| Title |
|---|
| Consensus-based Distributed Cooperative Control for Mixed Vehicle Group Systems with Packet Losses and Information Uncertainty in the Vicinity of Traffic Signal Light;S. Huang等;《2021 IEEE International Intelligent Transportation Systems Conference (ITSC)》;20210921;3623-3628 * |
| 基于CPS的人机协同纵向跟车建模与控制研究;李洋;《中国博士学位论文全文数据库 (工程科技Ⅱ辑)》;20220215(第2期);C035-24 * |
Also Published As
| Publication number | Publication date |
|---|---|
| CN114999140A (en) | 2022-09-02 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN107798861B (en) | Vehicle cooperative formation driving method and system | |
| CN108011947B (en) | Vehicle cooperative formation driving system | |
| CN112907986B (en) | Dynamic time window crossing scheduling method based on digital twin scene and edge cloud | |
| CN108475465B (en) | Method for moving, in particular controlling or regulating a vehicle fleet | |
| CN108447266B (en) | Intelligent network-connected automobile cooperative lane-changing enqueueing control method | |
| CN110276945A (en) | A kind of automatic driving vehicle grouping method | |
| CN106997690B (en) | Non-forced lane changing control method for vehicles on expressway in Internet of vehicles environment | |
| CN108877256B (en) | Wireless communication-based method for controlling scattered cooperative self-adaptive cruise near intersection | |
| CN107730883B (en) | Intersection area vehicle scheduling method in Internet of vehicles environment | |
| CN113489793B (en) | Expressway double-lane cooperative control method in mixed traffic scene | |
| CN103732937A (en) | Vehicle control device | |
| CN109215357B (en) | Intersection bus queue-insertion priority control method based on speed detection | |
| CN114999140B (en) | Linkage control method for mixed traffic expressway down ramp and near signal control area | |
| CN112767715B (en) | Intersection traffic signal lamp and intelligent networked automobile cooperative control method | |
| CN113257007B (en) | Signal control method and system for intersection to share automatic driving lane | |
| CN115273500A (en) | Signalized intersection internet vehicle track optimization guiding method and system | |
| CN113053167A (en) | Interconnected vehicle intersection collision-free management method in mixed traffic environment | |
| CN113205679A (en) | Traffic efficiency control method based on T-shaped intersection vehicle control system | |
| CN114220283A (en) | Intersection smooth vehicle speed guiding method based on V2X | |
| CN115376346A (en) | Multi-mode driving vehicle collaborative intersection method for expressway confluence area under mixed-driving condition | |
| CN115331461B (en) | Mixed traffic passing control method and device for signalless intersection and vehicle | |
| Humagain et al. | Dynamic prioritization of emergency vehicles for self-organizing traffic using VTL+ EV | |
| CN113870581B (en) | Control method for driving unmanned vehicle into road | |
| CN114187771B (en) | Bus driving control method and system based on cooperative self-adaptive cruise control | |
| CN115331432A (en) | Network-connected vehicle control method for inhibiting negative effect of traffic flow in tunnel entrance area |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |