CN115083176B - Internet-connected automatic train group serial arrangement realization method based on multitasking parallel control - Google Patents
Internet-connected automatic train group serial arrangement realization method based on multitasking parallel control Download PDFInfo
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Abstract
The invention discloses a method for realizing series arrangement of networked automatic vehicle groups based on multi-task parallel control, which is characterized in that under a pure networked automatic driving environment, based on the initial state information of the networked automatic vehicle groups and road sections thereof, a vehicle networking control center is used for acquiring, controlling the movements of different steering vehicles in a multi-line parallel manner until all vehicles complete each stage of tasks to reach a target series arrangement state, based on the dynamic performance of the vehicles, the time length of all control intervals before and after each task is calculated, and the running tracks of all the vehicles in each control interval are fused, and the vehicle tracks in all the control intervals are fused to form the complete running track of the networked automatic vehicle groups from the initial state to the final target state, so that the lane resources of an intersection are utilized to the maximum, and the traffic capacity of the intersection is improved.
Description
Technical Field
The invention relates to a method for realizing serial arrangement of networked automatic vehicles based on multitasking parallel control, which is used for controlling each networked automatic vehicle to finish each stage task in a multi-line parallel manner under a pure networked automatic driving environment until serial arrangement is formed, and the obtained overall process movement track of the vehicle can be used for planning an automatic driving vehicle, and belongs to the technical field of intelligent traffic.
Background
In the intelligent traffic field, an automobile is used as an important carrier for traffic travel, and is a core link in a traffic system; the intellectualization and networking of automobiles are important directions of future development; the intelligent and networking development of the propulsion automobile has important significance for solving the problems of energy consumption, environmental pollution, traffic jam and the like; the internet-based automatic driving vehicle integrates the internet of vehicles technology and the automatic driving technology, can realize the exchange and sharing of the vehicle and other intelligent agents, and brings great convenience for traffic travelers and managers.
Under the existing traffic rule, vehicles queued at the intersection can only pass through the intersection by utilizing the steering lanes, namely, different steering vehicles are arranged in parallel; under the background, some novel intersection control modes such as serial arrangement are proposed and verified to improve the intersection passing efficiency; however, this mode is difficult to implement due to the randomness of manually driving the vehicle. The networked automatic vehicle has the functions of complex environment sensing, intelligent decision, cooperative control and the like, and can effectively reduce illegal behaviors such as overspeed, red light running, drunk driving and the like by accurately controlling the track of the vehicle; under the trend of gradual application of the internet-connected automatic vehicle in the future, the realization of the novel intersection management and control mode has great possibility through the combined support of the internet-of-vehicle technology and the automatic driving technology. Under the background, the invention researches a vehicle track control method in a pure network-connected automatic vehicle flow environment.
Disclosure of Invention
The invention aims to provide a method for realizing serial arrangement of internet-connected automatic vehicle groups based on multitasking parallel control.
The method comprises the core ideas of acquiring initial state information of an Internet-connected automatic vehicle group and road sections thereof based on an Internet-connected control center under a pure Internet-connected automatic driving environment, controlling the maneuvers of different steering vehicles in a multi-line parallel manner until all vehicles complete each stage of tasks to reach a target serial arrangement state, calculating the time length of all control intervals before and after each task and the running track of all vehicles in each control interval based on the vehicle dynamics performance, and fusing the vehicle tracks in all control intervals to form an integral running track of the Internet-connected automatic vehicle group from the initial state to a final target state.
The technical scheme adopted by the invention is as follows:
a method for realizing serial arrangement of networked automatic vehicle groups based on multitasking parallel control comprises the following steps:
S1, aiming at three lanes and more than one road section, a vehicle networking control center communicates with the online automatic vehicles on the road section in real time, determines the current online automatic vehicle group as a control target, acquires road information and vehicle initial states, including the total number of lanes and vehicles, the steering and position distribution of each vehicle, and determines the initial distribution state and target distribution state of the online automatic vehicle group; in the initial distribution state, all vehicles are transversely aligned, the longitudinal keeping distance D 0 is kept, and vehicles A, B and C corresponding to different steering directions are respectively represented; the target distribution state refers to that the same steering vehicle occupies all lanes, and different steering vehicles are separated front and back;
S2, determining each steering separation special lane according to the acquired road information and the initial state of the vehicle, wherein each steering has at least one steering separation special lane;
S3, defining the number of virtual reserved lines R 0 and each steering sub-queue; the virtual reserved line R 0 is to increase reserved running space of the empty traveling vehicles A and B before the first line in the current state after finishing lane changing of the vehicles with different steering to the corresponding lanes; the steering sub-queue is a queue formed by vehicles which are in the same steering in each lane in a target distribution state;
s4, determining control tasks of each stage, including:
Task 1: determining the number of due vehicles after the cooperative lane change of each lane according to the number of the steering sub-queues, and longitudinally separating different steering vehicles to ensure that all vehicles A can change lanes to an L A separation dedicated lane, all vehicles B can change lanes to an L B separation dedicated lane and all vehicles C can change lanes to an L C separation dedicated lane;
Task 2: the different steering vehicles cooperatively change the lane to the corresponding separation special lane, and divide each steering sub-queue; after the cooperative lane changing of all vehicles is completed, adding R 0 virtual reserved lines before the current line;
Task 3: all vehicles A are separated along L A to form a special lane and simultaneously advance to the first row of all vehicles A sub-queue head vehicles to reach the first row, different rows are closely arranged, the same row of sub-queue head vehicles are aligned, and all sub-queue vehicles A are closely arranged;
task 4: completing lane scheduling of all vehicles A;
Task 5: all the vehicles B sub-queues meeting the condition that the right lane is the target lane change lane and all the vehicles B in the sub-queues of the vehicles B in the target lane are separated from the special lane and simultaneously advance along the L B until the head vehicles of the sub-queues of the vehicles B in the first row are positioned in the (R A +1) th row, the different rows are closely arranged, the head vehicles of the same row are aligned, and all the sub-queues of vehicles A are closely arranged;
Task 6: circularly running 1) -2) to all the vehicles B sub-queues meeting the conditions in the task 5 change lanes to the target lane and are closely arranged from the (R A +1) th row: 1) L B separates the current front-most vehicle-row B sub-queue of the special lane and simultaneously changes lanes to the target lane; 2) L B separates the special lane to leave a train B sub-queue train B meeting the condition of the task 5 and simultaneously advances the same distance until the head train of the sub-queue of the forefront row of the train B is positioned in the (R A +1) th row;
Task 7: the line of the vehicle B at the front of the sub-queues of the vehicle B in each row on the L B separation private road is marked as an aligned line of the row, all vehicles B except the sub-queues of the vehicle B meeting the conditions in the task 5 simultaneously advance to the head vehicles of the same row of sub-queues along the L B separation private road to drive to the aligned line of the row, and the sub-queues of the vehicle B are closely arranged;
Task 8: for all the same row of vehicle B sub-queues in the task 7, when one row of aligned rows and the row of vehicle B sub-queues behind the aligned rows do not have other steering vehicles on the corresponding lane target lane, the row of vehicle B sub-queues can be simultaneously changed to the target lane, all vehicles B of the sub-queues after the lane change simultaneously advance to the (R A +1) th row along the current lane, and all the sub-queue vehicles B are closely arranged;
Task 9: all vehicles C in the sub-queues of the first row of vehicles C are separated from the special lanes along the L C and simultaneously advance to the (R A+RB +1) th row of the head vehicles of each queue, and the sub-queues of vehicles C are closely arranged;
Task 10: the line of the vehicle C in front of the sub-line of the vehicle C on each row of the separation lanes of L C is marked as an aligned line of the row, all vehicles C except the sub-line of the vehicle C in the task 9 simultaneously advance to the head vehicle of the same row of the sub-line along the separation lanes of L C to drive to the aligned line of the row, and the sub-line vehicles C are closely arranged;
Task 11: for all the same row of vehicle C sub-queues in the task 10, when one row of aligned rows and the row of vehicle C sub-queues behind the aligned rows do not have other steering vehicles on the corresponding lane target lane, the row of vehicle C sub-queues can be simultaneously changed to the target lane, all vehicles C in the sub-queues after the lane change simultaneously advance to the (R A+RB +1) th row along the current lane, and all the sub-queue vehicles C are closely arranged;
s5, controlling each task to be carried out in parallel until reaching a target distribution state;
S6, completing all task fusion to form a whole process track.
Further, the method for determining each steering separation lane in S2 is as follows: the method comprises the steps of determining separation lanes of different steering vehicles based on the number of lanes and the number of vehicles, wherein the number of lanes of a road section is N L, the number of vehicles of a vehicle A, a vehicle B and a vehicle C is N A、NB and N C respectively, N LA、NLB and N LC lanes are selected from left to right as separation lanes, and the determination method of N LA、NLB and N LC is as follows: 1) If N L\3＝0,NLA＝NLB＝NLB＝NL/3,NL/3 represents the remainder; 2) If N L \3=1, let firstThen determining i, wherein the steering i=1 with the largest number of vehicles and the other steering i=0, if the number of the plurality of steering vehicles is the same as large, determining the steering i=1 with high priority according to the priority of the vehicles A, B and C, and the other steering i=0; 3) If N L \3=2, let/>Then determining i, wherein the steering i=0 with the smallest number of vehicles and the other steering i=1; if the number of the plurality of steering vehicles is as small, the steering i=0 with the higher priority is determined according to the priority of the vehicle C, the vehicle B and the vehicle a, and the other steering i=1,/>Representing a rounding down.
Further, in the step S3, the calculation process of the virtual reserved line is as follows: respectively calculating the number of lines required by the vehicles A, B and C to occupy all lanes under the target distribution stateWherein/>The method is characterized in that the method comprises the steps of representing upward rounding, traversing the current state one by one from front to back to find the row L 1 where the first vehicle C is located, wherein the number of empty rows to be increased is R 0＝RA+RB-L1 +1, and if R 0 is smaller than 0, virtual reserved rows are not required to be increased. For each steered vehicle, determining each row of steering sub-queues a i、Bi and C i to contain vehicles from front to back from right to left on each split lane, where i represents each lane from right to left, i=1,..; the same sub-queue should occupy as much of the lane to the left of the corresponding split lane as possible.
Further, the method for controlling the execution of each task in parallel in S5 is as follows: task 1, task 2 are sequentially executed, task 3 and task 4 are sequentially executed, task 5 and task 6 are sequentially executed, task 7 and task 8 are sequentially executed, task 10 and task 11 are sequentially executed, task 3, task 5, task 7 and task 9 are executed in parallel with task 10 after task 2 is executed, and if a rear vehicle meets a front vehicle in the task execution process, the rear vehicle closely follows the front vehicle until the task is completed.
Further, the method for forming the whole process track by integrating all tasks in the S6 is as follows:
Recording real-time position coordinates of each vehicle, calculating the time required by completing each task and the running track based on a vehicle kinematic model, and summarizing to form a complete network-connected automatic vehicle group running track from an initial state to a target state; the total time T＝t1+t2+max{t3+t4,t5+t6,t7+t8,t9,t10+t11}, required to reach the serial arrangement is shown where t1,t2,t3,t4,t5,t6,t7,t8,t9,t10,t11 represents the completion time of each task, respectively.
Further, in the step S4, the longitudinal separation rule between different steering vehicles includes the following steps:
S411 determines the principle to be followed by the separation process: 1) If different steering vehicles in the same row are positioned in the corresponding forward lanes or can be simultaneously changed to the corresponding forward lanes, longitudinal separation is not needed; 2) In the longitudinal separation process, the three steering vehicles have the advancing priorities of vehicle A, vehicle B and vehicle C from high to low; 3) If the steering is the same, under the condition of not obstructing lane changing, the forward priority of the left vehicle is higher than the forward priority of the right vehicle;
S412, traversing all rows one by one from back to front, wherein the steering vehicles with high priority in each row advance until all vehicles in each row do not mutually obstruct the lane change to the corresponding advancing lane, and each time the vehicles advance for one row, all vehicles in front of the current vehicle need to advance for one row; counting the number of forward progress of all vehicles, and then simultaneously moving to realize longitudinal separation;
S413, counting the number of lane change vehicles corresponding to each lane of the separated special lane after lane change in the current state for each steering vehicle after traversing all the lines, and repeatedly operating the steps 1) -2 if the number of lane change vehicles corresponding to the lane change in the current state of a lane is less than the number of due vehicles corresponding to the cooperative lane change until the number of lane change vehicles on all the lanes is equal to the number of due vehicles corresponding to the cooperative lane change; 1) Traversing each row from front to back, and marking behavior feature rows with the same number of steering vehicles as the number of the separated special lanes of the steering vehicles for each steering vehicle; 2) The rightmost vehicle of the feature row and all vehicles in front of it go forward by one row.
Further, in the step S4, the lane change rule in the step S4 includes the following steps:
S421, for each steering vehicle, marking the row with the same number of the steering vehicles as the number of the separation lanes of the steering vehicle as N S1, marking the row where the rest free lane change vehicles are positioned as N S2, wherein the rest free lane change vehicles are vehicles with the number of due vehicles after the collaborative lane change of the separation lanes subtracted by N S1;
S422 for each steering vehicle, the vehicle with N S1 is cooperatively changed to the corresponding separation dedicated road, the vehicle with N S2 is traversed from back to front, the vehicle with N S2 is freely changed to the left lane of the corresponding separation dedicated road, and the lane vehicle is changed to the left lane of the corresponding separation dedicated road in priority until the lane vehicle meets the sub-queue division; and counting lane change target lanes of all vehicles, and then moving simultaneously to realize collaborative lane change.
Further, in the step S4, the scheduling of the vehicle a includes the following steps:
S441, all vehicles A in the first row of the sub-queues of the vehicles A on the separation lane L A are simultaneously changed to the right lane to the edge lane or are closely arranged with other vehicles;
s442, after finishing replacing one lane in S441, separating all the remaining sub-queues of the vehicle A of the special lane L A, and then advancing simultaneously until the first lane is arranged tightly;
S443 repeats S441 and S442 until all of the car a subqueues are located before the (R A +1) th row.
Further, the vehicle kinematic model in the parallel control process is as follows:
the movement of the vehicle includes lateral movement and longitudinal movement; the time for transversely changing a lane for a lane-changing bicycle of a transversely moving vehicle is fixed to be T c; the vehicle longitudinal movement is a vehicle advancing process, and comprises a constant-speed maintaining state and an accelerating advancing state; the constant-speed maintaining state means: all vehicles have an initial longitudinal speed V 0 and a vehicle longitudinal speed V 0 in the side-by-side lane change or no acceleration. The acceleration progress state means: when the vehicle is advanced to achieve the aim of alignment or tight alignment, the initial longitudinal speed and the final longitudinal speed are both V 0, the maximum speed of all the automobiles is V max, and the maximum longitudinal acceleration is always kept as a max and the maximum longitudinal deceleration-a max during acceleration and deceleration.
The beneficial effects of the invention are as follows: the network-connected automatic vehicles can reach a serial arrangement state by carrying out multi-task parallel control on different steering network-connected automatic vehicles on the road section, thereby maximizing the utilization of the lane resources of the intersection and improving the traffic capacity of the intersection.
Drawings
FIG. 1 network-connected automatic vehicle group distribution state
FIG. 2 is a diagram of a multitasking parallel control network
FIG. 3 network-connected automatic vehicle group distribution state change process
FIG. 4 is a diagram of complete running tracks of a networked automatic vehicle group
Detailed Description
The invention will be further described with reference to the drawings and the specific examples.
A method for realizing serial arrangement of networked automatic vehicle groups based on multitasking parallel control comprises the following steps:
s1, determining initial distribution state and target distribution state of networking automatic vehicle group
For three lanes and more than the road sections, the internet-of-vehicles control center communicates with the internet-of-vehicles on the road sections in real time, determines the current internet-of-vehicles group as a control target, and acquires road information and vehicle initial states including the total number of lanes and vehicles, the steering and position distribution of each vehicle and the like. In the initial distribution state, all vehicles are transversely aligned, namely arranged in rows, the distance D 0 is kept longitudinally, the distribution state of the networked automatic vehicle group marks the relative positions of all vehicles on a road section, each distribution state is traversed from front to back, namely traversing from the first row of the current state to the last row of the current state, the vehicles corresponding to different steering can be respectively represented by a vehicle A, a vehicle B and a vehicle C, and the actual representative steering can be three types of left turning, straight running and right turning according to actual conditions; the initial distribution state is the network connection automatic vehicle group state which is obtained by the vehicle networking center and distributed according to the arrangement; the target distribution state, namely the series state, refers to that the same steering vehicle occupies all lanes, and different steering vehicles are separated front and back.
Taking a four-lane road segment as an example, the initial distribution state of the network-connected automatic vehicle group is shown in fig. 1, letters A, B, C respectively represent a steering vehicle 1, a steering vehicle 2 and a steering vehicle 3, which represent steering and can be selected according to actual conditions, and empty space indicates that no vehicle is occupied. The target distribution state, namely, the serial state refers to that the same steering vehicle occupies all lanes, and different steering vehicles are separated from each other front to back, namely, the target state is a serial arrangement of the steering vehicle 1, the steering vehicle 2 and the steering vehicle 3, such as a serial arrangement of the vehicle A, the vehicle B and the vehicle C in the target distribution state in fig. 1.
Mu 2 determination of steering separation lanes
The separation lane is used for separating vehicles with different steering directions, and the vehicles with different steering directions can occupy after separation, wherein each steering direction has at least one steering separation lane.
In a preferred embodiment, the lane number of the different steering vehicles is determined based on the lane number and the vehicle number, specifically, the road section lane number is N L, the vehicle numbers of the vehicle a, the vehicle B and the vehicle C are N A、NB and N C, respectively, and the N LA、NLB and N LC lanes are selected as the lane separation lanes from left to right in this order, and the determination methods marked as L A、LB and L C,NLA、NLB and N LC are as follows:
1) If N L\3＝0,NLA＝NLB＝NLB＝NL/3; wherein N L \3 represents the remainder, and/is the divisor;
2) If N L \3=1, let first Then determining i, wherein the steering i=1 with the largest number of vehicles and the other steering i=0, if the number of the plurality of steering vehicles is the same as large, determining the steering i=1 with high priority according to the priority of the vehicles A, B and C, and the other steering i=0;
3) If N L \3=2, let first Then determining i, wherein the steering i=0 with the smallest number of vehicles and the other steering i=1; if the number of the plurality of steering vehicles is as small as possible, the steering i=0 and the other steering i=1 with the higher priority are determined according to the priority of the vehicle C, the vehicle B, and the vehicle a.
S3 defining virtual reserved lines and the number of each steering sub-queue
The virtual reserved line is to increase the reserved running space of the empty traveling vehicles A and B before the first line in the current state after the lane changing of the vehicles with different steering to the corresponding lanes is completed, wherein the calculation process of the increased line number is as follows: calculating the number of lines required by the vehicle A, the vehicle B and the vehicle C to occupy all lanes respectivelyWherein/>The method is characterized in that the method comprises the steps of representing upward rounding, traversing the current state one by one from front to back to find the row L 1 where the first vehicle C is located, wherein the number of empty rows to be increased is R 0＝RA+RB-L1 +1, and if R 0 is smaller than 0, virtual reserved rows are not required to be increased.
The steering sub-queue is composed of vehicles which are steered in the same way in each lane in the target distribution state; as shown in fig. 1, the vehicle a sub-train a 1 is a vehicle a train located in the lane 1 in the target distribution state, and includes 2 vehicles. The same sub-queue should occupy the left lane of the corresponding separation lane as far as possible; subqueues A i、Bi and C i represent a vehicle A subqueue, a vehicle B subqueue and a vehicle C subqueue which are required to be changed to lane i finally, the corresponding steering vehicle numbers are A in、Bin and C in respectively, and the determination methods are the same, taking A in as an example: calculating N A\NL =r, letWherein, when i=1, where j=1 at R, j=0 when i=r+1,..n L; Representing an upward rounding. Each steer vehicle subqueue Ai, bi, and Ci was determined in turn to contain the number of vehicles, where i=1.
S4, determining control tasks of each stage
Task 1: the number of due vehicles after the lane cooperative lane change is determined according to the number of the steering sub-queues, for each separation lane, the steering sub-queues a i、Bi and C i of each row are determined from right to left from front to back (right front-left front-right back-left back) on each separation lane, and the number of vehicles of each lane is counted according to the number of the steering sub-queues determined in step S3, namely the number of due vehicles after the lane cooperative lane change, and as shown in fig. 3, the state ③ is the state after the lane cooperative lane change of each lane. Then, longitudinally separating vehicles with different steering directions to ensure that all vehicles A can change lanes to LA separation lanes, all vehicles B can change lanes to L B separation lanes, and all vehicles C can change lanes to L C separation lanes; as an embodiment, the task comprises the following steps:
S411 determines the principle to be followed by the separation process: 1) If different steering vehicles in the same row are positioned in the corresponding forward lanes or can be simultaneously changed to the corresponding forward lanes, longitudinal separation is not needed; 2) In the longitudinal separation process, the three steering vehicles have the advancing priorities of vehicle A, vehicle B and vehicle C from high to low; 3) If the steering is the same, under the condition of not obstructing lane changing, the forward priority of the left vehicle is higher than the forward priority of the right vehicle;
S412, traversing all rows one by one from back to front, wherein the steering vehicles with high priority in each row advance until all vehicles in each row do not mutually obstruct the lane change to the corresponding advancing lane, and each time the vehicles advance for one row, all vehicles in front of the current vehicle need to advance for one row; counting the number of forward progress of all vehicles, and then simultaneously moving to realize longitudinal separation;
S413, counting the number of lane change vehicles corresponding to each lane of the separated special lane after lane change in the current state for each steering vehicle after traversing all the lines, and repeatedly operating the steps 1) -2 if the number of lane change vehicles corresponding to the lane change in the current state of a lane is less than the number of due vehicles corresponding to the cooperative lane change until the number of lane change vehicles on all the lanes is equal to the number of due vehicles corresponding to the cooperative lane change; 1) Traversing each row from front to back, and marking behavior feature rows with the same number of steering vehicles as the number of the separated special lanes of the steering vehicles for each steering vehicle; 2) The rightmost vehicle of the feature row and all vehicles in front of the rightmost vehicle go forward for one row.
Task 2: the different steering vehicles cooperatively change the lane to the corresponding separation special lane, and divide each steering sub-queue; wherein, for each steered vehicle, the vehicles contained in each row of each steering sub-queues a i、Bi and C i are determined from right to left front to back (right front-left front-right back-left back) on each split lane, wherein i represents each lane from right to left, i=1, and N L; after the cooperative lane changing of all vehicles is completed, adding R 0 virtual reserved lines before the current line; the lane change rule comprises the following steps:
S421, for each steering vehicle, marking the row with the same number of the steering vehicles as the number of the separation lanes of the steering vehicle as N S1, marking the row where the rest free lane change vehicles are positioned as N S2, wherein the rest free lane change vehicles are vehicles with the number of due vehicles after the collaborative lane change of the separation lanes subtracted by N S1;
S422 for each steering vehicle, the vehicle with N S1 is cooperatively changed to the corresponding separation dedicated road, the vehicle with N S2 is traversed from back to front, the vehicle with N S2 is freely changed to the left lane of the corresponding separation dedicated road, and the lane vehicle is changed to the left lane of the corresponding separation dedicated road in priority until the lane vehicle meets the sub-queue division; and counting lane change target lanes of all vehicles, and then moving simultaneously to realize collaborative lane change.
Task 3: all vehicles A are separated along L A to form a special lane and simultaneously advance to the first row of all vehicles A sub-queue head vehicles to reach the first row, different rows are closely arranged, the same row of sub-queue head vehicles are aligned, and all sub-queue vehicles A are closely arranged;
task 4: completing lane scheduling of all vehicles A; the scheduling of vehicle a includes the steps of:
S441, all vehicles A in the first row of the sub-queues of the vehicles A on the separation lane L A are simultaneously changed to the right lane to the edge lane or are closely arranged with other vehicles;
s442, after finishing replacing one lane in S441, separating all the remaining sub-queues of the vehicle A of the special lane L A, and then advancing simultaneously until the first lane is arranged tightly;
S443 repeats S441 and S442 until all of the car a subqueues are located before the (R A +1) th row.
Task 5: all vehicles B meeting the lane on the right side as a target lane change sub-queue and all vehicles B in the lane on the target lane sub-queue are separated from a special lane along L B and simultaneously advance, different rows are closely arranged, head vehicles of the same row of sub-queues are aligned, and all sub-queue vehicles A are closely arranged;
Task 6: circularly running 1) -2) to all the vehicles B sub-queues meeting the conditions in the task 5 change lanes to the target lane and are closely arranged from the (R A +1) th row: 1) L B separates the current front-most vehicle-row B sub-queue of the special lane and simultaneously changes lanes to the target lane; 2) L B separates the special lane to leave a train B sub-queue train B meeting the condition of the task 5 and simultaneously advances the same distance until the head train of the sub-queue of the forefront row of the train B is positioned in the (R A +1) th row;
Task 7: the line of the vehicle B at the front of the sub-queues of the vehicle B in each row on the L B separation private road is marked as an aligned line of the row, all vehicles B except the sub-queues of the vehicle B meeting the conditions in the task 5 simultaneously advance to the head vehicles of the same row of sub-queues along the L B separation private road to drive to the aligned line of the row, and the sub-queues of the vehicle B are closely arranged; wherein the lanes of the split lanes each divide the sub-queues into a first row of sub-queues and a second row of sub-queues in a front-to-back order, the same row being in the same order, as shown in state ③ of fig. 3, wherein the first row of sub-queues of vehicle B on the L B split lanes includes B 1、B2.
Task 8: for all the same row of vehicle B sub-queues in the task 7, when one row of aligned rows and the row of vehicle B sub-queues behind the aligned rows do not have other steering vehicles on the corresponding lane target lane, the row of vehicle B sub-queues can be simultaneously changed to the target lane, all vehicles B of the sub-queues after the lane change simultaneously advance to the (R A +1) th row along the current lane, and all the sub-queue vehicles B are closely arranged;
Task 9: all vehicles C in the sub-queues of the first row of vehicles C are separated from the special lanes along the L C and simultaneously advance to the (R A+RB +1) th row of the head vehicles of each queue, and the sub-queues of vehicles C are closely arranged;
Task 10: the line of the vehicle C in front of the sub-line of the vehicle C on each row of the separation lanes of L C is marked as an aligned line of the row, all vehicles C except the sub-line of the vehicle C in the task 9 simultaneously advance to the head vehicle of the same row of the sub-line along the separation lanes of L C to drive to the aligned line of the row, and the sub-line vehicles C are closely arranged;
Task 11: for all the same row of vehicle C sub-queues in the task 10, when one row of aligned rows and the row of vehicle C sub-queues behind the aligned rows do not have other steering vehicles on the corresponding lane target lane, the row of vehicle C sub-queues can be simultaneously changed to the target lane, all vehicles C in the sub-queues after the lane change simultaneously advance to the (R A+RB +1) th row along the current lane, and all the sub-queue vehicles C are closely arranged;
S5, controlling each task to be carried out in parallel until reaching a target distribution state
The initial distribution state of the networked automatic vehicle group is defined as a state ①,②-⑦ which is an intermediate state, and the target distribution state is defined as a state ⑧;
The tasks 1,2 are sequentially executed, the tasks 3, 4 are sequentially executed, the tasks 5, 6 are sequentially executed, the tasks 7, 8 are sequentially executed, the tasks 10, 11 are sequentially executed, after the tasks 2 are executed, the tasks 3, 5, 7, 9 and 10 are parallelly executed, the multi-task parallel control network diagram is shown in fig. 2, and as part of the tasks are simultaneously executed, if a rear vehicle meets a front vehicle in the task execution process, the rear vehicle closely follows the front vehicle until the tasks are completed.
S6, completing all tasks to be fused to form an overall process track
Recording real-time position coordinates of each vehicle, calculating the time required by completing each task and the running track based on a vehicle kinematic model, and summarizing to form a complete network-connected automatic vehicle group running track from an initial state to a target state; the total time T＝t1+t2+max{t3+t4,t5+t6,t7+t8,t9,t10+t11}. required to reach the serial arrangement is shown where t1,t2,t3,t4,t5,t6,t7,t8,t9,t10,t11 represents the completion time of each task, respectively.
Wherein, the kinematic model of the vehicle is as follows:
the movement of the vehicle includes lateral movement and longitudinal movement;
for the lane change of a transverse moving vehicle, in order to reduce the calculation complexity, the time for transversely changing a lane of a bicycle is fixed to be T c;
The vehicle longitudinal movement is a vehicle advancing process, and comprises a constant-speed maintaining state and an accelerating advancing state; the constant-speed maintaining state means: all vehicles have an initial longitudinal speed V 0 and a longitudinal speed V 0 in the lateral lane change or no acceleration forward state. The acceleration progress state means: when the vehicle is advanced to achieve the aim of alignment or tight alignment, the initial longitudinal speed and the final longitudinal speed are both V 0, the maximum speed of all the automobiles is V max, and the maximum longitudinal acceleration is always kept as a max and the maximum longitudinal deceleration-a max during acceleration and deceleration.
For a longitudinal forward process of a networked automatic vehicle, calculating an actual movement distance D according to the position coordinates, wherein the actual movement distance D may undergo two types of acceleration and deceleration processes: 1) If D is small, the vehicle begins to slow down until V 0 is restored, without having reached maximum speed V max; 2) If D is larger, the vehicle starts to decelerate after reaching the maximum speed V max and running at the constant speed V max for a period of time until V 0 is restored; the time T D required to reach the target position is calculated by the following formula:
Taking a four-lane road section as an example, the method controls the network-connected automatic vehicle groups to be arranged in series based on the multitasking parallel control network diagram, and comprises the following specific steps:
s1, determining initial distribution state and target distribution state of networking automatic vehicle group
The internet of vehicles control center determines the current internet of vehicles as a control target, and obtains road information and initial states of vehicles, including total number of lanes and vehicles, steering and position distribution of each vehicle, and the like, as shown in state ① of fig. 3. Letter A, B, C indicates left turn, straight run, right turn, all vehicles aligned laterally, longitudinal holding distance D 0 = 12m, respectively. The target distribution state is shown in fig. 3 state ⑧: all the left turning vehicles are in front of all the straight vehicles and the right turning vehicles, and all the straight vehicles are in front of all the right turning vehicles and are respectively and closely arranged.
S2 determining each steering separation special road
The number of road section lanes is N L =4, and the number of vehicles of vehicle a, vehicle B and vehicle C is N A＝6、NB =9 and N C =5, respectively; calculating N LA＝1、NLB =2 and N LC =1, and sequentially selecting N LA、NLB and N LC lanes from left to right as separation lanes, labeled as L A、LB and L C;
s3 defining virtual reserved lines and the number of each steering sub-queue
Calculating R A＝2,RB＝3,RC＝2,L1 =1, then R 0 =5, calculating A1＝2,A2＝2,A3＝1,A4＝1,B1＝3,B2＝2,B3＝2,B4＝2,C1＝2,C2＝1,C3＝1,C4＝1, determines each steering vehicle sub-queue;
S4-S6, determining control tasks of each stage, controlling the tasks to be carried out in parallel until reaching a target distribution state, and calculating the time required by each task to form a whole process track:
And marking the position of the last vehicle in the initial distribution state as a longitudinal origin, and marking the edge of the leftmost lane of the road section as a transverse origin. The lane width was set to 3.5m, and the lateral positions were 1.75m,5.25m,8.75m, and 12.25m, respectively, assuming that the vehicle was running on the center line of each lane. Recording front and rear coordinates of each vehicle task;
The parameters in this example are set as follows: initial speed V 0 =2m/s, road maximum speed V max =20m/s, maximum acceleration 3m/s 2, maximum deceleration-3 m/s 2, and lane change time T c =2s.
The operation process of each task is as follows:
Task 1: the different steering vehicles are longitudinally separated, the separated state is shown as a state ② in fig. 3, the vehicle is furthest relative to the forward distance D=7D 0 in the process, and the t 1 =10.58 s is calculated based on a vehicle kinematic model;
task 2: changing the lane of different steering vehicles to the corresponding separation special lane, dividing each steering sub-queue, adding 5 rows of empty rows before the current row after the lane change is completed, and after the task 2 is completed, the state is shown as a state ③ in fig. 3, wherein the darkened vehicle is the head vehicle of each sub-queue, the vehicle is changed for at most three lanes, and t 2＝3*TC =6s is calculated based on a vehicle kinematic model;
Task 3: all vehicles A advance along an L A advancing lane and simultaneously advance to the first row of vehicles A sub-queue head vehicles to reach the first row, different rows are closely arranged, the same queue head vehicles are aligned, and all sub-queue vehicles A are closely arranged; the furthest relative forward distance D=9D 0 of the vehicle in the process, and the calculated t 3 =12s is calculated based on a vehicle kinematic model;
Task 4: lane scheduling of all vehicle a is completed: 1) All vehicles A in the A 1 sub-queue are simultaneously changed to the right for 3 lanes; 2) After 1) completing the replacement of 1 lane, all the remaining sub-queues of the vehicle A of the separation lane L A advance simultaneously until the first lane is tightly arranged; 3) All vehicles A in the A 2 sub-queue are simultaneously changed to the right for 2 lanes; 4) After 3) completing the replacement of one lane, separating all the remaining sub-queues of the vehicle A of the special lane L A, and simultaneously advancing until the first lane is tightly arranged; 5) All vehicles A in the A 3 sub-queue are simultaneously changed to the right for 1 lane; 6) After 5) is completed, all the remaining sub-queues of the vehicle A advance simultaneously until the first row is tightly arranged; in the process, the vehicle advances for three times respectively in 2D 0、2D0、D0, and meanwhile, 3 times of lane changing for 1 time are needed, and t 4 =5.66×2+4+2×3= 21.32s can be obtained based on the calculation of the vehicle kinematic model;
Task 5: all the vehicles B meeting the lane on the right side as a target lane change sub-array and the vehicles B sub-array (B 1、B2) on the target lane advance simultaneously along the L B separation lane until the head vehicle of each sub-array is positioned on the 3 rd row, and the vehicles B of each sub-array are closely arranged; the furthest relative forward distance D=10D 0 of the vehicle in the process, and the calculated t 5 =12.67 s is calculated based on a vehicle kinematic model;
Task 6: all vehicles B in the first row of vehicle B sub-queues are simultaneously changed to the right by 1 lane, and t 6 = 2s is calculated;
Task 7: the line of the vehicle B at the front of the sub-line of the vehicle B on each row of the separation lanes of L B is marked as the aligned line of the row (namely the head vehicle position of B 3), all vehicles B of B 3、B4 simultaneously advance to the head vehicle of the same row of sub-line along the separation lanes of L B to drive to the aligned line of the row, and the sub-line vehicles B are closely arranged; the furthest relative forward distance D=4D 0 of the vehicle in the process is calculated to be t 7 =8s based on a vehicle kinematic model;
Task 8: the leftmost vehicle A takes time t 81 =5.66 s to go beyond the B 4 queue, then the B 3,B4 sub-queue changes a lane at the same time, time t 82 =2 s, all vehicles B of the sub-queue after the lane change go forward to the 3 rd row along the current lane at the same time, all the sub-queue vehicles B are closely arranged and need to go forward to D 2＝9D0, time t 83 =12 s, and time t 8＝t81+t82+t83 =19.66 s; ;
Task 9: all vehicles C in the first row of vehicle C sub-queues are separated from the special lane along L C and simultaneously advance to the position of the head vehicle of each queue on the 6 th row, and the vehicles C in each sub-queue are closely arranged, and as two vehicles in the C 1 queue are respectively positioned on the 6 th row and the 7 th row, t 9 =0s;
Task 10: all vehicles C except the first row of vehicle C sub-queues are separated along L C to separate the special lanes and simultaneously advance to the head vehicle of the same row of sub-queues to drive to the aligned row of the row, and all the sub-queues of vehicle C are closely arranged; since the C 2,C3,C4 queue has only one car and is already in the required position, then t 10 =0s;
Task 11: for the C 4 queue, the time spent by the left vehicle B exceeding the running time of the head vehicle is t c41 =8s, then the C 4 queue is changed to the left for 3 lanes at the same time, time spent by t c42 =6s, all vehicles C in the sub-queues after the lane change are simultaneously advanced to the head vehicle along the current lane to be positioned in the 6 th row, the sub-queue vehicles C are closely arranged, 8D 0 is required to advance, time spent by t c43 =11.31 s, and time spent by t c4＝tc41+tc42+tc43 =25.31 s; for the C 3 queue, the time spent by the left side B 3,B4 queue for tightly arranging and changing lanes is t c31 =8+2=10s, then the time spent by the left side vehicle B for exceeding the travel time spent by the head vehicle of the left side vehicle B is t c32 =4s, then the C 3 queue simultaneously changes 2 lanes to the left, the time spent by t c33 =4s, all vehicles C of the sub-queues after lane changing simultaneously advance to the head vehicle along the current lane to be positioned on the 6 th row, the sub-queue vehicles C are tightly arranged and need to advance for 6D 0, the time spent by t c34 =9.80 s, and then t c4＝tc31+tc32+tc33+tc34 =27.8 s; for the C 2 queue, the time spent by the left side B 3,B4 queue for completing tight arrangement and lane changing is t c21 =8+2=10s, then the time spent by the left side vehicle B for exceeding the travel time spent by the head vehicle thereof is t c22 =5.66 s, then the C 2 queue is used for simultaneously exchanging 1 lane to the left, the time spent by t c23 =2s, all vehicles C in the sub-queues after lane changing are simultaneously advanced to the head vehicle along the current lane to be positioned in the 6 th row, the sub-queue vehicles C are tightly arranged and are required to be advanced by 4D 0, the time spent by t c24 =8s, and then t c2＝tc21+tc22+tc23+tc24 =25.66 s; task 11 completes maximum time t 11＝max{tc2,tc3,tc4 } = 27.8s;
The total time required to reach the series arrangement t=10.58+6+ {12+21.32, 12.67+2,8+19.66,0,0+27.8} =49.9 s, the maximum reach distance x=16d 0+T*V0 =291.8 m,
And recording relative position coordinates before and after each vehicle task, and summarizing to form a complete network-connected automatic vehicle group running track from an initial state to a target state, as shown in fig. 4, wherein t is accumulated consumed time, the longitudinal position x corresponds to the advancing direction of the vehicle, and the transverse position y corresponds to the lane changing direction of the vehicle. Each continuous curve represents the travel track of a certain networked vehicle in fig. 3 from the initial time to the completion of the target arrangement, and fig. 4 includes the entire travel track of all networked vehicles in fig. 3.
The invention is not a matter of the known technology.
The above embodiments are provided to illustrate the technical concept and features of the present invention and are intended to enable those skilled in the art to understand the content of the present invention and implement the same, and are not intended to limit the scope of the present invention. All equivalent changes or modifications made in accordance with the spirit of the present invention should be construed to be included in the scope of the present invention.
Claims (8)
1. The method for realizing the serial arrangement of the internet-connected automatic vehicle groups based on the multitasking parallel control is characterized by comprising the following steps of: s1, aiming at three lanes and more than one road section, a vehicle networking control center communicates with the online automatic vehicles on the road section in real time, determines the current online automatic vehicle group as a control target, acquires road information and vehicle initial states, including the total number of lanes and vehicles, the steering and position distribution of each vehicle, and determines the initial distribution state and target distribution state of the online automatic vehicle group; in the initial distribution state, all vehicles are transversely aligned, the longitudinal keeping distance D 0 is kept, and vehicles A, B and C corresponding to different steering directions are respectively represented; the target distribution state refers to that the same steering vehicle occupies all lanes, and different steering vehicles are separated front and back;
S2, determining each steering separation special lane according to the acquired road information and the initial state of the vehicle, wherein each steering has at least one steering separation special lane;
S3, defining the number of virtual reserved lines R 0 and each steering sub-queue; the virtual reserved line R 0 is to increase reserved running space of the empty traveling vehicles A and B before the first line in the current state after finishing lane changing of the vehicles with different steering to the corresponding lanes; the steering sub-queue is a queue formed by vehicles which are in the same steering in each lane in a target distribution state;
s4, determining control tasks of each stage, including:
Task 1: determining the number of due vehicles after the cooperative lane change of each lane according to the number of the steering sub-queues, and longitudinally separating different steering vehicles to ensure that all vehicles A can change lanes to an L A separation dedicated lane, all vehicles B can change lanes to an L B separation dedicated lane and all vehicles C can change lanes to an L C separation dedicated lane;
Task 2: the different steering vehicles cooperatively change the lane to the corresponding separation special lane, and divide each steering sub-queue; after the cooperative lane changing of all vehicles is completed, adding R 0 virtual reserved lines before the current line;
Task 3: all vehicles A are separated along L A to form a special lane and simultaneously advance to the first row of all vehicles A sub-queue head vehicles to reach the first row, different rows are closely arranged, the same row of sub-queue head vehicles are aligned, and all sub-queue vehicles A are closely arranged;
task 4: completing lane scheduling of all vehicles A;
Task 5: all the vehicles B sub-queues meeting the condition that the right lane is the target lane change lane and all the vehicles B in the sub-queues of the vehicles B in the target lane are separated from the special lane and simultaneously advance along the L B until the head vehicles of the sub-queues of the vehicles B in the first row are positioned in the (R A +1) th row, the different rows are closely arranged, the head vehicles of the same row are aligned, and all the sub-queues of vehicles A are closely arranged; r A represents the number of rows required for vehicle A to occupy all lanes;
Task 6: circularly running 1) -2) to all the vehicles B sub-queues meeting the conditions in the task 5 change lanes to the target lane and are closely arranged from the (R A +1) th row: 1) L B separates the current front-most vehicle-row B sub-queue of the special lane and simultaneously changes lanes to the target lane; 2) L B separates the special lane to leave a train B sub-queue train B meeting the condition of the task 5 and simultaneously advances the same distance until the head train of the sub-queue of the forefront row of the train B is positioned in the (R A +1) th row;
Task 7: the line of the vehicle B at the front of the sub-queues of the vehicle B in each row on the L B separation private road is marked as an aligned line of the row, all vehicles B except the sub-queues of the vehicle B meeting the conditions in the task 5 simultaneously advance to the head vehicles of the same row of sub-queues along the L B separation private road to drive to the aligned line of the row, and the sub-queues of the vehicle B are closely arranged;
Task 8: for all the same row of vehicle B sub-queues in the task 7, when one row of aligned rows and the row of vehicle B sub-queues behind the aligned rows do not have other steering vehicles on the corresponding lane target lane, the row of vehicle B sub-queues can be simultaneously changed to the target lane, all vehicles B of the sub-queues after the lane change simultaneously advance to the (R A +1) th row along the current lane, and all the sub-queue vehicles B are closely arranged;
Task 9: all vehicles C in the sub-queues of the first row of vehicles C are separated from the special lanes along the L C and simultaneously advance to the (R A+RB +1) th row of the head vehicles of each queue, and the sub-queues of vehicles C are closely arranged; r B represents the number of rows required for the vehicle B to occupy all lanes;
Task 10: the line of the vehicle C in front of the sub-line of the vehicle C on each row of the separation lanes of L C is marked as an aligned line of the row, all vehicles C except the sub-line of the vehicle C in the task 9 simultaneously advance to the head vehicle of the same row of the sub-line along the separation lanes of L C to drive to the aligned line of the row, and the sub-line vehicles C are closely arranged;
Task 11: for all the same row of vehicle C sub-queues in the task 10, when one row of aligned rows and the row of vehicle C sub-queues behind the aligned rows do not have other steering vehicles on the corresponding lane target lane, the row of vehicle C sub-queues can be simultaneously changed to the target lane, all vehicles C in the sub-queues after the lane change simultaneously advance to the (R A+RB +1) th row along the current lane, and all the sub-queue vehicles C are closely arranged;
S5, controlling each task to be carried out in parallel until reaching a target distribution state; the method for controlling the execution of each task in parallel comprises the following steps: task 1, task 2 are sequentially executed, task 3, task 4 are sequentially executed, task 5, task 6 are sequentially executed, task 7, task 8 are sequentially executed, task 10, task 11 are sequentially executed, task 3, task 5, task 7, task 9 and task 10 are executed in parallel after task 2 is executed, and if a rear vehicle meets a front vehicle in the task execution process, the rear vehicle closely follows the front vehicle until the task is completed;
S6, completing all task fusion to form a whole process track.
2. The method for implementing the serial arrangement of the networked automatic vehicle group based on the multitasking parallel control according to claim 1, wherein the method for determining each steering separation lane by S2 is as follows: the method comprises the steps of determining separation lanes of different steering vehicles based on the number of lanes and the number of vehicles, wherein the number of lanes of a road section is N L, the number of vehicles of a vehicle A, a vehicle B and a vehicle C is N A、NB and N C respectively, N LA、NLB and N LC lanes are selected from left to right as separation lanes, and the determination method of N LA、NLB and N LC is as follows: 1) If N L\3＝0,NLA＝NLB＝NLC＝NL/3,NL/3 represents the remainder; 2) If N L \3=1, let firstThen determining i, wherein the steering i=1 with the largest number of vehicles and the other steering i=0, if the number of the plurality of steering vehicles is the same as large, determining the steering i=1 with high priority according to the priority of the vehicles A, B and C, and the other steering i=0; 3) If N L \3=2, let/>Then determining i, wherein the steering i=0 with the smallest number of vehicles and the other steering i=1; if the number of the plurality of steering vehicles is as small, determining the steering i=0 with high priority according to the priority of the vehicle C, the vehicle B and the vehicle A, and the other steering i=1; /(I)Representing a rounding down.
3. The method for implementing the tandem arrangement of the networked automatic vehicle group based on the multitasking parallel control according to claim 2, wherein in S3, the calculation process of the virtual reserved line is as follows: respectively calculating the number of lines required by the vehicles A, B and C to occupy all lanes under the target distribution stateWherein/>The method comprises the steps that the current state is traversed one by one from front to back to find the row L 1 where the first vehicle C is located, the number of empty rows to be increased is R 0＝RA+RB-L1 +1, and if R 0 is less than 0, virtual reserved rows are not required to be increased; for each steered vehicle, determining vehicles contained in each row of steering sub-queues a i、Bi and C i from front to back on each split lane from right to left, wherein i represents each lane from right to left, i=1, N L; the same sub-queue should occupy as much of the lane to the left of the corresponding split lane as possible.
4. The method for implementing the serial arrangement of the networked automatic vehicle groups based on the multitasking parallel control according to claim 1, wherein the method for completing the fusion of all tasks to form the whole process track in S6 is as follows:
Recording real-time position coordinates of each vehicle, calculating the time required by completing each task and the running track based on a vehicle kinematic model, and summarizing to form a complete network-connected automatic vehicle group running track from an initial state to a target state; the total time T＝t1+t2+max{t3+t4,t5+t6,t7+t8,t9,t10+t11}, required to reach the serial arrangement is shown where t1,t2,t3,t4,t5,t6,t7,t8,t9,t10,t11 represents the completion time of each task, respectively.
5. The method for implementing the tandem arrangement of the networked automatic vehicle group based on the multitasking parallel control according to claim 1, wherein in the S4 task 1, the longitudinal separation rule between different steering vehicles comprises the following steps:
S411 determines the principle to be followed by the separation process: 1) If different steering vehicles in the same row are positioned in the corresponding forward lanes or can be simultaneously changed to the corresponding forward lanes, longitudinal separation is not needed; 2) In the longitudinal separation process, the three steering vehicles have the advancing priorities of vehicle A, vehicle B and vehicle C from high to low; 3) If the steering is the same, under the condition of not obstructing lane changing, the forward priority of the left vehicle is higher than the forward priority of the right vehicle;
S412, traversing all rows one by one from back to front, wherein the steering vehicles with high priority in each row advance until all vehicles in each row do not mutually obstruct the lane change to the corresponding advancing lane, and each time the vehicles advance for one row, all vehicles in front of the current vehicle need to advance for one row; counting the number of forward progress of all vehicles, and then simultaneously moving to realize longitudinal separation;
S413, counting the number of lane change vehicles corresponding to each lane of the separated special lane after lane change in the current state for each steering vehicle after traversing all the lines, and repeatedly operating the steps 1) -2 if the number of lane change vehicles corresponding to the lane change in the current state of a lane is less than the number of due vehicles corresponding to the cooperative lane change until the number of lane change vehicles on all the lanes is equal to the number of due vehicles corresponding to the cooperative lane change; 1) Traversing each row from front to back, and marking behavior feature rows with the same number of steering vehicles as the number of the separated special lanes of the steering vehicles for each steering vehicle; 2) The rightmost vehicle of the feature row and all vehicles in front of it go forward by one row.
6. The method for implementing the tandem arrangement of the networked automatic vehicle group based on the multitasking parallel control according to claim 1, wherein in the S4 task 2, the lane change rule comprises the following steps:
S421, for each steering vehicle, marking the row with the same number of the steering vehicles as the number of the separation lanes of the steering vehicle as N S1, marking the row where the rest free lane change vehicles are positioned as N S2, wherein the rest free lane change vehicles are vehicles with the number of due vehicles after the collaborative lane change of the separation lanes subtracted by N S1;
S422 for each steering vehicle, the vehicle with N S1 is cooperatively changed to the corresponding separation dedicated road, the vehicle with N S2 is traversed from back to front, the vehicle with N S2 is freely changed to the left lane of the corresponding separation dedicated road, and the lane vehicle is changed to the left lane of the corresponding separation dedicated road in priority until the lane vehicle meets the sub-queue division; and counting lane change target lanes of all vehicles, and then moving simultaneously to realize collaborative lane change.
7. The method for implementing the serial arrangement of the networked automatic vehicle groups based on the multitasking parallel control according to claim 1, wherein in the S4 task 4, the scheduling of the vehicle a comprises the following steps:
S441, all vehicles A in the first row of the sub-queues of the vehicles A on the separation lane L A are simultaneously changed to the right lane to the edge lane or are closely arranged with other vehicles;
s442, after finishing replacing one lane in S441, separating all the remaining sub-queues of the vehicle A of the special lane L A, and then advancing simultaneously until the first lane is arranged tightly;
S443 repeats S441 and S442 until all of the car a subqueues are located before the (R A +1) th row.
8. The method for realizing the serial arrangement of the networked automatic vehicle groups based on the multitasking parallel control according to claim 1, wherein a vehicle kinematic model in the parallel control process is as follows:
The movement of the vehicle includes lateral movement and longitudinal movement; the time for transversely changing a lane for a lane-changing bicycle of a transversely moving vehicle is fixed to be T c; the vehicle longitudinal movement is a vehicle advancing process, and comprises a constant-speed maintaining state and an accelerating advancing state; the constant-speed maintaining state means: all vehicles have an initial longitudinal speed V 0, and the vehicle longitudinal speed in the transverse lane change state or the no-acceleration forward state is V 0, and the acceleration forward state refers to: when the vehicle is advanced to achieve alignment or close alignment targets, the initial longitudinal speed and the final longitudinal speed are both V 0, assuming that all vehicles are homogenous, the maximum speed is V max, and the maximum longitudinal acceleration is always kept as a max and the maximum longitudinal deceleration-a max during acceleration and deceleration.
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