CN115083177A - Control method for realizing intelligent vehicle series arrangement on three lanes and above - Google Patents
Control method for realizing intelligent vehicle series arrangement on three lanes and above Download PDFInfo
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Abstract
The invention discloses a control method for realizing intelligent vehicle series arrangement on roads with three lanes or more. Under the environment of pure intelligent networked vehicles, aiming at road sections with three or more lanes, the intelligent networked vehicle group is communicated in real time based on a vehicle networking control center and initial state information of the intelligent networked vehicle group is obtained, separation of different steering vehicles is cooperatively controlled until all vehicles reach a target series arrangement state, the transformation process of specific coordinates of all vehicles in the moving process is recorded, the time length of all control intervals and the running tracks of all vehicles in all control intervals are calculated based on vehicle dynamics performance, and finally the vehicle tracks in all control intervals are fused to form the complete running track of the intelligent networked vehicle group from the initial state to the final target state, so that a foundation is laid for intersection control or vehicle formation.
Description
Technical Field
The invention relates to a control method for realizing intelligent vehicle series arrangement on three lanes or above, which is used for controlling the cooperative motion of all intelligent internet vehicles under the environment of an internet of vehicles to enable different steering vehicles to finish separation and series arrangement, lays a foundation for intersection control or vehicle formation driving, and belongs to the technical field of intelligent traffic.
Background
In the field of intelligent transportation, automobile intellectualization and networking are one of the trends in future development. The intelligent internet traffic system is a technical system integrating vehicle automation, network interconnection and system integration into a whole in three dimensions, and aims to gradually develop smart vehicles and smart roads, so that the intelligent internet traffic system plays an important role in the aspects of improving road traffic efficiency, relieving traffic jam, improving traffic safety and the like. The intelligent internet vehicle integrates the internet of vehicles technology and the automatic driving technology, carries advanced devices such as vehicle-mounted sensors, controllers and actuators, can realize intelligent information exchange and sharing between vehicles, between vehicles and people, between vehicles and roads and the like, and meets the multi-aspect travel requirements of travelers.
Because the intelligent internet vehicle has the functions of complex environment perception, intelligent decision, cooperative control and the like, illegal behaviors such as overspeed, red light running, drunk driving and the like can be effectively reduced by accurately controlling the vehicle track. In addition, under the intelligent networking environment, the running track is optimized by sensing the signal scheme of the intersection in front, and the running efficiency of the intersection can be improved. Under the trend of gradual application of the intelligent internet vehicle in the future, how to better exert and utilize the technical advantages of the intelligent internet vehicle and improve the travel efficiency of a traffic system through a reasonable traffic management and control method is one of the research hotspots and difficulties in the current traffic field.
Disclosure of Invention
The invention aims to provide a control method for realizing intelligent vehicle series arrangement on three lanes or more.
The core idea of the invention is that under the environment of pure intelligent networked vehicles, aiming at road sections with three or more lanes, the vehicle networking control center is used for communicating the intelligent networked vehicle group in real time and acquiring initial state information thereof, the separation of different steering vehicles is cooperatively controlled until all vehicles reach a target series arrangement state, the transformation process of specific coordinates of each vehicle in the moving process is recorded, the time length of all control intervals and the running tracks of all vehicles in each control interval are calculated based on the vehicle dynamics performance, and finally the vehicle tracks in all control intervals are fused to form the complete running track of the intelligent networked vehicle group from the initial state to the final target state.
The technical scheme adopted by the invention is as follows:
a control method for realizing intelligent vehicle series arrangement on three lanes or more comprises the following steps:
s1, aiming at three lanes and above, the vehicle networking control center communicates intelligent networked vehicles on the road sections in real time, determines the current intelligent networked vehicle group as a control target, acquires road information and vehicle initial states, including the total number of lanes and vehicles, steering and position distribution of each vehicle, and defines the distribution state of the intelligent networked vehicle group; wherein, under the distribution state of the intelligent network networking group, all vehicles are transversely aligned and longitudinally keep a distance D 0 The vehicles corresponding to different turning directions are respectively represented by a vehicle A, a vehicle B and a vehicle C;
s2, defining advancing lanes of vehicles with different steering directions according to the acquired road information and the distribution state of the intelligent network connection group, wherein each steering direction at least has one advancing lane;
s3 defines a virtual reserved empty line; the virtual reserved line R 0 After finishing changing lanes of different steering vehicles to corresponding lanes, adding empty traveling spaces for a vehicle A and a vehicle B before the first lane in the current state to reserve traveling spaces;
s4 the intelligent network connection groups are longitudinally separated, so that all vehicles A can change lanes to L A The lane of the vehicle B can be changed to L B The lane of the vehicle C can be changed to L C A forward lane;
s5, the intelligent network connection group cooperatively changes lanes to enable different steering vehicles to change lanes to corresponding target lanes;
s6 the intelligent networked vehicle group simultaneously advances to reach the target state; the method specifically comprises the following steps:
s61 increasing R before the first line of the current state 0 The virtual empty reservation of the vehicle A and the vehicle B reserves a running space;
s62 all vehicle A along L A The advancing lanes advance simultaneously so that L A All the lane vehicles A are closely arranged from the first row;
s63 and S62 proceed simultaneously, all cars B are along L B The advancing lanes advance simultaneously so that L B All lane vehicles B from the (R) th A +1) the rows are closely arranged;
s64 at S62 all cars C are following L C The advancing lanes advance simultaneously so that L C All lane vehicles C go from the (R) th A +R B +1) the rows are closely arranged;
s65 completing lane scheduling for all cars a after S62 is completed;
s66 after completion of S63, L B Front R of all lanes of forward lane B Vehicle B moves to right N LC One lane, then still located at L B All the vehicles B of the advancing lane advance simultaneously so that the vehicles B are closely arranged from the (RA +1) th row if N LC ＞N LB Then L is B Front R of all lanes contained in forward lane B Vehicle B again moves 1 lane to the right and then remains at L B All the vehicles B of the advancing lane advance simultaneously so that the vehicles B advance from the (R) th A +1) the rows are closely arranged;
s67 is complete at S66 and all cars A proceed to the (R) th A +1) completing the lane scheduling of all the vehicles B after going ahead;
s68 after completion of S64 and S67, lane scheduling of all vehicles C is completed.
And S7, recording the real-time position coordinates of each vehicle, calculating the running track of each position change process based on the vehicle kinematic model, and summarizing to form the complete running track of the intelligent network connection group from the initial state to the target state.
Further, the method of defining different turning vehicle advancing lanes of S2 is: determining the lanes used by the vehicles with different steering directions to advance based on the number of lanes and the number of vehicles,i.e. a forward lane, wherein the number of road sections and lanes is N L The number of vehicles A, B and C is N A 、N B And N C From left to right, vehicle A, vehicle B and vehicle C select N in turn LA 、N LB And N LC The lanes are the advancing lanes marked as LA, L B And L C ，N LA 、N LB And N LC The determination method of (2) is as follows: 1) if N is present L \3＝0，N LA ＝N LB ＝N LB ＝N L /3，N L \3 denotes taking the remainder; 2) if N is present L First, make \3 ═ 1
Determining i, wherein the steering i with the largest vehicle number is 1, and the other steering i is 0, and if the number of the steered vehicles is the same, determining the steering i with high priority to be 1 and the other steering i to be 0 according to the priority of the vehicle A, the vehicle B and the vehicle C; 3) if N is present L Firstly, make \3 ═ 2, make
Then determining i, wherein the steering i with the minimum vehicle number is 0, and the other steering i is 1; if the number of the turned vehicles is the same and small, determining that the turning i with the high priority is 0 and the other turning i is 1 according to the priorities of the vehicle C, the vehicle B and the vehicle A;
indicating a rounding down.
Further, the calculation method of the virtual reserved blank line of S3 is: calculating the number of lines of the vehicles A, B and C occupying all lanes
Wherein the content of the first and second substances,
the representation is rounded up, and the current state is traversed one by one from the front to the back to find the line L where the first vehicle C is positioned 1 The number of empty rows that need to be added is R 0 ＝R A +R B -L 1 +1, if R 0 If the number is less than 0, the virtual reserved blank line is not required to be added.
Further, the S4 intelligent networking group is longitudinally separated, and the method comprises the following steps:
s41 determines the three principles to be followed in the separation process: 1) if different steering vehicles in the same row are positioned in the corresponding advancing lanes or can change lanes to the corresponding advancing lanes at the same time, longitudinal separation is not needed; 2) in the longitudinal separation process, the advancing priorities of the three steering vehicles are vehicle A, vehicle B and vehicle C from high to low; 3) if the steering is the same, under the condition of not blocking lane changing, the forward priority of the left vehicle is higher than that of the right vehicle;
s42, 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 obstruct the lane change to the corresponding advancing lane, and all vehicles in front of the current row need to advance one row when the vehicles advance one row;
s43 counts the number of forward steps of all vehicles after traversing all the rows, and then moves simultaneously to achieve longitudinal separation.
Further, the S5 intelligent internet group collaborative lane change includes the following steps:
s51, traversing all rows one by one from back to front to determine the lane change target lane of each row of vehicles, and counting the accumulated vehicle number of each lane after lane change, wherein for each steering vehicle, each row of cooperative lane change follows the following principle: 1) if the number of lanes contained in the steering vehicle and the corresponding advancing lane is the same, the steering vehicle completes lane change at the same time; 2) if the number of the steering vehicles is less than the number of lanes of the corresponding advancing lane, selecting a lane change target lane according to the fact that the accumulated number of the vehicles in each lane of the advancing lane is from small to large, and if the accumulated number of the lanes is the same, selecting a right lane;
s52, counting lane change target lanes of all vehicles based on a cooperative lane change principle, and then moving simultaneously to realize cooperative lane change.
Further, the vehicle kinematic model in the S7 cooperative control process is as follows:
the motion of the vehicle includes lateral motion and longitudinal motion; for changing lanes for transversely-moving vehicles, in order to reduceThe calculation complexity and the time for the bicycle to transversely change one lane are fixed as T c (ii) a The longitudinal motion of the vehicle is the advancing process of the vehicle, and comprises a constant speed keeping state and an accelerating advancing state; the constant speed holding state means: initial longitudinal speed of all vehicles is V 0 The longitudinal speed of the vehicle is V in the transverse lane-changing state or the non-acceleration forward state 0 . The accelerated forward state means: when the vehicle advances to achieve the aim of alignment or close arrangement, the initial longitudinal speed and the ending longitudinal speed are both V 0 Assuming that all the bicycles are homogeneous, the maximum speed is V max And the maximum longitudinal acceleration is always kept as a during acceleration and deceleration max And maximum longitudinal deceleration-a max ；
Further, the lane scheduling of the vehicle a in S65 includes the following steps:
s651 vehicle a is finished in the advancing lane L A After the first row is closely arranged, the (R) th row A +1) all the vehicles A ahead are shifted to the edge lane from the right side or arranged transversely and closely with other vehicles;
s652 in S651 after completion of lane change, advancing lane L A All the remaining cars A can simultaneously advance until the cars A are closely arranged in the first row;
s653 repeat S651 and S652 until all carts a are located at the (R) th position A +1) line ahead;
s654, completing the even distribution of all the vehicles A, wherein the even distribution means that the absolute value of the difference between the number of the vehicles A on all the lanes is less than or equal to 1.
Further, the S67 lane scheduling of vehicle B includes the following steps:
s671 th (R) A +R B ) All the vehicles B after traveling are shifted to the leftmost lane at the same time and are closely arranged;
s672 th (R) A +R B ) All the following vehicles B simultaneously advance to the (R) th vehicle A +1) the rows are closely arranged;
s673, completing the uniform distribution of all the vehicles B, wherein the uniform distribution means that the absolute value of the difference between the number of the vehicles B on all the lanes is less than or equal to 1.
Further, in step S68, the vehicle C lane scheduling includes the following steps:
s681 advancing lane L C Front R of all lanes involved C The vehicles C change lanes to the leftmost lane and are closely arranged;
s682 after completing the lane change in S681, the advancing lane L C All the rest vehicles C can simultaneously move to the (R) th vehicle A +R B +1) the rows are closely arranged;
s683 repeats S681 and S682 until all the lane vehicles C are located at the (R) th position A +R B +R C +1) line ahead;
s684 completes the uniform distribution of all the vehicles C, wherein the uniform distribution means that the absolute value of the difference between the number of the vehicles C on all the lanes is less than or equal to 1.
Further, in the steps S655, S673, and S684, the vehicle uniform distribution includes the following steps:
and repeating the steps 1) -5) until the absolute value of the difference between the quantities of the vehicles j, j E { A, B, C } on all the lanes is less than or equal to 1: 1) the lane mark L with the least j number of the searched vehicles d If the number of the vehicles j on the plurality of lanes is the minimum, selecting the right lane as the mark L d (ii) a 2) The lane mark L for finding the most j number of vehicles u If the number of the corresponding steering vehicles in the plurality of lanes is the largest, the distance L is preferentially selected d The nearest lane marker is L u If the distances are the same, selecting a right lane; 3) marking lane L d The next line of the last vehicle is a 'moving line', if the lane has no corresponding steering vehicle, the lane L is marked u The behavior of a first vehicle is "moving"; 4) the current moving lane L u To lane L d In the middle of the car j to the lane L d Changing a lane; 5) lane L u All the vehicles j after the inner movement advance one line.
The invention has the beneficial effects that: by controlling the intelligent internet connection vehicles with different steering directions on the road section, the intelligent internet connection vehicle groups can reach a series arrangement state, and a foundation is laid for intersection control or vehicle formation.
Drawings
FIG. 1 illustrates the distribution of the intelligent Internet vehicle groups
FIG. 2 example of cooperative control process of intelligent networked vehicle group
FIG. 3 Lane scheduling Process for vehicle A
FIG. 4 Lane scheduling Process for vehicle B
FIG. 5 Lane scheduling procedure for vehicle C
FIG. 6 is a diagram of the complete operation track of the intelligent networked vehicle group
Detailed Description
The invention provides a control method for realizing intelligent vehicle series arrangement on roads with three lanes or more, which comprises the following steps:
s1 defining distribution state of intelligent network connection group
For an intelligent network connection group on a road section, acquiring road sections and initial states of vehicles, including total number of lanes, total number of vehicles, steering of the vehicles, distribution of the vehicles and the like, based on a vehicle networking control center; in the intelligent networking environment, all the vehicle distances are specified to be D 0 And the vehicles in different lanes keep horizontal alignment when running, namely the vehicles are arranged in a row; the intelligent network connection group space distribution state marks the relative positions of all vehicles on a road section, the distribution states are traversed from front to back, namely from the first line of the current state to the last line of the current state, and the vehicle steering is divided into three types of left turning, straight going and right turning.
Taking a four-lane example, the initial state of the intelligent internet vehicle group is shown in fig. 1(a), and the letters A, B, C respectively represent the steered vehicle 1, the steered vehicle 2 and the steered vehicle 3, the actual representative steering of which can be selected according to the actual situation, and the empty space represents that no vehicle occupies. The series state means that the same steered vehicle occupies all lanes, and different steered vehicles are separated front and back, that is, the target state is a series arrangement of the steered vehicles 1, 2 and 3, such as a series arrangement of the vehicles a, B and C in fig. 1 (B).
S2 defines different steering vehicle advancing lanes
Determining lanes in which the vehicles with different steering advance based on the number of lanes and the number of vehicles, wherein each steering has at least one advancing lane; preferably, the number of lanes on the road section is N L The number of vehicles A, B and C is N A 、N B And N C From left to right, vehicle A, vehicle B and vehicle C select N in turn LA 、N LB And N LC The strip lane is used as a forward lane and is marked as L A 、L B And L C Wherein L is A 、L B And L C May represent multiple forward lanes; then N is LA 、N LB And N LC The determination method of (2) is as follows:
1) if N is present L \3＝0，N LA ＝N LB ＝N LC ＝N L /3，N L \3 represents the remainder, and/represents the division number;
2) if N is present L Step 3 to 1, firstly
Determining i, wherein the steering i with the largest vehicle number is 1, and the other steering i is 0, and if the number of the steered vehicles is the same, determining the steering i with high priority to be 1 and the other steering i to be 0 according to the priority of the vehicle A, the vehicle B and the vehicle C;
represents rounding down;
3) if N is present L Firstly, make \3 ═ 2, make
Then determining i, wherein the steering i with the minimum vehicle number is 0, and the other steering i is 1; if the number of the steered vehicles is the same, the higher-priority steering i is 0 and the other steering i is 1, which are determined according to the priority of the vehicle C, the vehicle B and the vehicle a.
S3 defines a virtual reserved empty line
In order to enable the vehicle to reach a target state, after the lane change of different steering vehicles to a corresponding lane is completed, a vacant running is required to be added before the first line in the current state to reserve running spaces for the vehicle A and the vehicle B, namely, the vacant running is reserved virtually, and as an optimal mode, the line number adding calculation process is as follows: calculating the number of lines of the vehicles A, B and C occupying all lanes
Traversing the current state one by one from front to back to find the line L where the first vehicle C is positioned 1 The number of empty rows that need to be added is R 0 ＝R A +R B -L 1 +1, if R 0 If the number is less than 0, the virtual reserved blank row is not required to be added.
S4 longitudinal separation of intelligent internet connection groups
The vehicles with different steering directions are longitudinally separated to ensure that all the vehicles A can change the lane to the LA advancing lane and all the vehicles B can change the lane to the L lane B The lane of the vehicle C can be changed to L C A forward lane; as a preferred mode, the lane changing method is as follows:
s41 determines the three principles to be followed in the separation process: 1) if different steering vehicles in the same row are positioned in the corresponding advancing lanes or can change lanes to the corresponding advancing lanes at the same time, longitudinal separation is not needed; 2) the advancing priorities of the three steering vehicles are the vehicle A, the vehicle B and the vehicle C from high to low in the longitudinal separation process; 3) if the steering is the same, under the condition of not blocking lane changing, the forward priority of the left vehicle is higher than that of the right vehicle;
s42, 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 obstruct the lane change to the corresponding advancing lane, and all vehicles in front of the current row need to advance one row when the vehicles advance one row;
s43 counts the number of forward steps of all vehicles after traversing all the rows, and then moves simultaneously to achieve longitudinal separation.
S5 intelligent network connection group cooperative lane changing
The vehicles with different steering directions change the lanes to the corresponding lanes so that all the vehicles A are positioned at L A The forward lane, all vehicles B can be at L B The forward lane, all cars C at L C A forward lane; as a preferred mode, the collaborative lane change process is as follows:
s51, traversing all rows one by one from back to front to determine the lane change target lane of each row of vehicles, and counting the accumulated vehicle number of each lane after lane change, wherein for each steering vehicle, each row of cooperative lane change follows the following principle: 1) if the number of lanes contained in the steering vehicle and the corresponding advancing lane is the same, the steering vehicle completes lane change at the same time; 2) if the number of the steering vehicles is less than the number of lanes of the corresponding advancing lane, selecting a lane change target lane according to the fact that the accumulated number of the vehicles in each lane of the advancing lane is from small to large, and if the accumulated number of the lanes is the same, selecting a right lane;
s52, counting lane change target lanes of all vehicles based on a cooperative lane change principle, and then moving simultaneously to realize cooperative lane change.
S6 the intelligent networked vehicle group simultaneously advances to reach the target state, including the following steps:
s61 increasing R before the first line of the current state 0 The virtual empty reservation of the vehicle A and the vehicle B reserves a running space;
s62 all vehicle A along L A The advancing lanes advance simultaneously so that L A All the lane vehicles A are closely arranged from the first row;
s63 and S62 proceed simultaneously, all cars B are along L B The advancing lanes advance simultaneously so that L B All lane vehicles B from the (R) th A +1) the rows are closely arranged;
s64 at S62 all cars C are following L C The advancing lanes advance simultaneously so that L C All lane vehicles C from the (R) th A +R B +1) the rows are closely arranged;
s65 completing lane scheduling for all cars a after S62 is completed; as a preferable mode, the vehicle a lane scheduling includes the steps of:
s651 vehicle a is finished in the advancing lane L A After the first row is closely arranged, the (R) th row A +1) all the vehicles A ahead move to the right side to the border lane or closely arrange with other vehicles;
s652 in S651 after completion of lane change, advancing lane L A All the remaining vehicles A can simultaneously advance until the vehicles A are closely arranged in the first row;
s653 repeat S651 and S652 until all carts a are located at the (R) th position A +1) line ahead;
s654, finishing the uniform distribution of the vehicles A, wherein the uniform distribution means that the absolute value of the difference between the quantity of the vehicles A on all lanes is less than or equal to 1; as a preferable mode, the steps 1) -5) are repeatedly operated until the absolute value of the difference between the numbers of the vehicles a on all the lanes is less than or equal to 1:
1) the lane mark L for searching the least number of vehicles A d If the number of the vehicles A in the plurality of lanes is the minimum, selecting the right lane mark L d (ii) a 2) The lane mark L for searching the most vehicles A is marked u If the number of the corresponding steering vehicles in the plurality of lanes is the largest, the distance L is preferentially selected d The nearest lane marker is L d If the distances are the same, selecting a right lane; 3) marking lane L d The next line of the last vehicle is a 'moving line', if the lane has no corresponding steering vehicle A, the lane L is marked u The behavior "move" of the first vehicle; 4) the current moving lane L u To lane L d Between the vehicles A to the lane L d Changing a lane; 5) lane L u All the cars a after the inner movement move forward one row.
S66 after completion of S63, L B Front R of all lanes contained in forward lane B Vehicle B moves to right N LC One lane, then still located at L B All the vehicles B of the advancing lane advance simultaneously so that the vehicles B advance from the (R) th A +1) columns are closely spaced, if N LC ＞N LB Then L is B Front R of all lanes contained in forward lane B Vehicle B again moves 1 lane to the right and then remains at L B All the vehicles B of the advancing lane advance simultaneously so that the vehicles B advance from the (R) th place A +1) the rows are closely arranged;
s67 is complete at S66 and all cars A proceed to the (R) th A +1), completing the lane scheduling of the vehicle B before and after the vehicle is driven; the method comprises the following specific steps:
s671 th (R) A +R B ) All the vehicles B after traveling are shifted to the leftmost lane at the same time and are closely arranged;
s672 th (R) A +R B ) All the following vehicles B simultaneously advance to the (R) th vehicle A +1) the rows are closely arranged;
s673, completing the uniform distribution of the vehicle B, and completing the uniform distribution of the vehicle A by the same method.
S68 after completion of S64 and S67, completing lane scheduling of the vehicle C; the method comprises the following specific steps:
s681 advancing lane L C Front R of all lanes involved C The vehicles C change lanes to the leftmost lane and are closely arranged;
s682 after completing the lane change in S681, the advancing lane L C All the rest vehicles C can simultaneously move to the (R) th vehicle A +R B +1) the rows are closely arranged;
s683 repeats S681 and S682 until all the lane vehicles C are located at the (R) th position A +R B +R C +1) forward;
s684 completes the uniform distribution of vehicle C, and the method completes the uniform distribution of vehicle A.
And S7, recording the real-time position coordinates of each vehicle, calculating the running track of each position change process based on the vehicle kinematic model, and summarizing to form the complete running track of the intelligent network connection group from the initial state to the target state.
The vehicle kinematic model is as follows:
the motion of the vehicle includes lateral motion and longitudinal motion;
for the lane change of the transversely moving vehicle, in order to reduce the calculation complexity, the time for the transversely changing lane of the single vehicle is fixed as T c ；
The longitudinal motion of the vehicle is the advancing process of the vehicle, and comprises a constant speed keeping state and an accelerating advancing state; the constant speed holding state means: initial longitudinal speed of all vehicles is V 0 The longitudinal speed of the vehicle is V in the transverse lane-changing state or the non-acceleration forward state 0 . The accelerated forward state means: when the vehicle advances to achieve the aim of alignment or close arrangement, the initial longitudinal speed and the ending longitudinal speed are both V 0 Assuming that all the vehicles are homogeneous, the maximum speed is V max And the maximum longitudinal acceleration is always kept as a during acceleration and deceleration max And maximum longitudinal deceleration-a max ；
For the longitudinal advancing process of an intelligent internet vehicle, the actual movement distance is calculated to be D according to the position coordinates, and the intelligent internet vehicle may undergo two types of acceleration and deceleration processes: 1) if D is smaller, the vehicle has not yet reached the maximum speed V max Then start to decelerate untilTo recovery V 0 (ii) a 2) If D is greater, the vehicle reaches the maximum speed V max At a maximum speed V max After the constant speed operation is carried out for a period of time, the speed is reduced again until V is recovered 0 (ii) a Calculating the time T required to reach the target position D The calculation method is as follows:
taking a four-lane road section as an example, the intelligent network connection group is cooperatively controlled to reach a target series arrangement state, and the method specifically comprises the following steps:
s1 defining distribution state of intelligent network connection group
Obtaining road section and vehicle initial state, total number of lanes N based on internet of vehicles control center L The number of vehicles of vehicle a, vehicle B, and vehicle C is N, respectively A ＝6、N B 8 and N C 4; the initial state of the intelligent network vehicle-connected group is shown in fig. 1(a), wherein the letters A, B, C respectively represent left turn, straight running and right turn, the vacant positions represent that no vehicle occupies, and the distance between all vehicles is D 0 The vehicles in different lanes keep horizontal alignment and are arranged in a row when running as 12 m; the target state of the intelligent internet vehicle group is shown in fig. 1 (d).
S2 defines different steering vehicle advancing lanes
Calculating N L When 3 is 1, N is LA ＝1，N LB ＝2，N LC 1 is ═ 1; selecting N from left to right for the vehicle A, the vehicle B and the vehicle C LA 、N LB And N LC The strip lane is used as a forward lane and is marked as L A 、L B And L c ；
S3 defines a virtual reserved line
Calculating the number of lines R required by the vehicles A, B and C to occupy all lanes A ＝2、R B ＝2、R C 1, traversing the current state one by one from front to back to find the line L where the first vehicle C is located C1 When the number of empty rows is 2, the number of empty rows needs to be increased to R 0 2+2-2+ 1-3 as shown in the grey part of fig. 2 (c).
S4 longitudinal separation of intelligent network connection group
Longitudinal separation between differently steered vehicles to ensure that all vehicles A can change lanes to L A The lane of the vehicle B can be changed to L B The lane of the vehicle C can be changed to L C A forward lane, the longitudinally separated state being shown in fig. 2 (b); in the process, the farthest relative advancing distance D of the vehicle is 5D 0 The time T required by the process can be calculated based on the vehicle kinematic model D1 8.94s, start time T S1 ＝0s。
S5 intelligent network connection group cooperative lane changing
The vehicles with different steering directions change the lanes to the corresponding lanes so that all the vehicles A are positioned at L A The forward lane, all vehicles B can be at L B The forward lane, all cars C at L C The forward lane, with the post lane change state shown in FIG. 2 (c); in the process, the vehicle can change two lanes at most, and the time T required by the process can be obtained by calculation based on a vehicle kinematic model D2 ＝2*T c 4s, start time T S2 ＝8.94s。
S6 the intelligent network connection group advances simultaneously to reach the target state
S61, adding 3 rows of virtual reserved empty behavior vehicles A and B to reserve driving space before the first row in the state after the lane change;
s62 all lanes A are along L A The advancing lanes advance simultaneously so that L A The vehicles a of all lanes included are closely arranged from the first row, as shown in fig. 3 (a); in the process, the farthest relative advancing distance D of the vehicle is 7D 0 The time T required by the process can be calculated based on the vehicle kinematic model D3 10.58s, start time T S3 ＝12.94s。
S63 and S62 proceed simultaneously, all cars B are along L B The advancing lanes advance simultaneously so that L B The vehicles B of all lanes included are closely arranged from the 3 rd row as shown in fig. 4 (a); in the process, the farthest relative advancing distance D of the vehicle is 7D 0 The time T required by the process can be calculated based on the vehicle kinematics model D4 10.58s, start time T S4 ＝12.94s。
S64 and S62 proceed simultaneously, all cars C are along L C Forward lane is simultaneously forwardThen, make L C The vehicles C of all lanes included are closely arranged from the 5 th row as shown in fig. 5 (a); in the process, the maximum relative advancing distance D of the vehicle is 3D 0 The time T required by the process can be calculated based on the vehicle kinematic model D5 6.93s, start time T S5 ＝12.94s。
S65 when S62 is completed, lane dispatching for all vehicles a is completed, the dispatching process is as shown in fig. 3, and the steps are as follows: 1) all the vehicles A before the 3 rd row simultaneously change 3 lanes rightwards; 2) advancing lane L after completion of changing one lane A All the remaining cars A can simultaneously advance until the cars A are closely arranged in the first row; 3) all the vehicles A before the 3 rd row simultaneously change 2 lanes rightwards; 4) advancing lane L after completion of changing one lane A All the remaining cars A can simultaneously advance until the cars A are closely arranged in the first row; 5) the method comprises the following steps of searching a maximum lane and a minimum lane of a vehicle A from right to left for a lane 2 and a lane 3 respectively; 6) the first line is marked as a moving line, and the first vehicle between the lane 2 and the lane 3 changes one lane to the left; 7) the remaining vehicles A in the lane 2 go forward one line; the process stage includes lane change 1, and 2D advance 0 Changing lane 1, advancing 2D 0 Changing lane 1, advancing D 0 6 stages, calculating the time consumption T of the process based on the vehicle kinematics model D6 21.32s, start time T S6 ＝23.52s。
S66 after completion of S63, L B The first 2 vehicles B of all lanes contained in the forward lane move to the right by 1 lane and then remain on L B All the vehicles B of the proceeding lane advance simultaneously so that the vehicles B are closely arranged from the 3 rd row as shown in fig. 4(B) and (c); the process stage comprises changing 1 lane and advancing 2D 0 2 stages, calculating the time consumption T of the process based on the vehicle kinematics model D7 7.66s, start time T S7 ＝23.52s。
S67, completing the lane scheduling of the vehicle B, and the steps are as follows: 1) all vehicles B behind the 4 th row change lanes to the leftmost lane at the same time and are closely arranged; 2) all the cars B following row 4 advance simultaneously to be closely arranged from row 3 as shown in fig. 4(d) and (e); the process stage includes changing 2 lanes, advancing 2D 0 2 stages of calculating the process based on the kinematic model of the vehicleTime-of-flight T D8 9.66S, time T after S66 is completed S81 Since the process starts after all cars a have advanced to the third row, it completes at time T, 31.18s S82 38.84s, so time T begins S8 ＝38.84s。
S68, completing the lane scheduling of the vehicle C, and the steps are as follows: 1) advancing lane L C 1 vehicle C in front of all lanes is changed to the leftmost lane at the same time and is closely arranged; 2) advancing lane L C All the rest vehicles C simultaneously move to the 5 th row to be closely arranged; 3) repeating 1) and 2) until all lane vehicles C are ahead of row 6, as shown in fig. 5; the process phase includes lane change 1, forward D 0 Changing lane 1, advancing D 0 Change lane 1, go forward D 0 6 stages, calculating the time consumption T of the process based on the vehicle kinematics model D9 18s, start time T S9 ＝48.5s。
And S7, recording the real-time position coordinates of each vehicle, calculating the running track of each position change process based on the vehicle kinematic model, and summarizing to form the complete running track of the intelligent network connection group from the initial state to the target state.
Recording the position of the last vehicle in the initial spatial distribution of the intelligent networked vehicle group as a longitudinal origin, and recording the edge of the lane at the leftmost side of the road section as a transverse origin; the vehicle after completing lane change is required to run on the center line of the lane, the width of the lane is set to be 3.5m, and the transverse positions of the center line of each lane where the vehicle runs are 1.75m, 5.25m, 8.75m and 12.25m respectively; the parameters in this example are set as follows: initial velocity V 0 2m/s, maximum speed V of the road section max 2m/s, maximum acceleration a max ＝3m/s 2 Maximum deceleration a min ＝-3m/s 2 Time to change track T c ＝2s。
Fig. 2(d) shows the target state of the intelligent network, records the coordinate change of each vehicle, and calculates the specific duration of the cooperative control of each process based on the vehicle motion model, where T is T, T is the total time taken to complete the target arrangement in this example D9 +T S9 66.5s, the maximum reach distance X is 12D 0 +T*V 0 The complete operation track of the intelligent internet connection group is shown in fig. 6 at 277 m. In FIG. 6, t is the accumulationTime is consumed, the longitudinal position x corresponding to the advancing direction of the vehicle and the transverse position y corresponding to the lane change direction of the vehicle. Each continuous curve represents a driving track of the intelligent internet vehicle from the initial moment to the completion of the target arrangement in fig. 2.
The invention is not the best known technology.
The above embodiments are merely illustrative of the technical ideas and features of the present invention, and the purpose thereof is to enable those skilled in the art to understand the contents of the present invention and implement the present invention, and not to limit the protection scope of the present invention. All equivalent changes and modifications made according to the spirit of the present invention should be covered within the protection scope of the present invention.
Claims (10)
1. A control method for realizing intelligent vehicle series arrangement on three lanes and above is characterized by comprising the following steps:
s1, aiming at three lanes and above, the vehicle networking control center communicates intelligent networked vehicles on the road sections in real time, determines the current intelligent networked vehicle group as a control target, acquires road information and vehicle initial states, including the total number of lanes and vehicles, steering and position distribution of each vehicle, and defines the distribution state of the intelligent networked vehicle group; wherein, under the distribution state of the intelligent network networking group, all vehicles are transversely aligned and longitudinally keep a distance D 0 The vehicles corresponding to different turning directions are respectively represented by a vehicle A, a vehicle B and a vehicle C;
s2, defining advancing lanes of vehicles with different steering directions according to the acquired road information and the distribution state of the intelligent network connection group, wherein each steering direction at least has one advancing lane;
s3 defines a virtual reserved empty line; the virtual reserved line R 0 After different turning vehicles change lanes to corresponding lanes, adding empty traveling vehicles A and B to reserve traveling spaces before the first lane in the current state;
s4 the intelligent network connection groups are longitudinally separated, so that all vehicles A can change lanes to L A The lane of the vehicle B can be changed to L B The lane of the vehicle C can be changed to L C A forward lane;
s5, the intelligent network connection group cooperatively changes lanes to enable different steering vehicles to change lanes to corresponding target lanes;
s6, the intelligent networked vehicle group simultaneously advances to reach the target state; the method specifically comprises the following steps:
s61 increasing R before the first line of the current state 0 The virtual empty reservation of the vehicle A and the vehicle B reserves a running space;
s62 all lanes A are along L A The advancing lanes advance simultaneously so that L A All the lane vehicles A are closely arranged from the first row;
s63 and S62 proceed simultaneously, all cars B are along L B The advancing lanes advance simultaneously so that L B All lane vehicles B from the (R) th A +1) the rows are closely arranged;
s64 at S62 all cars C are following L C The advancing lanes advance simultaneously so that L C All lane vehicles C from the (R) th A +R B +1) the rows are closely arranged;
s65 completing lane scheduling for all cars a after S62 is completed;
s66 after completion of S63, L B Front R of all lanes of forward lane B Vehicle B moves to the right N LC One lane, then still located at L B All the vehicles B of the advancing lane advance simultaneously so that the vehicles B advance from the (R) th A +1) columns are closely spaced, if N LC ＞N LB Then L is B Front R of all lanes contained in forward lane B Vehicle B again moves 1 lane to the right and then remains at L B All the vehicles B of the advancing lane advance simultaneously so that the vehicles B advance from the (R) th A +1) the rows are closely arranged;
s67 is complete at S66 and all cars A proceed to the (R) th A +1) completing the lane scheduling of all the vehicles B after going ahead;
s68 after completion of S64 and S67, lane scheduling of all vehicles C is completed.
S7, recording the real-time position coordinates of each vehicle, calculating the running track of each position change process based on the vehicle kinematics model, and summarizing to form the complete running track of the intelligent network connection vehicle group from the initial state to the target state.
2. The method of claim 1The control method for realizing the intelligent vehicle series arrangement on the roads with three lanes or more is characterized in that the method for defining the forward lanes of the vehicles with different steering directions by the step S2 is as follows: determining lanes used by different steering vehicles to go forward, namely forward lanes based on the number of lanes and the number of vehicles, wherein the number of lanes on the road section is N L The number of vehicles A, B and C is N A 、N B And N C From left to right, vehicle A, vehicle B and vehicle C select N in turn LA 、N LB And N LC The strip lane is used as a forward lane and is marked as L A 、L B And L C ，N LA 、N LB And N LC The determination method of (2) is as follows: 1) if N is present L \3＝0，N LA ＝N LB ＝N LB ＝N L /3，N L \3 denotes taking the remainder; 2) if N is present L Step 3 to 1, firstly
Determining i, wherein the steering i with the largest vehicle number is 1, and the other steering i is 0, and if the number of the steered vehicles is the same, determining the steering i with high priority to be 1 and the other steering i to be 0 according to the priority of the vehicle A, the vehicle B and the vehicle C; 3) if N is present L Firstly, make \3 ═ 2, make
Then determining i, wherein the steering i with the minimum vehicle number is 0, and the other steering i is 1; if the number of the turned vehicles is the same and small, determining that the turning i with the high priority is 0 and the other turning i is 1 according to the priorities of the vehicle C, the vehicle B and the vehicle A;
indicating a rounding down.
3. The control method for realizing intelligent vehicle series arrangement on three-lane and above road according to claim 1, wherein the S3 virtual line isThe calculation method of the quasi-reserved blank line comprises the following steps: calculating the number of lines of the vehicles A, B and C occupying all lanes
Wherein the content of the first and second substances,
the representation is rounded up, and the current state is traversed one by one from the front to the back to find the line L where the first vehicle C is positioned 1 The number of empty rows that need to be added is R 0 ＝R A +R B -L 1 +1, if R 0 If the number is less than 0, the virtual reserved blank row is not required to be added.
4. The control method for realizing the series arrangement of intelligent vehicles on the roads with three lanes and above as claimed in claim 1, wherein the S4 intelligent internet group is longitudinally separated, comprising the following steps:
s41 determines the three principles to be followed in the separation process: 1) if different steering vehicles in the same row are positioned in the corresponding advancing lanes or can change lanes to the corresponding advancing lanes at the same time, longitudinal separation is not needed; 2) in the longitudinal separation process, the advancing priorities of the three steering vehicles are vehicle A, vehicle B and vehicle C from high to low; 3) if the steering is the same, under the condition of not blocking lane changing, the forward priority of the left vehicle is higher than that of the right vehicle;
s42, 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 obstruct the lane change to the corresponding advancing lane, and all vehicles in front of the current row need to advance one row when the vehicles advance one row;
s43 counts the number of forward steps of all vehicles after traversing all the rows, and then moves simultaneously to achieve longitudinal separation.
5. The control method for realizing the series arrangement of the intelligent vehicles on the three-lane or above road according to claim 1, wherein the S5 intelligent Internet group is used for changing lanes in coordination with each other, and comprises the following steps:
s51, traversing all rows one by one from back to front to determine the lane change target lane of each row of vehicles, and counting the accumulated vehicle number of each lane after lane change, wherein for each steering vehicle, each row of cooperative lane change follows the following principle: 1) if the number of lanes contained in the steering vehicle and the corresponding advancing lane is the same, the steering vehicle completes lane change at the same time; 2) if the number of the steering vehicles is less than the number of lanes of the corresponding advancing lane, selecting a lane change target lane according to the fact that the accumulated number of the vehicles in each lane of the advancing lane is from small to large, and if the accumulated number of the lanes is the same, selecting a right lane;
s52, counting lane change target lanes of all vehicles based on the cooperative lane change principle, and then moving simultaneously to realize the cooperative lane change.
6. The control method for realizing intelligent vehicle series arrangement on the roads with three lanes and above according to claim 1, wherein the vehicle kinematics model in the S7 cooperative control process is as follows:
the motion of the vehicle comprises transverse motion and longitudinal motion; for the lane change of the transversely moving vehicle, in order to reduce the calculation complexity, the time for the transversely changing lane of the single vehicle is fixed as T c (ii) a The longitudinal motion of the vehicle is the advancing process of the vehicle, and comprises a constant speed keeping state and an accelerating advancing state; the constant speed holding state means: initial longitudinal speed of all vehicles is V 0 The longitudinal speed of the vehicle is V in the transverse lane-changing state or the non-acceleration forward state 0 . The accelerated forward state means: when the vehicle advances to achieve the aim of alignment or close arrangement, the initial longitudinal speed and the ending longitudinal speed are both V 0 Assuming that all the vehicles are homogeneous, the maximum speed is V max And the maximum longitudinal acceleration is always kept as a during acceleration and deceleration max And maximum longitudinal deceleration-a max 。
7. The control method for realizing intelligent vehicle series arrangement on the roads with three lanes and above according to claim 1, wherein the vehicle A lane scheduling in S65 comprises the following steps:
s651 vehicle a is finished in the advancing lane L A First line start upAfter alignment, at (R) A +1) all the vehicles A ahead are shifted to the edge lane from the right side or arranged transversely and closely with other vehicles;
s652 in S651 after completion of lane change, advances lane L A All the remaining cars A can simultaneously advance until the cars A are closely arranged in the first row;
s653 repeat S651 and S652 until all carts a are located at the (R) th position A +1) line ahead;
s654, completing the uniform distribution of all the vehicles A, wherein the uniform distribution means that the absolute value of the difference of the quantity of the vehicles A on all the lanes is less than or equal to 1.
8. The control method for realizing intelligent vehicle series arrangement on the roads with three lanes and above according to claim 1, wherein the S67 vehicle B lane scheduling comprises the following steps:
s671 No (R) A +R B ) All the vehicles B after traveling are shifted to the leftmost lane at the same time and are closely arranged;
s672 th (R) A +R B ) All the following vehicles B advance simultaneously to the (R) th vehicle A +1) the rows are closely arranged;
s673, completing the uniform distribution of all the vehicles B, wherein the uniform distribution means that the absolute value of the difference between the number of the vehicles B on all the lanes is less than or equal to 1.
9. The control method for realizing intelligent vehicle series arrangement on the roads with three lanes and above according to claim 1, wherein in the step S68, the vehicle C lane scheduling comprises the following steps:
s681 advancing lane L C Front R of all lanes involved C The vehicles C change lanes to the leftmost lane and are closely arranged;
s682 after completing the lane change in S681, the advancing lane L C All the rest vehicles C can simultaneously move to the (R) th vehicle A +R B +1) the rows are closely arranged;
s683 repeats S681 and S682 until all the lane vehicles C are located at the (R) th position A +R B +R C +1) forward;
s684 completes the uniform distribution of all the vehicles C, wherein the uniform distribution means that the absolute value of the difference between the number of the vehicles C on all the lanes is less than or equal to 1.
10. The control method for realizing intelligent vehicle series arrangement on the three-lane and above road according to any one of claims 7-9, wherein in the steps S655, S673 and S684, the vehicle uniform distribution comprises the following steps:
and repeating the steps 1) -5) until the absolute value of the difference between the numbers of the vehicles j, j E { A, B, C } on all the lanes is less than or equal to 1: 1) the lane mark L for searching the least number j of vehicles is d If the number of the vehicles j on the plurality of lanes is the minimum, selecting the right lane as the mark L d (ii) a 2) The lane mark L for finding the most j number of vehicles u If the number of the corresponding steering vehicles in the plurality of lanes is the largest, the distance L is preferentially selected d The nearest lane marker is L u If the distances are the same, selecting a right lane; 3) marking lane L d The next vehicle in the last lane is 'moving', if the lane has no corresponding steering vehicle, the lane L is marked u The behavior "move" of the first vehicle; 4) the current moving lane L u To lane L d In the middle of the car j to the lane L d Changing a lane; 5) lane L u All the vehicles j after the inner movement advance one line.
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