CN115083177B - 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 three lanes and more than one road. In the environment of the pure intelligent network vehicle, aiming at road sections with three or more lanes, the intelligent network vehicle group is communicated in real time based on a vehicle networking control center and initial state information is acquired, the separation of different steering vehicles is cooperatively controlled until all vehicles reach a target serial 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 track 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 network 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 series arrangement of intelligent vehicles on three lanes and more roads, which controls the cooperative movement of intelligent network vehicles under the environment of the Internet of vehicles to enable different steering vehicles to complete separation and series arrangement, lays a foundation for intersection control or vehicle formation running, 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 of future development. The intelligent network traffic system is a three-dimensional technical system integrating vehicle automation, network interconnection and system integration, and aims to gradually develop to intelligent vehicles and intelligent roads, thereby playing an important role in improving road traffic efficiency, relieving traffic jam, improving traffic safety and the like. The intelligent network car fuses car networking technology and automatic driving technology, carries advanced devices such as vehicle-mounted sensors, controllers and actuators, can realize intelligent information exchange sharing of cars, people, vehicles, roads and the like, and meets various travel demands of travelers.
Because the intelligent network vehicle has the functions of complex environment sensing, intelligent decision, cooperative control and the like, the illegal behaviors such as overspeed, red light running, drunk driving and the like can be effectively reduced by accurately controlling the track of the vehicle. In addition, in the intelligent networking environment, the running track is optimized by sensing the front intersection signal scheme, so that the running efficiency of the intersection can be improved. Under the trend of gradually applying the intelligent network coupling in the future, how to better exert and utilize the technical advantages of the intelligent network coupling 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 series arrangement of intelligent vehicles on three lanes and more roads.
The method comprises the core ideas of the invention, in a pure intelligent network vehicle environment, aiming at road sections with three or more lanes, based on real-time communication of an intelligent network vehicle group by a vehicle network control center and acquisition of initial state information thereof, cooperatively controlling separation of different steering vehicles until all vehicles reach a target serial arrangement state, recording a conversion process of specific coordinates of each vehicle in a moving process, calculating the time length of all control intervals and the running track of all vehicles in each control interval based on vehicle dynamics performance, and finally fusing the vehicle tracks in all control intervals to form an intelligent network vehicle group complete running track from the initial state to a 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 and more roads comprises the following steps:
s1, aiming at three lanes and more road sections, an intelligent network vehicle on the road section is communicated in real time by a vehicle networking control center, a current intelligent network vehicle group is determined as a control target, road information and vehicle initial states including the total number of lanes and vehicles, the steering and position distribution of each vehicle are obtained, and an intelligent network vehicle group distribution state is defined; in the distribution state of the intelligent network coupling group, all vehicles are transversely aligned, the distance D 0 is longitudinally kept, and vehicles A, B and C corresponding to different steering directions are respectively represented;
s2, defining different steering vehicle advancing lanes according to the acquired road information and the intelligent network vehicle linkage group distribution state, wherein each steering vehicle is provided with at least one advancing lane;
S3, defining virtual reserved blank lines; 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;
S4, longitudinally separating intelligent network coupling groups, enabling all vehicles A to change lanes to an L A forward lane, enabling all vehicles B to change lanes to an L B forward lane, and enabling all vehicles C to change lanes to an L C forward lane;
s5, the intelligent network car-connected group cooperatively changes the lane so that the different steering vehicles change the lane to the corresponding target lanes;
S6, the intelligent network connection group simultaneously advances to reach a target state; the method specifically comprises the following steps:
S61, adding R 0 rows of virtual reserved empty spaces to reserve running spaces for the vehicle A and the vehicle B before the first row in the current state;
S62, all vehicles A advance simultaneously along the L A advancing lanes, so that all lane vehicles A of the L A are closely arranged from the first row;
S63 and S62 are carried out simultaneously, all vehicles B advance simultaneously along the L B advancing lanes, so that all lane vehicles B of L B are closely arranged from the (R A +1) th row;
s64 is carried out at the same time as S62, all vehicles C advance along the L C advancing lane at the same time, so that all lane vehicles C of L C are closely arranged from the (R A+RB +1) th row;
S65, after S62 is completed, lane scheduling of all vehicles A is completed;
S66 after S63 is completed, R B vehicles B in front of all lanes of the L B forward lane move to the right by N LC lanes, then all vehicles B still positioned in the L B forward lane simultaneously advance so that the vehicles B are closely arranged from the (R A +1) th row, if N LC>NLB, the front R B vehicles B of all lanes contained in the L B forward lane move to the right again by 1 lane, then all vehicles B still positioned in the L B forward lane simultaneously advance so that the vehicles B are closely arranged from the (R A +1) th row;
s67 completes the lane scheduling of all vehicles B after S66 completes and all vehicles A advance to the front of the (R A +1) th row;
after S64 and S67 are completed, S68 completes lane scheduling of all vehicles C.
S7, recording real-time position coordinates of each vehicle, calculating running tracks of each position change process based on a vehicle kinematic model, and summarizing to form an intelligent network train group running track from an initial state to a target state completely.
Further, the method of defining the forward lanes of the differently steered vehicles in S2 is as follows: the method for determining the forward lanes of the vehicles with different steering directions based on the number of lanes and the number of vehicles, namely the forward lanes, 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, and N LA、NLB and N LC lanes are selected from left to right as the forward lanes according to the sequence, and the determination methods marked as L A、LB, L C,NLA、NLB and N LC are 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, 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.
Further, the calculating method of the S3 virtual reserved blank line comprises the following steps: calculating the number of lines required by the vehicle A, the vehicle B and the vehicle C to occupy all lanesWherein/>The representation is rounded upwards, the current state is traversed from front to back one by one 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 empty rows are not required to be increased.
Further, the S4 intelligent network train group is longitudinally separated, including the following steps:
S41, determining three principles to be followed in 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;
S42, traversing all rows one by one from back to front, and enabling the steering vehicles with high priority in each row to advance until all vehicles in each row do not mutually obstruct the lane change to the corresponding advancing lane, wherein each time the vehicles advance for one row, all vehicles in front of the current vehicle need to advance for one row;
s43, after all rows are traversed, the forward progress numbers of all vehicles are counted, and then the vehicles are moved simultaneously to achieve longitudinal separation.
Further, the S5 intelligent network train group collaborative lane change includes the following steps:
s51, traversing all lines from back to front one by one to determine a lane change target lane of each line of vehicles, counting the accumulated number of vehicles in each lane after lane change, and for each steering vehicle, cooperatively changing lanes of each line follows the following principle: 1) If the number of lanes included in the steering vehicle and the corresponding forward lanes is the same, the steering vehicle finishes lane changing at the same time; 2) If the number of the steering vehicles is less than the number of the corresponding forward lanes, selecting a lane change target lane according to the accumulated number of the vehicles in each lane of the forward lanes 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 simultaneously moving to realize cooperative lane change.
Further, the vehicle kinematic model in the S7 cooperative control process 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 vehicle longitudinal speed V 0 in the side-by-side lane change or no acceleration. The acceleration progress state means: when the vehicle advances to achieve the aims of alignment or tight arrangement, the initial longitudinal speed and the end longitudinal speed are both V 0, the maximum speed of all the automobiles is V max, and the maximum longitudinal acceleration is always kept to be a max and the maximum longitudinal deceleration is kept to be-a max during acceleration and deceleration;
Further, the lane scheduling of the vehicle a in S65 includes the following steps:
S651, after the vehicles A are tightly arranged on the first row of the forward lane L A, all the vehicles A in front of the (R A +1) th row are simultaneously changed to the right to the edge lane or are tightly arranged transversely with other vehicles;
S652, after finishing replacing one lane in S651, all the vehicles A in the forward lane L A can simultaneously advance until the first lane is arranged tightly;
S653 repeats S651 and S652 until all vehicles a are located before (R A +1) th row;
S654 completes the uniform distribution of all vehicles a, which means that the absolute value of the difference between the numbers of vehicles a on all lanes is less than or equal to 1.
Further, the step of scheduling the B lane of the S67 vehicle comprises the following steps:
All vehicles B after the (R A+RB) th line of S671 are changed to the leftmost lane at the same time and are closely arranged;
All vehicles B following (R A+RB) S672 go forward simultaneously to be closely aligned from (R A +1);
S673, completing uniform distribution of all vehicles B, wherein the uniform distribution means that the absolute value of the difference between the numbers of the vehicles B on all lanes is less than or equal to 1.
Further, in the step S68, the vehicle C lane scheduling includes the steps of:
S681, all the front R C vehicles C contained in the forward lane L C are changed to the leftmost lane at the same time and are closely arranged;
S682 after S681 finishes replacing one lane, all vehicles C in the forward lane L C can simultaneously advance to the (R A+RB +1) th row to be closely arranged;
S683 repeats S681 and S682 until all lane vehicles C are located before (R A+RB+RC +1) th row;
s684, completing uniform distribution of all vehicles C, wherein the uniform distribution means that the absolute value of the difference between the numbers of the vehicles C on all lanes is less than or equal to 1.
Further, in the steps S655, S673, and S684, the vehicle uniform distribution includes the following steps:
Repeating the steps 1) -5) until the absolute value of the difference between the numbers of j, j epsilon { A, B, C } of all the vehicles on the lanes is less than or equal to 1: 1) If the number of the lane with the least number of the vehicle j is the L d, and the number of the vehicle j in a plurality of lanes is the least in parallel, the rightmost lane is selected to be the L d; 2) The lane mark with the largest number of the search vehicles j is L u, if the corresponding steering vehicles of a plurality of lanes are the largest in parallel, the lane mark closest to the L d is preferably selected to be L u, and if the distances are the same, the right lane is selected; 3) Marking the next behavior of the last vehicle of the lane L d as a moving line, and marking the behavior of the first vehicle of the lane L u as the moving line if the lane does not have a corresponding steering vehicle; 4) The method comprises the steps of replacing a lane by a vehicle j between a lane L u and a lane L d in the current moving way in cooperation with the lane L d; 5) All vehicles j after traveling in the lane L u travel one line.
The beneficial effects of the invention are as follows: by controlling the intelligent network vehicles with different steering directions on the road section, the intelligent network vehicle groups can reach a serial arrangement state, and a foundation is laid for intersection control or vehicle formation.
Drawings
FIG. 1 illustrates the distribution state of intelligent network connected vehicle groups
FIG. 2 illustrates an example of a coordinated control process for an intelligent network train group
The lane scheduling procedure of FIG. 3 vehicle A
The lane scheduling procedure of FIG. 4, vehicle B
The lane scheduling procedure of FIG. 5 vehicle C
FIG. 6 is a diagram of complete running trajectories of intelligent network connected vehicles
Detailed Description
The invention provides a control method for realizing intelligent vehicle series arrangement on three lanes and more roads, which comprises the following steps:
s1 defining distribution state of intelligent network connection group
For an intelligent network vehicle linkage group on a road section, acquiring the initial states of the road section and vehicles based on a vehicle networking control center, wherein the initial states comprise the total number of lanes, the total number of vehicles, the steering of each vehicle, the distribution of each vehicle and the like; in an intelligent networking environment, defining that the distance between all vehicles is D 0, and keeping transverse alignment, namely row arrangement, when vehicles in different lanes run; the intelligent network train group space distribution state marks the relative positions of all vehicles on the road section, each distribution state is traversed from front to back, namely traversing 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 turning and right turning.
Taking a four-lane example, as shown in fig. 1 (a), letters A, B, C respectively represent a steering truck 1, a steering truck 2, and a steering truck 3, and an actual representative steering can be selected according to actual situations, and a vacant space indicates that no vehicle is occupied. The tandem state refers to the fact that the same steering vehicle occupies all lanes, and different steering vehicles are separated from each other in front and back, i.e., the target state is a tandem arrangement of the steering vehicle 1, the steering vehicle 2, and the steering vehicle 3, such as the tandem arrangement of the vehicles a, B, and C in fig. 1 (B).
S2 defines different steering vehicle forward lanes
Determining lanes for the forward movement of differently steered vehicles based on the number of lanes and the number of vehicles, wherein each steering has at least one forward movement lane; as a preferred mode, the number of road section lanes is N L, the number of vehicles of vehicle A, vehicle B and vehicle C is N A、NB and N C respectively, and the number of vehicles of vehicle A, vehicle B and vehicle C is N LA、NLB and N LC lanes which are selected from left to right as forward lanes in turn and are marked as L A、LB and L C, wherein L A、LB and L C can represent a plurality of forward lanes; 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, and/represents 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; /(I)Representing a downward rounding;
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 blank lines
In order to make the vehicle reach the target state, after finishing the lane changing of the different steering vehicles to the corresponding lanes, the reserved running space of the empty traveling vehicles A and B is required to be increased before the first line in the current state, namely the virtual reserved empty traveling is used as a preferable mode, and the calculation process of increasing the number of lines is as follows: calculating the number of lines required by the vehicle A, the vehicle B and the vehicle C to occupy all lanes The current state is traversed 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 empty rows are not required to be increased.
S4 intelligent network train group longitudinal separation
Longitudinal separation between different steering vehicles is carried out to ensure that all vehicles A can change lanes to an L A forward lane, all vehicles B can change lanes to an L B forward lane and all vehicles C can change lanes to an L C forward lane; as a preferred mode, the lane changing method is as follows:
S41, determining three principles to be followed in 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;
S42, traversing all rows one by one from back to front, and enabling the steering vehicles with high priority in each row to advance until all vehicles in each row do not mutually obstruct the lane change to the corresponding advancing lane, wherein each time the vehicles advance for one row, all vehicles in front of the current vehicle need to advance for one row;
s43, after all rows are traversed, the forward progress numbers of all vehicles are counted, and then the vehicles are moved simultaneously to achieve longitudinal separation.
S5 intelligent network linkage group collaborative lane change
Changing the lane of the different steering vehicles to the corresponding lane so that all vehicles A are positioned in the L A forward lane, all vehicles B can be positioned in the L B forward lane and all vehicles C are positioned in the L C forward lane; as a preferred way, the collaborative lane change procedure is as follows:
s51, traversing all lines from back to front one by one to determine a lane change target lane of each line of vehicles, counting the accumulated number of vehicles in each lane after lane change, and for each steering vehicle, cooperatively changing lanes of each line follows the following principle: 1) If the number of lanes included in the steering vehicle and the corresponding forward lanes is the same, the steering vehicle finishes lane changing at the same time; 2) If the number of the steering vehicles is less than the number of the corresponding forward lanes, selecting a lane change target lane according to the accumulated number of the vehicles in each lane of the forward lanes 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 simultaneously moving to realize cooperative lane change.
S6, the intelligent network connection group simultaneously advances to reach a target state, and the method comprises the following steps of:
S61, adding R 0 rows of virtual reserved empty spaces to reserve running spaces for the vehicle A and the vehicle B before the first row in the current state;
S62, all vehicles A advance simultaneously along the L A advancing lanes, so that all lane vehicles A of the L A are closely arranged from the first row;
S63 and S62 are carried out simultaneously, all vehicles B advance simultaneously along the L B advancing lanes, so that all lane vehicles B of L B are closely arranged from the (R A +1) th row;
s64 is carried out at the same time as S62, all vehicles C advance along the L C advancing lane at the same time, so that all lane vehicles C of L C are closely arranged from the (R A+RB +1) th row;
S65, after S62 is completed, lane scheduling of all vehicles A is completed; as a preferred manner, the vehicle a lane scheduling includes the steps of:
S651, after the vehicles A are tightly arranged on the first row of the forward lane L A, all the vehicles A in front of the (R A +1) th row are simultaneously changed to the right to the edge lane or are tightly arranged with other vehicles;
S652, after finishing replacing one lane in S651, all the vehicles A in the forward lane L A can simultaneously advance until the first lane is arranged tightly;
S653 repeats S651 and S652 until all vehicles a are located before (R A +1) th row;
S654, finishing uniform distribution of the vehicles A, wherein the uniform distribution means that the absolute value of the difference between the numbers of the vehicles A on all lanes is less than or equal to 1; as a preferred mode, the steps 1) -5) are repeatedly operated until the absolute value of the difference between the numbers of vehicles A on all lanes is less than or equal to 1:
1) If the number of the lane marks with the minimum number of the vehicle A is the L d, and if the number of the lane marks with the minimum number of the vehicle A is the same, the lane mark on the rightmost side is the L d; 2) The lane mark with the largest number of the search vehicles A is L u, if the corresponding steering vehicles of a plurality of lanes are the largest in parallel, the lane mark closest to the L d is preferably selected to be L d, and if the distances are the same, the right lane is selected; 3) Marking the next behavior of the last vehicle of the lane L d as a moving line, and marking the behavior of the first vehicle of the lane L u as a moving line if the lane does not correspond to the steering vehicle A; 4) Changing a lane to the lane L d in cooperation with the vehicle a between the lane L u to the lane L d in the current moving lane; 5) All vehicles a after traveling in the lane L u travel one line.
S66 after S63 is completed, all the front R B vehicles B in the L B forward lanes move to the right for N LC lanes, then all the vehicles B still in the L B forward lanes advance simultaneously so that the vehicles B are closely aligned from the (R A +1) th row, if N LC>NLB, the front R B vehicles B in all the lanes in the L B forward lanes move to the right again for 1 lane, then all the vehicles B still in the L B forward lanes advance simultaneously so that the vehicles B are closely aligned from the (R A +1) th row;
s67 is completed in S66, all vehicles A advance to the front and back of the (R A +1) th row, and lane scheduling of the vehicle B is completed; the method comprises the following steps:
All vehicles B after the (R A+RB) th line of S671 are changed to the leftmost lane at the same time and are closely arranged;
All vehicles B following (R A+RB) S672 go forward simultaneously to be closely aligned from (R A +1);
s673, the uniform distribution of the vehicles B is completed, and the uniform distribution of the vehicles A is completed by the same method.
S68, after S64 and S67 are completed, lane scheduling of the vehicle C is completed; the method comprises the following steps:
S681, all the front R C vehicles C contained in the forward lane L C are changed to the leftmost lane at the same time and are closely arranged;
S682 after S681 finishes replacing one lane, all vehicles C in the forward lane L C can simultaneously advance to the (R A+RB +1) th row to be closely arranged;
S683 repeats S681 and S682 until all lane vehicles C are located before (R A+RB+RC +1) th row;
S684, the uniform distribution of the vehicle C is completed, and the uniform distribution of the vehicle A is completed by the same method.
S7, recording real-time position coordinates of each vehicle, calculating running tracks of each position change process based on a vehicle kinematic model, and summarizing to form an intelligent network train group running track from an initial state to a target state completely.
Wherein, the vehicle kinematics model 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 vehicle longitudinal speed V 0 in the side-by-side lane change or no acceleration. The acceleration progress state means: when the vehicle advances to achieve the aims of alignment or tight arrangement, the initial longitudinal speed and the end longitudinal speed are both V 0, the maximum speed of all the automobiles is V max, and the maximum longitudinal acceleration is always kept to be a max and the maximum longitudinal deceleration is kept to be-a max during acceleration and deceleration;
For an intelligent network coupled vehicle longitudinal forward process, calculating an actual motion distance D according to a position coordinate, wherein the actual motion 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 intelligent network train group is cooperatively controlled to reach a target serial arrangement state, and the specific steps are as follows:
s1 defining distribution state of intelligent network connection group
Based on the road section and the initial state of the vehicle, the total number of lanes N L =4, and the number of vehicles of the vehicle A, the vehicle B and the vehicle C are N A＝6、NB =8 and N C =4 respectively; as shown in fig. 1 (a), letters A, B, C respectively represent left turn, straight run and right turn, empty space indicates that no vehicle is occupied, all vehicle distances are D 0 =12m, and vehicles in different lanes are kept horizontally aligned and arranged in rows when running; the target state of the intelligent network linkage group is shown in fig. 1 (b).
S2 defines different steering vehicle forward lanes
Calculating N L \3=1, then N LA＝1,NLB＝2,NLC =1; vehicle a, vehicle B and vehicle C select N LA、NLB and N LC lanes as forward lanes in turn from left to right, labeled L A、LB and L C;
S3 defining virtual reserved lines
Calculating the number of rows R A＝2、RB＝2、RC =1 required by the vehicles a, B and C to occupy all lanes, and traversing the current state from front to back to find the row L C1 =2 where the first vehicle C is located, the number of empty rows that need to be increased is R 0 =2+2-2+1=3, as shown in the gray part of fig. 2 (C).
S4 intelligent network train group longitudinal separation
Longitudinal separation among different steering vehicles is carried out so as to ensure that all vehicles A can change lanes to an L A forward lane, all vehicles B can change lanes to an L B forward lane, all vehicles C can change lanes to an L C forward lane, and the state after longitudinal separation is shown in fig. 2 (B); the vehicle is furthest relative to the forward distance d=5d 0 in the process, the required time T D1 =8.94 s for the process is calculated based on the vehicle kinematic model, and the starting time T S1 =0 s.
S5 intelligent network linkage group collaborative lane change
Changing the lane of the different steering vehicles to the corresponding lane so that all vehicles A are positioned in the L A forward lane, all vehicles B can be positioned in the L B forward lane, all vehicles C are positioned in the L C forward lane, and the state after the lane change is cooperated is shown in fig. 2 (C); in the process, the vehicle replaces two lanes at most, the required time T D2＝2*Tc =4s for the process is calculated based on the vehicle kinematic model, and the starting time T S2 =8.94 s.
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 running spaces before the first row in the state after the collaborative lane change;
S62 all vehicles a advance simultaneously along the L A forward lane such that vehicles a of all lanes contained in L A are closely aligned from the first row, as shown in fig. 3 (a); the vehicle is furthest relative to the forward distance d=7d 0 in the process, the required time T D3 =10.58 s for the process is calculated based on the vehicle kinematic model, and the starting time T S3 =12.94 s.
S63 and S62 are performed simultaneously, all vehicles B advance simultaneously along the L B forward lanes, so that vehicles B of all lanes contained in L B are closely aligned from row 3, as shown in fig. 4 (a); the vehicle is furthest relative to the forward distance d=7d 0 in the process, the required time T D4 =10.58 s for the process is calculated based on the vehicle kinematic model, and the starting time T S4 =12.94 s.
S64 and S62 are performed simultaneously, all vehicles C advance simultaneously along the L C forward lanes, so that vehicles C of all lanes contained in L C are closely aligned from row 5, as shown in fig. 5 (a); the vehicle is furthest relative to the forward distance d=3d 0 in the process, the required time T D5 =6.93 s for the process is calculated based on the vehicle kinematic model, and the start time T S5 =12.94 s.
After S62 is completed, the lane scheduling of all vehicles a is completed, and the scheduling process is as shown in fig. 3, and the steps are as follows: 1) All vehicles A in front of the 3 rd row are simultaneously changed to the right for 3 lanes; 2) After one lane is replaced, all the vehicles A in the forward lane L A can simultaneously advance until the first lane is arranged tightly; 3) All vehicles A in front of the 3 rd row are simultaneously changed to the right by 2 lanes; 4) After one lane is replaced, all the vehicles A in the forward lane L A can simultaneously advance until the first lane is arranged tightly; 5) Finding that the maximum lane and the minimum lane of the vehicle A are a right-to-left lane 2 and a lane 3 respectively; 6) The first line is marked as a moving line, and one lane is replaced leftwards between the lane 2 and the lane 3 by the first line; 7) The remaining vehicles A of the lane 2 advance by one row; the process stages include a change 1 lane, an advance 2D 0, a change 1 lane, an advance 2D 0, a change 1 lane, an advance D 0, a process time T D6 = 21.32s, a start time T S6 = 23.52s, calculated based on the vehicle kinematic model.
S66 after S63 is completed, the first 2 vehicles B of all lanes contained in the L B forward lane move to the right by 1 lane, and then all vehicles B still located in the L B forward lane simultaneously advance so that the vehicles B are closely aligned from the 3 rd row, as shown in fig. 4 (B) and (c); this process phase includes changing 1 lane, advancing 2D 0 phases, calculating the process time-consuming T D7 =7.66 s based on the vehicle kinematics model, start time T S7 =23.52 s.
S67, completing lane scheduling of the vehicle B, wherein the steps are as follows: 1) All the vehicles B after the 4 th row are changed to the leftmost lane at the same time and are closely arranged; 2) All vehicles B after row 4 advance simultaneously to a close arrangement from row 3 as shown in fig. 4 (d) and (e); the process phase includes changing 2 lanes, advancing 2D 0 phases, calculating the process time T D8 = 9.66s, s66 time T S81 = 31.18s after completion based on the vehicle kinematic model, and starting time T S8 = 38.84s since the process needs to start after all vehicles a advance to the third row, its completion time T S82 = 38.84s.
S68, completing lane scheduling of the vehicle C, wherein the following steps are performed: 1) All front 1 vehicles C contained in the forward lane L C are changed to the leftmost lane at the same time and are closely arranged; 2) All vehicles C in the forward lane L C advance to the 5 th row to be closely arranged; 3) Repeating 1) and 2) until all lane vehicles C are located before row 6, as shown in fig. 5; the process stage includes a change of 1 lane, an advance D 0, a change of 1 lane, an advance D 0, a change of 1 lane, an advance D 0, a calculation of the process time T D9 =18 s based on the vehicle kinematic model, and a start time T S9 =48.5 s.
S7, recording real-time position coordinates of each vehicle, calculating running tracks of each position change process based on a vehicle kinematic model, and summarizing to form an intelligent network train group running track from an initial state to a target state completely.
The position of the last vehicle in the initial spatial distribution of the intelligent network coupling group is marked as a longitudinal origin, and the edge of the leftmost lane of the road section is marked as a transverse origin; the vehicle after the lane change is required to run on the lane center line, the lane width is set to be 3.5m, and the transverse positions of the vehicle running on the lane center line are respectively 1.75m,5.25m,8.75m and 12.25m; the parameters in this example are set as follows: initial speed V 0 =2 m/s, road section maximum speed V max =2 m/s, maximum acceleration a max＝3m/s2, maximum deceleration a min＝-3m/s2, lane change time T c =2 s.
Fig. 2 (D) shows the intelligent network vehicle linkage target state, the coordinate change of each vehicle is recorded, the specific duration of each process of cooperative control is calculated based on the vehicle motion model, in this example, the total time for completing the target arrangement is t=t D9+TS9 =66.5s, the maximum arrival distance x=12d 0+T*V0 =277 m, and the complete running track of the intelligent network vehicle linkage group is shown in fig. 6. In fig. 6, t is the cumulative elapsed time, the longitudinal position x corresponds to the forward direction of the vehicle, and the lateral position y corresponds to the lane change direction of the vehicle. Each continuous curve represents the travel path of an intelligent network vehicle from the initial time to the completion of the target arrangement in fig. 2.
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 (11)
1. A control method for realizing intelligent vehicle series arrangement on three lanes and more roads is characterized by comprising the following steps:
s1, aiming at three lanes and more road sections, an intelligent network vehicle on the road section is communicated in real time by a vehicle networking control center, a current intelligent network vehicle group is determined as a control target, road information and vehicle initial states including the total number of lanes and vehicles, the steering and position distribution of each vehicle are obtained, and an intelligent network vehicle group distribution state is defined; in the distribution state of the intelligent network coupling group, all vehicles are transversely aligned, the distance D 0 is longitudinally kept, and vehicles A, B and C corresponding to different steering directions are respectively represented;
S2, defining different steering vehicle advancing lanes according to the acquired road information and the intelligent network vehicle linkage group distribution state, wherein each steering vehicle is provided with at least one advancing lane; the method in which the different steered vehicle forward lanes are defined is: the method for determining the forward lanes of the vehicles with different steering directions based on the number of lanes and the number of vehicles, namely the forward lanes, 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 sequentially selected from left to right as the forward lanes, and the determination methods marked as L A、LB, L C,NLA、NLB and N LC are 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 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/>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 downward rounding;
S3, defining virtual reserved blank lines; the virtual reserved empty line R 0 is to increase reserved running space of the empty line vehicle A and the empty line vehicle B before the first line in the current state after the lane change of the vehicles with different steering is completed to the corresponding lanes;
S4, longitudinally separating intelligent network coupling groups, enabling all vehicles A to change lanes to an L A forward lane, enabling all vehicles B to change lanes to an L B forward lane, and enabling all vehicles C to change lanes to an L C forward lane;
s5, the intelligent network car-connected group cooperatively changes the lane so that the different steering vehicles change the lane to the corresponding target lanes;
S6, the intelligent network connection group simultaneously advances to reach a target state; the method specifically comprises the following steps:
S61, adding R 0 rows of virtual reserved empty spaces to reserve running spaces for the vehicle A and the vehicle B before the first row in the current state;
S62, all vehicles A advance simultaneously along the L A advancing lanes, so that all lane vehicles A of the L A are closely arranged from the first row;
S63 and S62 are performed simultaneously, and all vehicles B advance simultaneously along the L B advancing lanes, so that all lane vehicles B of L B are closely arranged from the (R A +1) th row;
S64, while S62 is carried out, all vehicles C advance simultaneously along the L C advancing lane, so that all lane vehicles C of L C are closely arranged from the (R A+RB +1) th row;
S65, after S62 is completed, lane scheduling of all vehicles A is completed;
S66 after S63 is completed, R B vehicles B in front of all lanes of the L B forward lane move to the right by N LC lanes, then all vehicles B still positioned in the L B forward lane simultaneously advance so that the vehicles B are closely arranged from the (R A +1) th row, if N LC＞NLB, the front R B vehicles B of all lanes contained in the L B forward lane move to the right again by 1 lane, then all vehicles B still positioned in the L B forward lane simultaneously advance so that the vehicles B are closely arranged from the (R A +1) th row;
s67 completes the lane scheduling of all vehicles B after S66 completes and all vehicles A advance to the front of the (R A +1) th row;
S68, after S64 and S67 are completed, lane scheduling of all vehicles C is completed;
s7, recording real-time position coordinates of each vehicle, calculating running tracks of each position change process based on a vehicle kinematic model, and summarizing to form an intelligent network train group running track from an initial state to a target state completely.
2. The control method for realizing the tandem arrangement of intelligent vehicles on three or more roads according to claim 1, wherein in S3, the calculation method of the virtual reserved empty line is as follows: calculating the number of lines required by the vehicle A, the vehicle B and the vehicle C to occupy all lanesWherein/>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 empty rows are not required to be increased.
3. The control method for realizing the tandem arrangement of intelligent vehicles on three or more roads according to claim 1, wherein in S4, intelligent network-connected vehicle groups are longitudinally separated, comprising the following steps:
S41, determining three principles to be followed in 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;
S42, traversing all rows one by one from back to front, and enabling the steering vehicles with high priority in each row to advance until all vehicles in each row do not mutually obstruct the lane change to the corresponding advancing lane, wherein each time the vehicles advance for one row, all vehicles in front of the current vehicle need to advance for one row;
s43, after all rows are traversed, the forward progress numbers of all vehicles are counted, and then the vehicles are moved simultaneously to achieve longitudinal separation.
4. The control method for realizing the tandem arrangement of intelligent vehicles on three or more roads according to claim 1, wherein in S5, the intelligent network-connected vehicle group cooperatively changes lanes, comprising the following steps:
s51, traversing all lines from back to front one by one to determine a lane change target lane of each line of vehicles, counting the accumulated number of vehicles in each lane after lane change, and for each steering vehicle, cooperatively changing lanes of each line follows the following principle: 1) If the number of lanes included in the steering vehicle and the corresponding forward lanes is the same, the steering vehicle finishes lane changing at the same time; 2) If the number of the steering vehicles is less than the number of the corresponding forward lanes, the lane change target lanes are sequentially selected from small to large according to the number of the accumulated vehicles of each lane of the forward lanes, and if the number of the accumulated lanes is the same, the right lane is selected;
s52, counting lane change target lanes of all vehicles based on a cooperative lane change principle, and then simultaneously moving to realize cooperative lane change.
5. The control method for realizing the tandem arrangement of intelligent vehicles on three or more roads according to claim 1, wherein in S7, the vehicle kinematic model in the cooperative control process 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 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, 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.
6. The control method for realizing the tandem arrangement of intelligent vehicles on three or more roads according to claim 1, wherein the scheduling of the lane a in S65 comprises the steps of:
S651, after the vehicles A are tightly arranged on the first row of the forward lane L A, all the vehicles A in front of the (R A +1) th row are simultaneously changed to the right to the edge lane or are tightly arranged transversely with other vehicles;
S652, after finishing replacing one lane in S651, all the vehicles A in the forward lane L A can simultaneously advance until the first lane is arranged tightly;
S653 repeats S651 and S652 until all vehicles a are located before (R A +1) th row;
S654 completes the uniform distribution of all vehicles a, which means that the absolute value of the difference between the numbers of vehicles a on all lanes is less than or equal to 1.
7. The method for controlling the tandem arrangement of intelligent vehicles on three or more roads according to claim 6, wherein in step S654, the uniform distribution of vehicles comprises the steps of:
Repeating the steps 1) -5) until the absolute value of the difference between the numbers of j, j epsilon { A, B, C } of all the vehicles on the lanes is less than or equal to 1: 1) If the number of the lane with the least number of the vehicle j is the L d, and the number of the vehicle j in a plurality of lanes is the least in parallel, the rightmost lane is selected to be the L d; 2) The lane mark with the largest number of the search vehicles j is L u, if the corresponding steering vehicles of a plurality of lanes are the largest in parallel, the lane mark closest to the L d is preferably selected to be L u, and if the distances are the same, the right lane is selected; 3) Marking the next behavior of the last vehicle of the lane L d as a moving line, and marking the behavior of the first vehicle of the lane L u as the moving line if the lane does not have a corresponding steering vehicle; 4) The method comprises the steps of replacing a lane by a vehicle j between a lane L u and a lane L d in the current moving way in cooperation with the lane L d; 5) All vehicles i after traveling in the lane L u travel one line.
8. The control method for realizing the tandem arrangement of intelligent vehicles on three or more roads according to claim 1, wherein in S67, the vehicle B lane scheduling comprises the steps of:
All vehicles B after the (R A+RB) th line of S671 are changed to the leftmost lane at the same time and are closely arranged;
All vehicles B following (R A+RB) S672 go forward simultaneously to be closely aligned from (R A +1);
S673, completing uniform distribution of all vehicles B, wherein the uniform distribution means that the absolute value of the difference between the numbers of the vehicles B on all lanes is less than or equal to 1.
9. The control method for realizing the tandem arrangement of intelligent vehicles on three or more roads according to claim 8, wherein in the step S673, the uniform distribution of vehicles comprises the steps of:
Repeating the steps 1) -5) until the absolute value of the difference between the numbers of j, j epsilon { A, B, C } on all lanes is less than or equal to 1:1), searching the lane mark with the least number of j of the vehicles as L d, and selecting the rightmost lane mark as L d if the number of j of the plurality of lane vehicles is the least in parallel; 2) The lane mark with the largest number of the search vehicles j is L u, if the corresponding steering vehicles of a plurality of lanes are the largest in parallel, the lane mark closest to the L d is preferably selected to be L u, and if the distances are the same, the right lane is selected; 3) Marking the next behavior of the last vehicle of the lane L d as a moving line, and marking the behavior of the first vehicle of the lane L u as the moving line if the lane does not have a corresponding steering vehicle; 4) The method comprises the steps of replacing a lane by a vehicle j between a lane L u and a lane L d in the current moving way in cooperation with the lane L d; 5) All vehicles j after traveling in the lane L u travel one line.
10. The method for controlling the tandem arrangement of intelligent vehicles on three or more roads according to claim 1, wherein in the step S68, the vehicle C lane scheduling includes the steps of:
S681, all the front R C vehicles C contained in the forward lane L C are changed to the leftmost lane at the same time and are closely arranged;
S682 after S681 finishes replacing one lane, all vehicles C in the forward lane L C can simultaneously advance to the (R A+RB +1) th row to be closely arranged;
S683 repeats S681 and S682 until all lane vehicles C are located before (R A+RB+RC +1) th row;
s684, completing uniform distribution of all vehicles C, wherein the uniform distribution means that the absolute value of the difference between the numbers of the vehicles C on all lanes is less than or equal to 1.
11. The method for controlling the tandem arrangement of intelligent vehicles on three or more roads according to claim 10, wherein in step S684, the uniform distribution of vehicles comprises the steps of:
Repeating the steps 1) -5) until the absolute value of the difference between the numbers of j, j epsilon { A, B, C } on all lanes is less than or equal to 1:1), searching the lane mark with the least number of j of the vehicles as L d, and selecting the rightmost lane mark as L d if the number of j of the plurality of lane vehicles is the least in parallel; 2) The lane mark with the largest number of the search vehicles j is L u, if the corresponding steering vehicles of a plurality of lanes are the largest in parallel, the lane mark closest to the L d is preferably selected to be L u, and if the distances are the same, the right lane is selected; 3) Marking the next behavior of the last vehicle of the lane L d as a moving line, and marking the behavior of the first vehicle of the lane L u as the moving line if the lane does not have a corresponding steering vehicle; 4) The method comprises the steps of replacing a lane by a vehicle j between a lane L u and a lane L d in the current moving way in cooperation with the lane L d; 5) All vehicles j after traveling in the lane L u travel one line.
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