CN115273450A - Lane changing method for vehicles entering formation under network connection automatic driving environment - Google Patents
Lane changing method for vehicles entering formation under network connection automatic driving environment Download PDFInfo
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Abstract
The invention provides a lane changing method for vehicles entering formation under an online automatic driving environment, which comprises the steps of firstly obtaining environment information of a traffic road section of a vehicle formation through advanced sensing equipment and technology, and determining the position of a lane changing vehicle inserted into the formation according to a safe lane changing condition; and then calculating the acceleration and deceleration and the longitudinal control total adjustment time of the lane changing vehicle and two adjacent vehicles in the inserting position of the lane changing vehicle, the transverse and longitudinal control acceleration and lane changing time of the lane changing vehicle, the total adjustment time of the new vehicle formation, the acceleration and deceleration of the corresponding vehicle and the acceleration and deceleration time in the process of inserting the lane changing vehicle into the vehicle formation. Therefore, the lane-changing vehicles enter the existing vehicle formation and are formed again, the formation safety is guaranteed, and the passing efficiency is improved.
Description
Technical Field
The invention relates to the field of automatic driving of internet and vehicle formation, in particular to a lane changing method for vehicles entering formation under the environment of automatic driving of internet.
Background
With the development of intelligentization, networking and informatization technologies in the traffic field, an intelligent vehicle-road cooperative system becomes an important means for improving the traffic efficiency of a traffic system. The intersection connecting road section is used as an important component of a road traffic network, and the dynamic track optimization of the intelligent networking automobile in the road section has obvious influence on the traffic efficiency of the road traffic network. Therefore, under the cooperative environment of the vehicle and the road, a set of lane changing method for vehicles to enter a formation is provided with the aim of exerting the advantages of the intelligent networked vehicles, and the method has important significance for improving the road safety and the operation efficiency.
At present, the research of vehicle formation strategies based on intelligent networking is mainly divided into two categories: in one aspect, some scholars perform a dynamics analysis for a single vehicle, building a vehicle model and a vehicle fleet model. For example, chen Xiancheng et al plans a vehicle formation structure under a vehicle-mounted self-organizing network aiming at the vehicle formation control problem considering the external interference and the uncertainty of model parameters, applies a control algorithm to intelligent vehicle formation, and meets the requirements of vehicle formation stability and vehicle formation queue stability. For example, alan et al designs a sliding mode control method on the basis of a transverse dynamic model of vehicle formation, and adopts an improved constant time distance control method for a longitudinal formation of the vehicle formation, so that the vehicle-to-vehicle distance is further reduced, and the robustness of the vehicle formation can be guaranteed. On the other hand, some scholars progressively form a formation structure through intelligent vehicle path tracking by planning a formation route using a vehicle formation control algorithm. For example, li and other people aim at the problems of formation and obstacle avoidance control of multiple robots, based on the control idea of an artificial potential field method, a potential function comprising a gravitational field and a repulsive field is established to realize the motion control of an intelligent agent, and a potential field function is accurately designed according to an expected formation and a driving task to represent a queue structure. The Korea xylol and the like design a self-adaptive formation controller based on a linear feedback algorithm by establishing a piloting-following attitude error model aiming at the formation control problem under the conditions of uncertain internal parameters and external environment interference, and can realize the stable formation control of vehicles. At present, research methods for vehicle formation strategies are various, but most attention is paid to formation forming methods and formation self management, interaction between vehicle formations and non-formation vehicles in actual road traffic and formation reconstruction methods after vehicles are inserted into vehicle formations are omitted, and the research is difficult to apply in specific road traffic scenes.
Disclosure of Invention
The invention solves the problems: aiming at the defects of the conventional vehicle formation strategy, a lane changing method for vehicles to enter the formation under the internet automatic driving environment is provided, so that the lane changing vehicles are inserted into the conventional vehicle formation to form a new formation on the basis of meeting the requirements of safe lane changing and comfortable driving, and the passing efficiency is improved.
The technical scheme of the invention is as follows: a lane changing method for vehicles entering formation under an online automatic driving environment is realized by the following steps:
step 2, based on the data of the environmental information of the passing road sections of the vehicle formation in the step 1, according to the influence of the vehicle decision time on the relative distance, giving a judgment basis for inserting the lane-changing vehicles into different positions of the vehicle formation, and determining the positions of the lane-changing vehicles inserted into the formation;
step 3, based on the lane changing vehicle inserting formation position determined in the step 2, giving a lane changing vehicle movement longitudinal control strategy, and carrying out vehicle movement longitudinal control to enable the lane changing vehicle to reach the longitudinal inserting formation position;
step 4, based on the fact that the lane changing vehicles reach the longitudinal inserting formation position in the step 3, a lateral control strategy of the lane changing vehicle movement is given, and the vehicle movement lateral control is carried out to form a formation after the lane changing vehicles are inserted;
and 5: and (5) performing vehicle motion longitudinal control on the formation after the lane changing vehicles in the step (4) are inserted again, so that the acceleration of the vehicles after deceleration reaches the maximum speed limit V of the road m And the distance between the heads of the vehicle formation after the vehicle is inserted into the formation keeps the minimum safe distance d h The vehicle formation C recovers the initial driving state;
step 6: and repeating the calculation processes of the steps 2,3,4 and 5 for the next vehicle requesting to enter the vehicle formation C, determining the position of the lane-changing vehicle inserted into the queue and a control strategy, and realizing the insertion of the lane-changing vehicle into the vehicle formation and the reconstruction of the vehicle formation.
In the step 1, the environmental information of the vehicle formation passing road section is obtained, and the environmental information comprises the movement condition data of the lane line, the formation vehicles and the vehicles requesting to change the lane, so that the lane width l and the maximum speed limit V of the current road are determined m Requesting the X-running speed V of the lane-changing vehicle x Current vehicle formation C head vehicle C 1 Coordinate x of advancing direction along lane line 1 X coordinate X of vehicle requesting lane change x Difference d of 0 。
In the step 2, the implementation steps for determining the insertion formation position of the lane changing vehicle are as follows:
(1) Firstly, judging whether the vehicle X meets the condition of becoming the head vehicle of the vehicle formation C, namely:
d＝(V m -V x )·Δt+d 0
d 0 ＝x 1 -x x
wherein d is the vehicle X requesting lane change and the head vehicle C of the current vehicle formation C 1 Longitudinal relative distance along lane line, V m For maximum speed limit of road, V x For requesting the X driving speed of the lane-changing vehicle, delta t is the decision time, d 0 Forming a C head vehicle C for the current vehicle 1 Coordinate x of advancing direction along lane line 1 X coordinate X of vehicle changing lane with request x Difference of a, a a L is the standard vehicle length of an autonomous vehicle for the maximum longitudinal acceleration limited by road safety and comfort.
(2) If the vehicle X can not meet the requirements, judging whether the vehicle X meets two vehicles C before the vehicle X is inserted into the formation 1 And C 2 In the meantime, the vehicle C becomes the vehicle C in the current vehicle formation C 2 Conditions of the preceding vehicle:
wherein d is h And the minimum safe distance between the heads of the vehicles in the vehicle formation C, i is a positive integer variable from 1 to n-1, and n is the number of the vehicles in the vehicle formation C.
(3) If the judgment condition can not be met until i = n-1, adopting a strategy that the vehicle X becomes a tail vehicle after being inserted into the current vehicle formation C:
wherein, a a For maximum longitudinal acceleration limited by road safety and comfort, L is the standard vehicle length of the autonomous vehicle, d h And (4) obtaining the minimum safe distance between heads of the vehicles in the formation C of the vehicles.
The step 3 is realized as follows:
(1) When the vehicle X is inserted into the front of the current vehicle formation C and becomes the head vehicle, the acceleration required by the vehicle requesting lane change is calculated by the following formula:
S＝V m t+2L-d
(2) When the vehicle X is inserted into the ith vehicle and the (i + 1) th vehicle C in the vehicle formation i And C i+1 The following formula is used for calculating the acceleration required by the vehicle requesting lane change:
D＝D 1 +D 2
t＝t 1 +t 2
V m t-(D 1 +D 2 )＝3L
S＝V x t-2L+n(L+d)+d
(3) When the current vehicle formation C is inserted and becomes a tail vehicle, the acceleration required by the vehicle requesting lane change is calculated by the following formula:
S＝V m t+d 0 -(n+1)L-(n-1)d
wherein, a x Acceleration required for requesting lane-change vehicles, a a For maximum longitudinal acceleration, limited by road safety and comfort, a s For maximum longitudinal deceleration, V, limited by road safety and comfort 0 Minimum speed after deceleration of vehicle, t 1 Adjusting the time, t, for the deceleration phase of a vehicle formation 2 Adjusting time for the acceleration stage of vehicle formation, t is total adjustment time for vehicle formation, D 1 The distance traveled by the i +1 st vehicle and the following vehicles in the deceleration stage within the adjustment time, D 2 The driving distance of the (i + 1) th vehicle and the following vehicles in the acceleration stage in the adjustment time is calculated, D is the total driving distance of the (i + 1) th vehicle and the following vehicles in the adjustment time, S is the driving distance of the vehicle X requiring lane change to meet the safety lane change condition, and n is the number of vehicles in the formation of vehicles C.
Further, the step 4 is realized as follows:
(1) And (4) performing transverse edge-approaching control while performing longitudinal control on the vehicle motion of the lane-changing vehicle X according to the step (3), so that the vehicle body of the lane-changing vehicle X is tangent to a lane line in the vehicle formation adjustment time, and calculating the transverse acceleration a of the lane-changing vehicle l The vehicle is controlled in the longitudinal direction while the lateral control acceleration is:
wherein k is the lane width, W is the standard body width of the lane-changing autonomous vehicle, a l The lateral maximum acceleration, limited by road safety and comfort, is t the total adjustment time for the formation of the vehicle.
(2) After the vehicle body of the lane changing vehicle X is tangent to the lane line within the vehicle formation adjusting time, the lane changing vehicle X reaches the central axis of the lane A in the shortest time, and the vehicle lane changing time is as follows:
τ＝τ 1 +τ 2
wherein, tau 1 For requesting a lane-change vehicle to laterally control the acceleration time, tau 2 For a request to change lane, the deceleration time is controlled laterally, tau is the time for a request to change lane, a l For maximum lateral acceleration limited by road safety and comfort, a m For the lateral maximum deceleration limited by road safety and comfort, t is the total adjustment time for the vehicle formation.
Further, the step 5 is implemented as follows:
(1) If the vehicle X is inserted into the front of the first vehicle to become a head vehicle, calculating the total adjusting time t' of the vehicle formation by using the following calculation formula:
t′＝t′ 1 +t′ 2
V m t-(X 1 +X 2 )＝L-d h
wherein, a a For maximum longitudinal acceleration, limited by road safety and comfort, a s Longitudinal maximum deceleration, V ', limited by road safety and comfort' 0 The minimum speed after the deceleration of the head vehicle, and t 'is the total adjustment time of the formation of the vehicles, t' 1 Adjusting time, t 'for post-insertion formation deceleration phase of vehicle' 2 Adjusting the time for the post-formation acceleration phase of the vehicle, X 1 For the first vehicle of the formation of the vehicle to decelerate by a distance, X 2 And accelerating the running distance of the head vehicle of the vehicle formation.
(2) If the vehicle X is inserted between the vehicles of the original vehicle formation C, calculating the total adjustment time t' of the formation after the vehicle is inserted and the longitudinal control acceleration and deceleration of the vehicle X by using the following calculation formula:
t′＝t′ 1 +t′ 2
V m t′-(X 1 +X 2 )＝2L-2d h
wherein, a a For maximum longitudinal acceleration limited by road safety and comfort, a s Is a longitudinal maximum deceleration, V ', limited by road safety and comfort' 0 For the minimum speed after deceleration of the vehicle at the head, X 1 For the first vehicle of the formation of the vehicle to decelerate by a travel distance, X 2 Is the accelerated running distance of the head vehicle of the vehicle formation, V' 0x Minimum speed after X deceleration of vehicle, a ax For vehicle X acceleration, a sx Is the vehicle X deceleration.
(3) If the vehicle X becomes a tail vehicle after being inserted into the current vehicle formation C, calculating the total adjusting time t' of the vehicle formation by using the following calculation formula:
t′＝t′ 1 +t′ 2
V m t-(X 1 +X 2 )＝L d -d h -L
wherein, a a For maximum longitudinal acceleration limited by road safety and comfort, a s Longitudinal maximum deceleration, V ', limited by road safety and comfort' 0 The minimum speed after the first vehicle decelerates, t' the total adjustment time of the formation of the vehicles, X 1 For the first vehicle of the formation of the vehicle to decelerate by a distance, X 2 Accelerating the driving distance for the head vehicle of the formation of vehicles, L d The distance between the lane changing vehicle X and the head of the tail vehicle of the vehicle formation C is requested.
Compared with the prior art, the invention has the advantages that:
(1) The method comprises the steps of firstly, acquiring environmental information of a passing road section of a vehicle formation through sensing equipment and technology, and determining the position of a lane-changing vehicle inserted into the formation according to a safe lane-changing condition; and then calculating the acceleration and deceleration, the longitudinal control total adjustment time, the transverse and longitudinal control acceleration and lane change time of the lane changing vehicles and two adjacent vehicles in the insertion positions of the lane changing vehicles, the total adjustment time of the new vehicle formation, the acceleration and deceleration of the corresponding vehicles and the acceleration and deceleration time in the process of inserting the lane changing vehicles into the vehicle formation, so that the lane changing vehicles enter the existing vehicle formation and form the vehicle formation again, the formation safety is guaranteed, and the traffic efficiency is greatly improved.
(2) The invention provides a corresponding control strategy for vehicle insertion formation and formation reconstruction according to the scene that the lane-changing vehicles join in the vehicle formation, ensures the formation safety, realizes the insertion of the lane-changing vehicles into the existing vehicle formation and forms a new formation on the basis of meeting the requirements of safe lane changing and comfortable driving, and improves the traffic efficiency.
Drawings
FIG. 1 is a schematic diagram of the present invention for planning an initial state of a vehicle;
FIG. 2 is a schematic diagram of a safe lane change condition;
FIG. 3 is a schematic diagram of lane-change vehicles inserted into the formation heads of the vehicles;
FIG. 4 is a schematic view of lane-change vehicles inserted between vehicle convoy trains;
FIG. 5 is a schematic diagram of lane-change vehicles inserted into the tail of a formation of vehicles;
FIG. 6 is a flow chart of the implementation of the method of the present invention.
Detailed Description
The present invention will be described in detail below with reference to the accompanying drawings and embodiments. It should be understood that this example is intended to illustrate the invention only and is not intended to limit the scope of the invention.
As shown in fig. 6, the method of the present invention comprises the following steps:
And 2, determining the position of the lane-changing vehicle inserted into the formation based on the data collected in the step 1.
(1) And planning the initial state of the vehicles in the road section. Determining the current traffic flow state based on the data collected in step 1, and planning the initial state of the vehicle, as shown in fig. 1, the automatic driving vehicle formation C uses the maximum speed limit V of the current road m Driving on lane A, wherein n vehicles C are shared in the formation C 1 ，C 2 ...C i ...C n And the same minimum vehicle head spacing d is kept between the vehicles h . Autonomous vehicle X requesting lane change at speed V x And driving on the lane B. Vehicle X at a certain time t x And initiating a request of changing lanes and inserting the vehicle formation C.
(2) The relative distance d is calculated taking into account the decision time. After the automatic driving vehicle X sends out a request, a decision needs to be calculated and formed through a processing system, and finally an instruction is received to control the vehicle 1 Longitudinal distance along lane line:
d＝(V m -V x )·Δt+d 0
d 0 ＝x 1 -x x
wherein d is the vehicle X requesting lane change and the head vehicle C of the current vehicle formation C 1 Longitudinal relative distance along lane line, V m For maximum speed limit of road, V x For requesting the X driving speed of the lane-changing vehicle, delta t is the decision time, d 0 Formation of a C-head vehicle C for the current vehicle 1 Coordinate x of advancing direction along lane line 1 X coordinate X of vehicle changing lane with request x The difference therebetween.
(3) And (4) safely changing the channel condition. In order to ensure the safety of the X lane change of the vehicle, the lane change environment needs to meet the constraint conditions: that is, no vehicle exists in the three-space in front of and behind the target lane, which is regarded as a safe lane-changing environment, and as shown in fig. 2, the vehicle satisfies the lane-changing condition at this time.
(4) Firstly, whether the vehicle X meets the condition of becoming the head vehicle of the vehicle formation C is judged according to the safe lane changing condition, and at the moment, the lane changing vehicle can be inserted into the current vehicle formation C to become the head vehicle under the condition of meeting the safe lane changing condition as shown in figure 3. Due to vehicle formation at speed V m Travel, therefore, vehicle X should be ahead of the head of vehicle formation C and able to meet the entering vehicle formation conditions, i.e.:
wherein, a a The longitudinal maximum acceleration, limited by road safety and comfort, L is the standard vehicle length of the autonomous vehicle.
If the vehicle X can meet the requirements, the strategy that the vehicle X is inserted in front of the head of the current vehicle formation C to become the head of the vehicle formation is adopted.
(5) If the track changing condition in the step (4) cannot be met, whether the vehicle X meets the condition of becoming the head vehicle of the vehicle formation C or not is judged, and whether the vehicle X meets the conditions of two vehicles C before the vehicle formation C or not is judged according to the safe track changing condition 1 And C 2 In between, i.e. become the vehicle C in the current vehicle formation C 2 The condition of the preceding vehicle. Still considering the three-space around the target lane, when there is no vehicle, it can be regarded as a safe lane-changing environment, as shown in fig. 4, the lane-changing vehicle can be inserted into two vehicles C in the current vehicle formation C under the condition of satisfying the safe lane-changing condition 1 And C 2 In the meantime. Due to vehicle formation at speed V m Travel, therefore, vehicle X should meet the lane change entry vehicle formation conditions, namely:
if the vehicle X can satisfy the above requirements, the vehicle X is used to insert two vehicles C before vehicle formation 1 And C 2 Become vehicles C in the vehicle formation C 2 And (4) the strategy of the front vehicle.
If the above judgment is not satisfiedCondition, then continue to judge whether vehicle X satisfies two vehicles C before inserting vehicle formation 2 And C 3 In the meantime, the vehicle C becomes the vehicle C in the current vehicle formation C 3 The front vehicle. At this time, the vehicle X should satisfy the lane change entry vehicle formation condition, that is:
wherein d is h And (4) forming a minimum safe distance for the distance between the heads of the vehicles in the vehicle formation C.
If the vehicle X can satisfy the above requirements, the vehicle X is inserted into two vehicles C before the vehicle formation 2 And C 3 Become vehicles C in the vehicle formation C 3 And (4) the strategy of the front vehicle.
If the judgment condition can not be met, analogizing to the above, continuously judging whether the vehicle X meets the ith vehicle and the (i + 1) th vehicle C of the inserted vehicle formation i And C i+1 In the meantime, the vehicle C becomes the vehicle C in the current vehicle formation C i The front vehicle. At this time, the vehicle X should satisfy the lane change entry vehicle formation condition, that is:
wherein i is a positive integer variable from 1 to n-1, and n is the number of vehicles in the vehicle formation C.
If the vehicle X can satisfy the above requirements, the vehicle X is inserted into two vehicles C before the vehicle formation i And C i+1 Become vehicles C in the vehicle formation C i+1 And (4) the strategy of the front vehicle until i = n-1.
(6) If the judgment condition can not be met until i = n-1, the vehicle X does not meet the condition of inserting the vehicle into the front of the current vehicle formation C and the condition of inserting the vehicle into the rear of the current vehicle formation C, and the vehicle X is inserted into the front of the current vehicle formation C n And the rear vehicle becomes a tail vehicle strategy. Considering that no vehicle exists in the three-space in front of and behind the target lane, the vehicle can be regarded as a safe lane changing environment, and as shown in fig. 5, the lane changing vehicle can be inserted into the three-space under the condition of meeting the safe lane changing conditionCurrent vehicle formation C vehicle C n Then becomes a tail car, namely:
therefore, a position strategy for inserting the lane-changing vehicles into the vehicle formation under different conditions is obtained.
And 3, performing vehicle motion longitudinal control to enable the lane changing vehicles to reach the longitudinal inserting formation position based on the lane changing vehicle inserting formation position determined in the step 2.
(1) Firstly, if the lane-changing vehicle inserting formation strategy is to insert the current vehicle formation C into the head vehicle, controlling the inserted vehicles to adopt the maximum acceleration and deceleration so that the vehicle X and the current vehicle formation C head vehicle C after acceleration 1 The headway spacing was maintained at 2L. The calculation formula is as follows:
S＝V m t+2L-d
wherein, a x S is the distance which the lane change vehicle X needs to travel to meet the lane change condition in order to request the acceleration required by the lane change vehicle.
The acceleration a required by the lane-changing vehicle X can be obtained through the simultaneous solution x 。
(2) If the lane-changing vehicle insertion formation strategy is that the ith vehicle and the (i + 1) th vehicle C are inserted into the vehicle formation i And C i+1 In the meantime, the vehicles are controlled to adopt the maximum acceleration and deceleration so that the acceleration reaches V after the i +1 th vehicle decelerates m In-process, the distance between the ith vehicle and the i +1 vehicle is expanded to be a three-stall space 3L, namely:
D＝D 1 +D 2
t＝t 1 +t 2
V m t-(D 1 +D 2 )＝3L
S＝V x t-2L+n(L+d)+d
wherein, a a For maximum longitudinal acceleration, limited by road safety and comfort, a s For maximum longitudinal deceleration, V, limited by road safety and comfort 0 The minimum speed after the vehicle decelerates, t is the total adjusting time of the vehicle formation, t 1 Adjusting the time, t, for the deceleration phase of a formation of vehicles 2 Adjusting time for the acceleration stage of vehicle formation, wherein D is the distance traveled by the i +1 st vehicle and the vehicles behind the vehicle in the adjusted time, and D 1 The distance traveled by the i +1 st vehicle and its following vehicles in the deceleration phase within the adjustment time, D 2 And S is the distance which is required to be traveled by the vehicle X requesting lane change to meet the safe lane change condition.
From this, the acceleration a required by the lane-change vehicle X under the corresponding situation can be simultaneously obtained x 。
(3) If the strategy of inserting the vehicles into the formation is to insert the current vehicle formation C tail vehicle C n The rear vehicle becomes a tail vehicle, and the vehicles are controlled to adopt the maximum acceleration and deceleration speed so that the tail vehicle C n The distance between the vehicle and the X vehicle head is 2L, namely:
S＝V m t+d 0 -(n+1)L-(n-1)d
wherein, a x Acceleration required for requesting lane-change vehicles, a a For maximum longitudinal acceleration, limited by road safety and comfort, a s For maximum deceleration in the longitudinal direction, V, limited by road safety and comfort 0 Minimum speed after deceleration of vehicle, t 1 Adjusting the time, t, for the deceleration phase of a vehicle formation 2 Adjusting time for the acceleration stage of vehicle formation, t is total adjustment time for vehicle formation, D 1 The distance traveled by the i +1 st vehicle and the following vehicles in the deceleration stage within the adjustment time, D 2 The driving distance of the (i + 1) th vehicle and the following vehicles in the acceleration stage in the adjustment time is determined, D is the total driving distance of the (i + 1) th vehicle and the following vehicles in the adjustment time, S is the driving distance of the vehicle X requiring lane change to meet the safe lane change condition, and n is the number of vehicles in the formation of vehicles C.
The acceleration a required by the vehicle X under the corresponding condition can be obtained through simultaneous solution x . If the lane-changing vehicle X is required to accelerate to V m If the lane change condition is not met, waiting at a constant speed until the lane change safety condition is met, and then changing the lane.
Therefore, the longitudinal control strategy of the vehicle motion under the condition that the lane changing vehicle is inserted into different positions of the formation can be obtained.
And 4, performing vehicle motion transverse control to form a formation after the lane changing vehicles are inserted based on the fact that the lane changing vehicles in the step 3 reach the longitudinal inserting formation position.
(1) The lane changing vehicle X performs vehicle motion longitudinal control according to the step 3 and performs transverse edge control at the same time, so that the vehicle body of the lane changing vehicle X is tangent to a lane line in vehicle formation adjusting time, the lane changing efficiency is improved on the premise of ensuring safe lane changing distance, and the transverse acceleration a is calculated l The formula is as follows:
wherein l is the lane width, W is the standard body width of the lane-changing autonomous vehicle, a l The lateral maximum acceleration, limited by road safety and comfort, t is the total adjustment time for the vehicle formation.
(2) After the vehicle body of the lane changing vehicle X is tangent to the lane line within the vehicle formation adjusting time, the lane changing vehicle X reaches the central axis of the lane A in the shortest time, namely:
τ＝τ 1 +τ 2
wherein, tau 1 For requesting a change of lane vehicle to control the acceleration time, tau, laterally 2 For requesting a lateral control of the deceleration time of the lane-change vehicle,. Tau.for requesting a lane-change time of the lane-change vehicle,. A l For maximum lateral acceleration limited by road safety and comfort, a m For the lateral maximum deceleration limited by road safety and comfort, t is the total adjustment time for the vehicle formation.
The time τ required for requesting lane change of the lane change vehicle X can thus be simultaneously solved.
And 5: and (5) performing vehicle motion longitudinal control on the formation after the lane changing vehicles in the step (4) are inserted again, so that the acceleration of the vehicles after deceleration reaches the maximum speed limit V of the road m And the distance between the heads of the vehicle formation after the vehicle is inserted into the formation keeps the minimum safe distance d h And the vehicle formation C recovers the initial driving state:
(1) If the vehicles X enter the formation of the vehicles to become head vehicles before being inserted into the first vehicle, only the vehicles X are longitudinally controlled, so that the formation of the vehicles keeps the same head space d h ：
t′＝t′ 1 +t′ 2
V m t-(X 1 +X 2 )＝L-d h
Wherein, a a For maximum longitudinal acceleration limited by road safety and comfort, a s Longitudinal maximum deceleration, V ', limited by road safety and comfort' 0 The minimum speed after the deceleration of the head vehicle, and t 'is the total adjustment time of the formation of the vehicles, t' 1 Adjusting time, t 'for post-formation deceleration phase of vehicle insertion' 2 Adjusting the time for the post-formation acceleration phase of the vehicle, X 1 For the first vehicle of the formation of the vehicle to decelerate by a travel distance, X 2 And accelerating the running distance for the head vehicle of the vehicle formation.
The total adjusted time t' for the new vehicle formation can thus be solved simultaneously.
(2) If the vehicle X is inserted between the original vehicles in the formation C, the longitudinal control is carried out on the head vehicles of the formation and the vehicles X, so that the formation of the vehicles keeps the same head spacing d h ：
t′＝t′ 1 +t′ 2
V m t′-(X 1 +X 2 )＝2L-2d h
Wherein, a a For maximum longitudinal acceleration, limited by road safety and comfort, a s Is a longitudinal maximum deceleration, V ', limited by road safety and comfort' 0 For the minimum speed after deceleration of the vehicle at the head, X 1 For the first vehicle of the formation of the vehicle to decelerate by a travel distance, X 2 Is the accelerated running distance of the head vehicle of the vehicle formation, V' 0x Minimum speed after X deceleration of vehicle, a ax For vehicle X acceleration, a sx Is the vehicle X deceleration.
Therefore, the total adjusting time t' of the new vehicle formation and the longitudinal control acceleration and deceleration of the vehicle X can be solved simultaneously.
(3) If the vehicles X enter the vehicle formation to become tail vehicles after being inserted into the last vehicle, the longitudinal control is carried out on the head vehicles of the vehicle formation, so that the vehicle formation keeps the same head space d h ：
t′＝t′ 1 +t′ 2
V m t-(X 1 +X 2 )＝L d -d h -L
Wherein, a a For maximum longitudinal acceleration, limited by road safety and comfort, a s Longitudinal maximum deceleration, V ', limited by road safety and comfort' 0 For head vehicleMinimum speed, X, after deceleration of the vehicle 1 For the first vehicle of the formation of the vehicle to decelerate by a travel distance, X 2 Accelerating the driving distance for the head vehicle of the formation of vehicles, L d And the distance between the lane changing vehicle X and the tail vehicle head of the vehicle formation C is requested.
The total adjusted time t' after the insertion of the vehicle into the formation can thus be solved simultaneously.
And 6: and repeating the calculation processes of the steps 2,3,4 and 5 for the next vehicle requesting to enter the vehicle formation C, determining the position of the lane-changing vehicle inserted into the queue and a control strategy, and realizing the insertion of the lane-changing vehicle into the vehicle formation and the reconstruction of the vehicle formation.
The above steps describe the implementation of the present invention in detail, but the present invention is not limited to the details of the above embodiments. Within the scope of the inventive concept, it should not be excluded from the scope of the invention.
Claims (6)
1. A lane changing method for vehicles to enter a formation under an online automatic driving environment is characterized by comprising the following steps:
step 1, obtaining environment information of a vehicle formation passing road section through sensing equipment and technology, wherein the environment information of the vehicle formation passing road section comprises a lane line, formation vehicles and motion state data of vehicles requesting to change lanes;
step 2, based on the data of the environmental information of the passing road sections of the vehicle formation in the step 1, according to the influence of the vehicle decision time on the relative distance, giving a judgment basis for inserting the lane-changing vehicles into different positions of the vehicle formation, and determining the positions of the lane-changing vehicles inserted into the formation;
step 3, based on the lane changing vehicle inserting formation position determined in the step 2, giving a lane changing vehicle movement longitudinal control strategy, and carrying out vehicle movement longitudinal control to enable the lane changing vehicle to reach the longitudinal inserting formation position;
step 4, based on the fact that the lane changing vehicles in the step 3 reach the longitudinal inserting formation position, a lateral control strategy of the movement of the lane changing vehicles is given, and the lateral control of the movement of the vehicles is carried out to form a formation after the lane changing vehicles are inserted;
and 5: re-forming the formation after the lane changing vehicles in the step 4 are insertedThe vehicle motion is controlled longitudinally, so that the vehicle is accelerated to reach the maximum speed limit V of the road after deceleration m And the distance between the heads of the vehicle formation after the vehicles are inserted keeps the minimum safe distance dh, and the vehicle formation C recovers the initial driving state;
step 6: and (4) repeating the calculation processes of the steps 2,3,4 and 5 for the next vehicle requesting to enter the vehicle formation C, determining the position of the lane changing vehicle inserted into the queue and a control strategy, and realizing the insertion of the lane changing vehicle into the vehicle formation and the reconstruction of the vehicle formation.
2. The method of claim 1, wherein: in the step 1, the environmental information of the vehicle formation passing road section is obtained, and the environmental information comprises the movement condition data of the lane line, the formation vehicles and the vehicles requesting to change the lane, so that the lane width l and the maximum speed limit V of the current road are determined m Requesting the X running speed V of the lane-changing vehicle x Current formation of vehicles C head vehicle C 1 Coordinate x of advancing direction along lane line 1 X coordinate X of vehicle changing lane with request x Difference of d 0 。
3. The method of claim 1, wherein: in the step 2, the implementation steps for determining the insertion formation position of the lane changing vehicle are as follows:
(1) Firstly, judging whether the vehicle X meets the condition of becoming the head vehicle of the vehicle formation C, namely:
d＝(V m -V x )·Δt+d 0
d 0 ＝x 1 -x x
wherein d is the vehicle X requesting lane change and the head vehicle C of the current vehicle formation C 1 Longitudinal relative distance along lane line, V m For maximum speed limit of road, V x For requesting the X driving speed of the lane-changing vehicle, delta t is the decision time, d 0 Forming a C head vehicle C for the current vehicle 1 Coordinate x of advancing direction along lane line 1 X coordinate X of vehicle requesting lane change x Difference of a a The longitudinal maximum acceleration, limited by road safety and comfort, L is the standard vehicle length of the autonomous vehicle.
(2) If the vehicle X can not meet the requirements, judging whether the vehicle X meets two vehicles C before inserting the vehicle into the formation i-1 And C i In between, i.e. become the vehicle C in the current vehicle formation C i Conditions of the preceding vehicle:
wherein, d h And i is the minimum safe distance between the heads of the vehicles in the vehicle formation C, i is a positive integer variable from 1 to n-1, and n is the number of the vehicles in the vehicle formation C.
(3) If the judgment condition can not be met until i = n-1, adopting a strategy that the vehicle X becomes a tail vehicle after being inserted into the current vehicle formation C:
wherein, a a For maximum longitudinal acceleration limited by road safety and comfort, L is the standard vehicle length of the autonomous vehicle, d h And (4) forming a minimum safe distance for the distance between the heads of the vehicles in the vehicle formation C.
4. The method of claim 1, wherein: the step 3 is realized as follows:
(1) When the vehicle X is inserted into the front of the current vehicle formation C and becomes the head vehicle, the acceleration required by the vehicle requesting lane change is calculated by the following formula:
S＝V m t+2L-d
(2) When the vehicle X is inserted into the vehicle formationi vehicles and i +1 st vehicle C i And C i+1 The following formula is used for calculating the acceleration required by the vehicle requesting lane change:
D＝D 1 +D 2
t＝t 1 +t 2
V m t-(D 1 +D 2 )＝3L
S＝V x t-2L+n(L+d)+d
(3) When the current vehicle formation C is inserted and becomes a tail vehicle, the acceleration required by the vehicle requesting lane change is calculated by the following formula:
S＝V m t+d 0 -(n+1)L-(n-1)d
wherein, a x Acceleration required for requesting lane-change vehicles, a a For maximum longitudinal acceleration limited by road safety and comfort, a s For maximum deceleration in the longitudinal direction, V, limited by road safety and comfort 0 Minimum speed after deceleration of the vehicle, t 1 Adjusting the time, t, for the deceleration phase of a formation of vehicles 2 Formation acceleration stage for vehiclesSegment adjustment time, t is the total adjustment time for formation of vehicles, D 1 The distance traveled by the i +1 st vehicle and the following vehicles in the deceleration stage within the adjustment time, D 2 The driving distance of the (i + 1) th vehicle and the following vehicles in the acceleration stage in the adjustment time is determined, D is the total driving distance of the (i + 1) th vehicle and the following vehicles in the adjustment time, S is the driving distance of the vehicle X requiring lane change to meet the safe lane change condition, and n is the number of vehicles in the formation of vehicles C.
5. The method of claim 1, wherein: the step 4 is realized as follows:
(1) And (4) performing transverse edge control while performing longitudinal vehicle motion control on the lane changing vehicle X according to the step (3), so that the vehicle body of the lane changing vehicle X is tangent to a lane line within the vehicle formation adjustment time, and calculating the transverse acceleration a of the lane changing vehicle l The vehicle is controlled in the longitudinal direction while controlling the acceleration in the lateral direction by the following calculation formula:
wherein l is the lane width, W is the standard body width of the lane-changing autonomous vehicle, a l The lateral maximum acceleration, limited by road safety and comfort, is t the total adjustment time for the formation of the vehicle.
(2) After the vehicle body of the lane changing vehicle X is tangent to the lane line within the vehicle formation adjusting time, the lane changing vehicle X reaches the central axis of the lane A in the shortest time, and the vehicle lane changing time is as follows:
τ＝τ 1 +τ 2
wherein, the first and the second end of the pipe are connected with each other,τ 1 for requesting a change of lane vehicle to control the acceleration time, tau, laterally 2 For requesting a lateral control of the deceleration time of the lane-change vehicle,. Tau.for requesting a lane-change time of the lane-change vehicle,. A l For lateral maximum acceleration, limited by road safety and comfort, a m For the lateral maximum deceleration limited by road safety and comfort, t is the total adjustment time for the vehicle formation.
6. The method of claim 1, wherein: the step 5 is realized as follows:
(1) If the vehicle X is inserted into the front of the first vehicle to become a head vehicle, calculating the total adjusting time t' of the vehicle formation by using the following calculation formula:
t'＝t' 1 +t' 2
V m t-(X 1 +X 2 )＝L-d h
wherein, a a For maximum longitudinal acceleration limited by road safety and comfort, a s Is a longitudinal maximum deceleration, V ', limited by road safety and comfort' 0 Is the minimum speed after the deceleration of the head vehicle, and t 'is the total adjustment time of the formation of the vehicles, t' 1 Adjusting time, t 'for post-insertion formation deceleration phase of vehicle' 2 Adjusting the time, X, for the post-formation acceleration phase of a vehicle 1 For the first vehicle of the formation of the vehicle to decelerate by a distance, X 2 And accelerating the running distance of the head vehicle of the vehicle formation.
(2) If the vehicle X is inserted between the vehicles of the original vehicle formation C, calculating the total adjustment time t' of the formation after the vehicle is inserted and the longitudinal control acceleration and deceleration of the vehicle X by using the following calculation formula:
t'＝t' 1 +t' 2
V m t'-(X 1 +X 2 )＝2L-2d h
wherein, a a For maximum longitudinal acceleration limited by road safety and comfort, a s Longitudinal maximum deceleration, V ', limited by road safety and comfort' 0 For the minimum speed after deceleration of the vehicle at the head, X 1 For the first vehicle of the formation of the vehicle to decelerate by a distance, X 2 Is the accelerated running distance of the head vehicle of the vehicle formation, V' 0x Minimum speed after X deceleration of vehicle, a ax For vehicle X acceleration, a sx Is the vehicle X deceleration.
(3) If the vehicle X is inserted into the current vehicle formation C and becomes a tail vehicle, calculating the total adjustment time t' of the vehicle formation by using the following calculation formula:
t'＝t' 1 +t' 2
V m t-(X 1 +X 2 )＝L d -d h -L
wherein, a a For maximum longitudinal acceleration, limited by road safety and comfort, a s Longitudinal maximum deceleration, V ', limited by road safety and comfort' 0 The minimum speed after the deceleration of the first vehicle, t' the total adjustment time of the formation of the vehicles, X 1 For the first vehicle of the formation of the vehicle to decelerate by a distance, X 2 Accelerating the driving distance for the head vehicle of the formation of vehicles, L d And the distance between the lane changing vehicle X and the tail vehicle head of the vehicle formation C is requested.
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