CN115798211A - Control method, system, equipment and medium for preventing internet public transport from being disconnected and mixed - Google Patents
Control method, system, equipment and medium for preventing internet public transport from being disconnected and mixed Download PDFInfo
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Abstract
The invention provides a control method, a system, equipment and a medium for preventing an internet-connected bus from being disconnected and mixed, which are used for acquiring the running information of the internet-connected buses and the bus distance between adjacent internet-connected buses in real time; calibrating a bus following model based on the running information and the vehicle distance information of the networked buses, calculating a stable following distance data set corresponding to a certain running speed interval of the buses, and calibrating an expected vehicle distance model; calculating an expected vehicle distance during steady-state following according to the real-time vehicle speed of the vehicle by the expected vehicle distance model, setting an off-group early warning limit, early warning a driver about to be off-group and/or mixed group, and providing an expected speed; the method and the device provide real-time following distance and suggested expected driving speed of the bus when the bus is in marshalling driving, so that the networking manual driving of the bus can be realized to realize stable marshalling operation; the bus in the marshalling is about to be out of group, and the bus in the marshalling is about to be mixed with the group, so that the driver can give real-time early warning, and the phenomena of out of group and mixing can be effectively avoided.
Description
Technical Field
The invention belongs to the technical field of auxiliary driving of intelligent internet public transport vehicles, and particularly relates to a control method, a system, equipment and a medium for preventing internet public transport from being disconnected and mixed.
Background
The bus marshalling needs a reasonable inter-vehicle distance interval when the bus lane operates, and if the inter-vehicle distance in the marshalling is too large, the rear vehicle is separated from the marshalling and forms a group separation behavior; if the distance between the vehicles among the marshalling is too small, the vehicles in the rear group are mixed with the vehicles in the front marshalling into a whole and form a mixed group behavior; these behaviors can interfere with the normal consist operation of a bus.
The Chinese invention patent CN 106600952A discloses a method for vehicle formation, which adjusts the distance between vehicles by controlling the vehicle speed so as to complete vehicle formation; the invention Chinese patent CN112248948A is a formation driving control method based on automatic driving, the method uses a PNC safety module to execute automatic driving, and solves the problem that the automatic driving formation driving technology lacks effective safety control; the Chinese invention patent CN 111768612A discloses a C-V2X-based vehicle formation driving strategy control method, which changes the communication mode of a fleet from DSRC to C V X, increases the communicable distance of vehicles, and simultaneously discloses a dynamic formation control strategy and an implementation method.
Through relevant literature retrieval, the existing vehicle grouping operation research focuses on a vehicle grouping forming method and vehicle following control in grouping operation, the control of the inter-vehicle distance mainly focuses on safety boundary research of longitudinal collision avoidance, the research focuses on automated driving vehicles, and the research is not focused on the off-group boundary condition between vehicles in a fleet and the mixed boundary condition between the fleets when manually driven vehicles run in a grouping mode under an internet environment; in the manual driving process, the driver senses traffic information randomly, fuzziness and differently, and cannot realize accurate control like automatic driving vehicle marshalling; the system frequently prompts the driver to bring interference and even lack of trust on the system; therefore, how to properly assist the driver in preventing the group separation and the group mixing during the vehicle grouping operation is a problem to be solved.
Disclosure of Invention
Aiming at the problems in the prior art, the invention provides a control method, a system, equipment and a medium for preventing the off-group and mixed group of the internet public transport, solves the problem that the off-group and mixed group are easy to generate when the public transport is manually driven to be grouped and driven, and avoids the problem of interference brought to a driver by frequent early warning.
The invention is realized by the following technical scheme:
a control method for preventing an internet public transport from being disconnected and mixed comprises the following steps:
acquiring running information of the networked buses and the bus distance of adjacent networked buses in real time;
calibrating a bus following model based on the running information and the vehicle distance information of the networked buses, calculating a stable following distance data set corresponding to a certain running speed interval of the buses, and calibrating an expected vehicle distance model;
and calculating the expected vehicle distance during steady-state following according to the real-time vehicle speed of the vehicle by the expected vehicle distance model, setting an off-group early warning limit, early warning a driver about to be off-group and/or mixed group, and providing expected speed.
Further, the operation information comprises the speed, the acceleration, the position and the grouping information of the vehicle; and the distance between the adjacent networked buses is obtained by adopting a vehicle-mounted radar to detect in real time.
Further, the IDM model for calibrating the bus following model is:
wherein ,
acceleration of vehicle n at time t; a represents the maximum acceleration; v. of n (t) is the speed of vehicle n at time t; delta is an acceleration coefficient; v. of f Is the free flow velocity; s min Refers to the minimum safe parking space; s n (t) is a desired spacing between vehicles; h is n (t) is the distance between the vehicle n and the front vehicle at the moment t; l is the vehicle length; t is h An expected headway; b is the comfort deceleration.
Further, when a single group is driven, the early warning limit of the member group-off in the fleet is as follows:
x 1 ＝δ 1 d；
wherein ,δ1 Is a parameter greater than 1, called the ungrouped fault-tolerant coefficient, x 1 D is an expected following distance for an off-group early warning limit; when a single group is driven, if the members in the fleet reach the group-off early warning limit, the corresponding expected speed is as follows:
where Δ t is the calculation interval, v (t+Δt) For the proposed speed after deltat,
speed of the rear vehicle in the event of disengagement of the group, d 1 Is the actual distance of the vehicle, d 2 In order to obtain the desired distance between the vehicles,
speed of the front vehicle in order to disengage the group, a l The acceleration of the front vehicle during the off-set is shown, and t is the set catch-up time.
Further, when multiple groups operate together, the lower boundary of the mixed group is avoided as follows:
x 2 ＝δ 2 d；
wherein δ2 Is a parameter less than 1, called mixed group fault tolerance coefficient, x 2 And d is an expected following distance for the mixed group early warning limit.
Further, when multiple groups are operated together, if the multiple groups of vehicles approach from head to tail and reach the group-off early warning limit, the corresponding expected speed is as follows:
where Δ t is the calculation interval, v (t+Δt) For the proposed speed after deltat,
speed of following marshalling head cars for mixing groups, d 1 Is the actual distance of the vehicle, d 2 In order to obtain the desired distance between the vehicles,
speed of the marshalling trailer for piloting when the group is mixed, a l The acceleration of the front vehicle during the mixing group is shown, and t is the set braking time.
Further, the steady-state following is a following state when the following vehicle and the head vehicle run at a constant speed without speed difference.
A marshalling operation interval control system for preventing internet public transport from being disconnected and mixed comprises:
the vehicle-mounted terminal is used for sending the speed, the acceleration, the position and the grouping information of the vehicle to other members in the motorcade; the system is used for receiving the speed, the acceleration, the position and the marshalling information of the front vehicle; the vehicle-mounted terminal also comprises a display screen, a memory, a processor and a computer program stored in the memory on the processor;
the vehicle-mounted radar is used for detecting the distance between the vehicle-mounted radar and a front vehicle in real time in the bus marshalling operation and sending the distance information to the computer program;
an expected vehicle distance calculation module: the system comprises a vehicle distance model, a vehicle speed model and a vehicle speed model, wherein the vehicle distance model is used for calibrating a vehicle distance model according to the vehicle speed model, and the vehicle distance model is used for calculating an expected vehicle following distance by utilizing the speed information of a vehicle, and the expected vehicle following distance comprises an anti-separation group upper boundary in a vehicle grouping and an anti-mixing group lower boundary between the vehicle grouping and a vehicle grouping;
the actual vehicle distance feedback module: the system is used for acquiring the following distance fed back by the vehicle-mounted radar in real time and displaying the following distance on an interface;
the group separation and mixing early warning module: and when the real-time vehicle distance does not meet the boundary condition of the calculated expected vehicle distance, early warning is carried out on the vehicles, so that the distance between the vehicles returns to the operation boundary again.
A computer device comprises a memory, a processor and a computer program stored in the memory and capable of running on the processor, wherein the processor executes the computer program to realize the steps of a control method for preventing internet bus group disconnection and group mixing.
A computer-readable storage medium storing a computer program which, when executed by a processor, implements the steps of a control method for preventing internet bus ungrouping and mixed groups.
Compared with the prior art, the invention has the following beneficial technical effects:
the invention provides a control method, a system, equipment and a medium for preventing an internet-connected bus from being disconnected and mixed, which are used for acquiring the running information of the internet-connected buses and the bus distance between adjacent internet-connected buses in real time; calibrating a bus following model based on the running information and the vehicle distance information of the networked buses, calculating a stable following distance data set corresponding to a certain running speed interval of the buses, and calibrating an expected vehicle distance model; calculating an expected vehicle distance during steady-state following according to the real-time vehicle speed of the vehicle by the expected vehicle distance model, setting an off-group early warning limit, early warning a driver about to be off-group and/or mixed group, and providing an expected speed; the method and the device provide real-time following distance and suggested expected driving speed of the bus when the bus is in marshalling driving, so that the networking manual driving of the bus can be realized to realize stable marshalling operation; the bus is about to be out of group in the marshalling, and the driver is given real-time early warning when the bus is about to be mixed in the marshalling, so that the phenomena of out-of-group and mixed group can be effectively avoided; when the driver is early warned, a certain error space is reserved in consideration of the problems of speed fluctuation, time lag and the like caused by manual driving operation, and the driving fault tolerance rate is improved; the method and the device can realize multi-grouping operation of the buses so as to ensure that the buses are matched with the dynamic berth allocation system for operation.
Drawings
FIG. 1 is a flow chart of a control method for preventing the off-group and mixed group of the internet public transport of the invention;
FIG. 2 is a display interface diagram of an expected vehicle distance and an actual vehicle distance in an embodiment of the present invention;
FIG. 3 is a diagram of a single consist fleet vehicle out-of-group prompt interface in an embodiment of an entity of the present invention;
fig. 4 is a diagram of a prompt interface for a mixed group of multiple grouped fleet vehicles in an embodiment of the present invention.
Detailed Description
The present invention will now be described in further detail with reference to specific examples, which are intended to be illustrative, but not limiting, of the invention.
In order to make the technical solutions of the present invention better understood, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
It should be noted that the terms "first," "second," and the like in the description and claims of the present invention and in the drawings described above are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used is interchangeable under appropriate circumstances such that the embodiments of the invention described herein are capable of operation in other sequences than those illustrated or described herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed, but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.
The invention provides a control method for preventing a network-connected bus from being disconnected and mixed, which comprises the following steps as shown in figure 1:
acquiring running information of the internet buses and the bus distance of adjacent internet buses in the same grouping or different groupings in real time; particularly adjacent network buses in the same marshalling and the distance between the head bus and the tail bus in different marshalling;
calibrating a bus following model based on the running information and the vehicle distance information of the networked buses, calculating a stable following distance data set corresponding to a certain running speed interval of the buses, and calibrating an expected vehicle distance model; specifically, a person skilled in the art can calibrate a bus following model and verify the validity of the bus following model according to actually measured data; then calculating a steady-state following distance data set corresponding to a certain driving speed interval of the bus; secondly, calibrating an expected vehicle distance model; and finally, calculating the expected vehicle distance during steady-state following by the expected vehicle distance module according to the real-time vehicle speed of the vehicle. Further, the steady-state following is defined as a following state when the following vehicle and the head vehicle travel at a constant speed without a speed difference.
The expected distance model calculates the expected distance when the vehicle is in steady-state following according to the real-time speed of the vehicle, sets the boundary of the off-group and the mixed group, gives an early warning to the driver about to be off-group and/or mixed group, and provides expected speed, specifically, the expected distance model comprises the condition about to be off-group in the single-grouping driving situation and the condition about to be off-group and mixed group in the multi-grouping driving situation.
Specifically, when the single-marshalling vehicle runs, in consideration of randomness, fuzziness and difference of perception of traffic information in the manual driving process, meanwhile, in order to avoid the problem of interference and even lack of trust brought to a driver by frequent early warning, a parameter with a value larger than 1, namely an off-group fault-tolerant coefficient, is defined on the basis of an expected vehicle distance, and the parameter is used as an off-group early warning limit through an expanded expected vehicle distance threshold.
Further, when the real-time distance reaches the off-group early warning limit, the off-group and mixed-group early warning module sends out an early warning about off-group to the driver in a screen character display mode; meanwhile, the suggested expected speed is calculated through the difference value between the real-time distance and the expected distance, and a driver is prompted to carry out acceleration operation, so that the distance returns to a reasonable interval.
When multiple groups are operated together, a parameter with the value smaller than 1, namely a mixed group fault-tolerant coefficient, is defined on the basis of the expected vehicle distance, and the parameter is used as a mixed group early warning limit through a reduced expected vehicle distance threshold.
Further, when the distance between the following marshalling head car and the piloting marshalling tail car reaches a mixed group early warning limit, the off-group and mixed group early warning module sends out early warning about mixed groups to a driver in a screen character display mode; meanwhile, the suggested expected speed is calculated through the difference value of the real-time distance and the expected distance, and the driver of the following marshalling head vehicle is prompted to carry out deceleration operation, so that the distance returns to a reasonable interval.
Preferably, the operation information includes information of speed, acceleration, position, grouping and the like of the vehicle, and specifically, the vehicle-mounted terminal is connected with the vehicle through a CAN bus to acquire the operation information of the vehicle in real time, and simultaneously acquires the operation information of the front vehicle through a V2X communication technology.
Preferably, the distance between adjacent networked buses is obtained by detecting the distance in real time by using a vehicle-mounted laser radar, and the method aims to accurately obtain the distance between the buses in real time, avoid the situation that the positioning information of the vehicle-mounted terminal has deviation and improve the calculation precision.
Preferably, the IDM model for calibrating the bus-following model is:
wherein ,
acceleration of vehicle n at time t;a represents the maximum acceleration; delta is the acceleration coefficient; v. of n (t) is the speed of vehicle n at time t; v. of f Is the free flow velocity; s min Refers to the minimum safe parking space; s n (t) is a desired spacing between vehicles; h is n (t) is the distance between the vehicle n and the front vehicle at the moment t; l is the vehicle length; t is h An expected headway; b is the comfort deceleration.
Preferably, when a single group is driven, the early warning limit of the member leaving the group in the fleet is as follows:
x 1 ＝δ 1 d；
wherein ,δ1 Is a parameter greater than 1, called the ungrouped fault-tolerant coefficient, x 1 D is an expected following distance for an off-group early warning limit; further, when a single group is driven, if the members in the fleet reach the group-off early warning limit, the corresponding expected speed is as follows:
where Δ t is the calculation interval, v (t+Δt) For the suggested speed after deltat,
speed of the rear vehicle in the off-set period, d 1 Is the actual distance of the vehicle, d 2 In order to obtain the desired distance between the vehicles,
speed of the front vehicle in order to disengage the group, a l The acceleration of the front vehicle during the off-set is shown, and t is the set catch-up time.
Preferably, when multiple groups are operated together, the lower boundary of the mixed group is:
x 2 ＝δ 2 d；
wherein δ2 Is a parameter less than 1, called mixed group fault tolerance coefficient, x 2 D is an expected following distance; further, when multiple consists are operated together, if the vehicles of the multiple consists are close to and reach from the head to the tailAnd the expected speed corresponding to the off-group early warning limit is as follows:
where Δ t is the calculation interval, v (t+Δt) For the proposed speed after deltat,
for mixed follow-up of the speed of the marshalling head carriage, d 1 Is the actual distance of the vehicle, d 2 In order to obtain the desired distance between the vehicles,
speed of the marshalling trailer for piloting in the mixed consist, a l The acceleration of the front vehicle during the mixing and the braking time t are set.
Preferably, the steady-state following is a following state when the following vehicle and the head vehicle run at a constant speed without a speed difference.
The invention provides a marshalling operation interval control system for preventing a network-connected bus from being disconnected from a group and mixed with the group, which comprises:
the vehicle-mounted terminal is used for sending the speed, the acceleration, the position and the grouping information of the vehicle to other members in the motorcade; the system is used for receiving the speed, the acceleration, the position and the marshalling information of the front vehicle; the vehicle-mounted terminal also comprises a display screen, a memory, a processor and a computer program stored in the memory on the processor;
the vehicle-mounted radar is used for detecting the distance between the vehicle-mounted radar and a front vehicle in real time in the bus marshalling operation and sending the distance information to the computer program;
an expected vehicle distance calculation module: the system comprises a vehicle distance model, a vehicle speed model and a vehicle speed model, wherein the vehicle distance model is used for calibrating a vehicle distance model according to the vehicle speed model, and the vehicle distance model is used for calculating an expected vehicle following distance by utilizing the speed information of a vehicle, and the expected vehicle following distance comprises an anti-separation group upper boundary in a vehicle grouping and an anti-mixing group lower boundary between the vehicle grouping and a vehicle grouping;
the actual vehicle distance feedback module: the system is used for acquiring the following distance fed back by the vehicle-mounted radar in real time and displaying the following distance on an interface;
the group separation and mixing early warning module: and when the real-time vehicle distance does not meet the boundary condition of the calculated expected vehicle distance, early warning is carried out on the vehicles, so that the distance between the vehicles returns to the operation boundary again.
Example 1:
acquiring the state information of the vehicle in real time by using the vehicle-mounted terminal: the vehicle-mounted terminal acquires the running information of the vehicle in real time through the CAN bus, and simultaneously acquires the running information of the front vehicle through a V2X communication technology, wherein the running information comprises the speed, the acceleration, the position, formation information and the like of the vehicle.
Acquiring the distance between the vehicle and the front vehicle in real time by utilizing a vehicle-mounted radar:
the vehicle-mounted radar is used for acquiring the distance between a following vehicle and a front vehicle under the single-group running condition, and the distance between a following group head vehicle and a piloting vehicle team tail vehicle under the multi-group running condition.
Calculating the expected distance in real time:
the expected vehicle distance module calculates an expected vehicle distance during steady-state following according to the vehicle speed and the acceleration, wherein the steady-state following is defined as a following state when a following vehicle and a head vehicle run at a constant speed without speed difference. Furthermore, the calculation model used by the expected vehicle distance module is obtained by fitting the actually measured relationship between the vehicle distance and the vehicle speed in the multiple groups of bus steady-state following processes, and because the driving characteristics of the drivers are different, the steady-state following distances at the same driving speed have larger difference, so that an average value needs to be set to standardize the driving behaviors of all the drivers.
Illustratively, a bus following model is calibrated according to the measured data, taking an IDM model as an example:
wherein ,
acceleration of vehicle n at time t; a represents the maximum acceleration; v. of n (t) is vehicle n at time tSpeed; delta is the acceleration coefficient; v. of f Is the free flow velocity; s min Is the minimum safe parking space; s n (t) is a desired spacing between vehicles; h is n (t) is the distance between the vehicle n and the front vehicle at the moment t; l is the vehicle length; t is h An expected headway; b is the comfort deceleration.
And calibrating by using the acquired data to obtain values of all parameters: a =3m/s 2 ；v f ＝16.7m/s；s min ＝1.91m；T h ＝3.875s；l＝12m；b＝0.98m/s 2 ；δ＝966.2。
Further, a steady-state following distance data set of the bus in a certain speed interval is calculated, and an expected bus distance model is calibrated according to the steady-state following distance data set; the expected vehicle distance model calibration result is as follows:
y＝3.875x+1.91；
where x is the steady state following speed and y is the desired following distance.
And the expected vehicle distance module calculates the expected vehicle distance in the steady-state following process in real time according to the calibration result of the expected vehicle distance model.
Determining an early warning method aiming at different marshalling situations, and early warning a driver about to get off the marshalling under the single marshalling driving situation; the method comprises the following steps of early warning drivers about to be out of group and mixed group under the multi-group driving condition:
when a single group is driven, the problems of speed fluctuation, operation delay and the like of manually driven vehicles are considered, and meanwhile, the problem of interference of early warning signals frequently sent by an early warning system to a driver is avoided, and the upper bound of member group leaving in a fleet is defined as follows:
x 1 ＝δ 1 d；
wherein δ1 Is a parameter greater than 1, called the ungrouped fault-tolerant coefficient, x 1 And d is an expected following distance for the early warning limit of the group losing.
When the real-time distance reaches x 1 In time, the early warning about coming off the group is sent to the driver through the early warning module for coming off the group and the early warning module for mixing the group, meanwhile, the suggested expected speed is calculated through the difference value of the real-time distance between the vehicles and the expected distance between the vehicles, the driver is prompted to carry out acceleration operation, and the distance between the vehicles returns to a reasonable interval。
Specifically, the method comprises the following steps: the calculation method of the expected speed comprises the following steps:
where Δ t is the calculation interval, v (t+Δt) For the proposed speed after deltat,
speed of the rear vehicle in the event of disengagement of the group, d 1 For the actual distance after each iteration, d 2 To expect the vehicle distance after each iteration,
speed of the front vehicle in order to disengage the group, a l The acceleration of the front vehicle during the off-set is shown, and t is the set catch-up time.
Furthermore, when multiple groups are operated together, the problems of speed fluctuation and operation delay of manually driven vehicles are considered, and meanwhile, in order to avoid the problem of interference of early warning signals frequently sent by an early warning system to drivers, the lower boundary for avoiding mixed groups among the groups is defined as
x 2 ＝δ 2 d；
wherein δ2 Is a parameter less than 1, called mixed group fault tolerance coefficient, x 2 And d is an expected following distance for the mixed group early warning limit.
When the distance between the following marshalling head car and the piloting motorcade tail car reaches x 2 And sending out a prompt, calculating an expected speed through the difference value of the real-time distance and the expected distance, and prompting a driver following the marshalling head car to perform deceleration operation so as to return the distance to a reasonable interval.
Specifically, the method comprises the following steps: the calculation method of the expected speed comprises the following steps:
where Δ t is the calculation interval, v (t+Δt) For the proposed speed after deltat,
speed of following marshalling head cars for mixing groups, d 1 Is the actual distance of the vehicle, d 2 In order to obtain the desired distance between the vehicles,
speed of the marshalling trailer for piloting in the mixed consist, a l The acceleration of the front vehicle during the mixing group is shown, and t is the set braking time.
Example two: single marshalling fleet travel over road segments;
as shown in fig. 2, which is a display screen interface when the marshalling vehicle is normally running, the real-time expected distance and the actual distance can be displayed. The embodiment is used for preventing the condition that the vehicles in the grouping fleet are separated from the fleet under the condition that the single grouping fleet normally runs and the vehicles in the bus grouping fleet run according to the recommended expected following distance, and the method comprises the following steps:
acquiring the state information of the vehicle in real time by using the vehicle-mounted terminal:
the vehicle-mounted terminal acquires the running information of the vehicle in real time through the CAN bus, and acquires the running information of the front vehicle through the V2X communication technology, wherein the running information comprises the speed, the acceleration, the position, the formation and other information of the vehicle.
Acquiring the distance between the vehicle and the front vehicle in real time by utilizing a vehicle-mounted radar:
the vehicle-mounted radar acquires the distance between the vehicle and the front vehicle in real time and displays the distance on the display screen in real time, as shown in fig. 2, at this time, the distance between the vehicle and the front vehicle is 54.3m.
Calculating the expected distance in real time:
the expected vehicle distance module calculates an expected vehicle distance during steady-state following according to the vehicle speed and the acceleration, wherein the steady-state following is defined as a following state when a following vehicle and a head vehicle run at a constant speed without speed difference. Furthermore, the calculation model used by the expected vehicle distance module is obtained by fitting the actually measured relation between the vehicle distance and the vehicle speed in the multiple groups of buses in the steady-state following process, and because the driving characteristics of the drivers are different, the steady-state following distances at the same driving speed have larger difference, so that a mean value is set to standardize the driving behaviors of all the drivers.
Illustratively, model calibration is performed according to research data, and the obtained expected vehicle distance model is as follows:
y＝3.875x+1.91；
wherein x is the steady state following speed and y is the expected following distance, and according to the formula, the steady state following distance under different speeds can be calculated. Exemplarily, the following steps are carried out: when the steady-state following speed is 30km/h, the steady-state following distance is 34.20m. And updating the data of the expected distance and the actual distance in the display screen in real time according to the set updating frequency, such as 0.5s, 1.0s and the like, as shown in fig. 2.
Step S204: when the vehicles are about to be separated from the group in the group, early warning is carried out through a display screen character display mode.
Considering the problems of speed fluctuation and operation delay existing in manually driven vehicles and simultaneously avoiding the problem of interference of early warning signals frequently sent by an early warning system to drivers, the invention defines the members in a fleet to be out of group as the upper bound:
x 1 ＝δ 1 d；
wherein δ1 For the ungrouped fault tolerance coefficient, x 1 And d is an expected vehicle distance.
When the real-time distance reaches x 1 And meanwhile, the driver is prompted to carry out acceleration operation, so that the distance returns to a reasonable interval.
The following are exemplary: FIG. 3 is a display interface of a departure prompt for a bus within a single consist; at this time, the desired vehicle distance is 60m, delta 1 Is 1.1,x 1 66m, the actual distance between vehicles is 66.7m, and the off-group early warning is prompted in a text mode.
At the same time, a suggested expected speed is given, for example, assuming that the rear vehicle speed is 10m/s, the front vehicle speed is 11m/s, the acceleration is 0, the calculation interval is 1s, and the catch-up time is 3s, the following expected speeds can be obtained by substituting the data into the following formula: 43.47km/h,51.48km/h,59.48km/h, which are sequentially refreshed at frequent intervals per second, as shown in fig. 3, to guide the driver to control the vehicle until the desired vehicle distance is reached:
it should be noted that this example is only used to demonstrate the steps of the method, specifically δ 1 The values of the parameters such as t and delta t need to be obtained according to actual tests, and the tracking process in the above example is calculated under the condition that the front vehicle is assumed to run at a constant speed and the rear vehicle strictly does uniform acceleration motion.
Third embodiment, following driving of multiple grouped fleets on a road section:
when a plurality of groups are driven in a following way, a group following control strategy is executed between the groups, and a single group following strategy in the second embodiment is executed inside the groups, which is different from the following strategy:
when the vehicles are about to be mixed among the groups, early warning is carried out through a display screen character display mode.
When multiple groups are operated together, the problems of speed fluctuation and operation delay existing in manually driven vehicles are considered, and meanwhile, the problem of interference of early warning signals frequently sent by an early warning system to a driver is avoided, and the lower boundary of the mixed groups between the groups is defined as follows:
x 2 ＝δ 2 d；
wherein δ2 Is a parameter less than 1, x 2 And d is an expected vehicle distance.
When the distance between the following marshalling head car and the piloting motorcade tail car reaches x 2 And sending a prompt, calculating the expected speed through the difference value of the real-time distance and the expected distance, and prompting the driver following the marshalling head vehicle to perform deceleration operation so as to return the distance to a reasonable interval.
For example, FIG. 4 is a diagram illustrating a mixed group prompt display interface for a plurality of grouped busesThe expected distance between the time-following marshalling head car and the time-following marshalling tail car is 60m, delta 2 The time is 0.9, the mixed group early warning limit is 54m, the actual vehicle distance is 53.7m, and the mixed group early warning is prompted in a text mode.
At the same time, a suggested desired speed is given, for example, assuming that the speed of the following marshalling head car is 12m/s, the speed of the piloting marshalling tail car is 10m/s, the acceleration is 0, the calculation interval is 1s, and the braking time is 3s, and the following desired speeds can be obtained by substituting the data into the following formula: 33.37km/h,23.54km/h,13.72km/h, which are displayed with frequent refreshing in turn per second, as shown in fig. 4, to guide the driver in controlling the vehicle until the desired vehicle distance is reached:
it should be noted that this example is only used to demonstrate the steps of the method, specifically δ 2 The values of the parameters such as t, delta t and the like are required to be obtained according to actual tests, and the tracking process in the above example is calculated under the condition that the front vehicle is assumed to run at a constant speed and the rear vehicle strictly does uniform acceleration motion.
In yet another embodiment of the present invention, a computer device is provided that includes a processor and a memory for storing a computer program comprising program instructions, the processor for executing the program instructions stored by the computer storage medium. The Processor may be a Central Processing Unit (CPU), or may be other general-purpose Processor, a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), an off-the-shelf Programmable gate array (FPGA) or other Programmable logic device, a discrete gate or transistor logic device, a discrete hardware component, etc., which is a computing core and a control core of the terminal, and is specifically adapted to load and execute one or more instructions in a computer storage medium to implement a corresponding method flow or a corresponding function; the processor provided by the embodiment of the invention can be used for the operation of the control method for preventing the off-group and mixed group of the internet public transport.
In yet another embodiment of the present invention, the present invention further provides a storage medium, specifically a computer-readable storage medium (Memory), which is a Memory device in a computer device and is used for storing programs and data. It is understood that the computer readable storage medium herein can include both built-in storage media in the computer device and, of course, extended storage media supported by the computer device. The computer-readable storage medium provides a storage space storing an operating system of the terminal. Also, one or more instructions, which may be one or more computer programs (including program code), are stored in the memory space and are adapted to be loaded and executed by the processor. It should be noted that the computer-readable storage medium may be a high-speed RAM memory, or may be a non-volatile memory (non-volatile memory), such as at least one disk memory. One or more instructions stored in the computer-readable storage medium can be loaded and executed by the processor to implement the corresponding steps of the control method for preventing the internet public transport from being disconnected and mixed in the above embodiments.
As will be appreciated by one skilled in the art, embodiments of the present invention may be provided as a method, system, or computer program product. Accordingly, the present invention may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present invention may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.
The present invention is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the invention. It will be understood that each flow and/or block of the flow diagrams and/or block diagrams, and combinations of flows and/or blocks in the flow diagrams and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
Finally, it should be noted that: the above embodiments are only used to illustrate the technical solution of the present invention, and not to limit the same; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; and the modifications or the substitutions do not make the essence of the corresponding technical solutions depart from the scope of the technical solutions of the embodiments of the present invention.
Claims (10)
1. A control method for preventing the off-group and mixed group of the internet public transport is characterized by comprising the following steps:
acquiring running information of the networked buses and the bus distance of the adjacent networked buses in real time;
calibrating a bus following model based on the running information and the vehicle distance information of the networked buses, calculating a stable following distance data set corresponding to a certain running speed interval of the buses, and calibrating an expected vehicle distance model;
and calculating the expected vehicle distance during steady-state following according to the real-time vehicle speed of the vehicle by the expected vehicle distance model, setting an off-group early warning limit, early warning a driver about to be off-group and/or mixed group, and providing expected speed.
2. The control method for preventing the internet public transport from being disconnected and mixed according to claim 1, wherein the operation information comprises speed, acceleration, position and grouping information of vehicles; and the distance between the adjacent networked buses is obtained by adopting a vehicle-mounted radar to detect in real time.
3. The control method for preventing internet-connected bus de-clustering and mixed clustering as claimed in claim 1, wherein the IDM model for calibrating the bus-following model is:
wherein ,
acceleration of vehicle n at time t; a represents the maximum acceleration; v. of n (t) is the speed of vehicle n at time t; delta is an acceleration coefficient; v. of f Is the free flow velocity; s min Refers to the minimum safe parking space; s is n (t) is a desired spacing between vehicles; h is n (t) is the distance between the vehicle n and the front vehicle at the moment t; l is the vehicle length; t is h An expected headway; b is the comfort deceleration.
4. The control method for preventing the internet public transport group leaving and mixing as claimed in claim 1, wherein when a single group is driven, the early warning limit of the group leaving of the members in the fleet is:
x 1 ＝δ 1 d；
wherein ,δ1 Is a parameter greater than 1, called the ungrouped fault-tolerant coefficient, x 1 D is an expected following distance for an off-group early warning limit; when a single group is driven, if the members in the fleet reach the group-off early warning limit, the corresponding expected speed is as follows:
where Δ t is the calculation interval, v (t+Δt) For the proposed speed after deltat,
speed of the rear vehicle in the event of disengagement of the group, d 1 Is the actual distance of the vehicle, d 2 In order to obtain the desired distance between the vehicles,
to the speed of the preceding vehicle when the group is disengaged, a l The acceleration of the front vehicle during the off-set is shown, and t is the set catch-up time.
5. The control method for preventing the internet-connected public transport from being disconnected and mixed according to claim 1, wherein when multiple groups are operated together, the lower boundary of the mixed group is avoided as follows:
x 2 ＝δ 2 d；
wherein δ2 Is a parameter less than 1, called mixed group fault tolerance coefficient, x 2 And d is an expected following distance for the mixed group early warning limit.
6. The control method for preventing the off-group and mixed group of the internet-connected bus as claimed in claim 5, wherein when the multiple groups are operated together, if the vehicles in the multiple groups approach from head to tail and reach the off-group early warning limit, the corresponding expected speed is:
where Δ t is the calculation interval, v (t+Δt) For the proposed speed after deltat,
following the speed of the head carriage for the purpose of mixing groups, d 1 Is the actual distance of the vehicle, d 2 In order to obtain the desired distance between the vehicles,
speed of the marshalling trailer for piloting in the mixed consist, a l The acceleration of the front vehicle during the mixing group is shown, and t is the set braking time.
7. The control method for preventing the internet public transport from being disconnected and mixed according to claim 1, wherein the steady-state following is a following state when the following vehicle and the head vehicle run at a constant speed without speed difference.
8. A grouping operation interval control system for preventing the off-group and mixed group of the internet-connected buses is characterized in that a control method for preventing the off-group and mixed group of the internet-connected buses is based on any one of claims 1 to 7 and comprises the following steps:
the vehicle-mounted terminal is used for sending the speed, the acceleration, the position and the grouping information of the vehicle to other members in the motorcade; the system is used for receiving the speed, the acceleration, the position and the marshalling information of the front vehicle; the vehicle-mounted terminal also comprises a display screen, a memory, a processor and a computer program stored in the memory on the processor;
the vehicle-mounted radar is used for detecting the distance between the vehicle-mounted radar and a front vehicle in real time in the bus marshalling operation and sending the distance information to the computer program;
an expected vehicle distance calculation module: the system comprises a vehicle distance model, a vehicle speed model and a vehicle speed model, wherein the vehicle distance model is used for calibrating a vehicle distance model according to the vehicle speed model, and the vehicle distance model is used for calculating an expected vehicle following distance by utilizing the speed information of a vehicle, and the expected vehicle following distance comprises an anti-separation group upper boundary in a vehicle grouping and an anti-mixing group lower boundary between the vehicle grouping and a vehicle grouping;
the actual vehicle distance feedback module: the system is used for acquiring the following distance fed back by the vehicle-mounted radar in real time and displaying the following distance on an interface;
the group separation and mixing early warning module: and when the real-time vehicle distance does not meet the boundary condition of the calculated expected vehicle distance, early warning is carried out on the vehicles, so that the distance between the vehicles returns to the operation boundary again.
9. A computer device comprising a memory, a processor and a computer program stored in the memory and executable on the processor, wherein the processor implements the steps of the control method for preventing the internet bus from being disconnected and mixed according to any one of claims 1 to 7 when executing the computer program.
10. A computer-readable storage medium storing a computer program, wherein the computer program is executed by a processor to implement the steps of the control method for preventing the internet bus from being disconnected and mixed according to any one of claims 1 to 7.
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