CN116129627B - Collaborative lane changing strategy in front of intelligent network connected vehicle under ramp - Google Patents
Collaborative lane changing strategy in front of intelligent network connected vehicle under ramp Download PDFInfo
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- G—PHYSICS
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- G08G1/00—Traffic control systems for road vehicles
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- G—PHYSICS
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Abstract
The invention discloses a collaborative lane change strategy in front of an intelligent network linkage vehicle lower ramp, which comprises the following steps: the intelligent network linkage fleet acquires the front-rear distance and speed information of the target lane vehicles; judging the lane change condition of each vehicle and the optimal first lane change vehicle of the queue; the optimal first lane changing vehicle changes lanes and decelerates so as to leave enough space for other vehicles; other vehicles are reorganized and formed and reach a preset speed and a lane change position; each vehicle changes lanes successively after meeting the lane changing condition. The method provided by the invention can be suitable for a lane change scene in front of the down-ramp with mixed traffic flow and larger traffic density, and by fully playing the advantages of accurate perception of intelligent network coupling and cooperative control of the vehicle teams, the lane change probability is increased by utilizing the perception and decision of the whole teams, the lane change requirement is finished before the down-ramp entrance is reached, the continuity and completeness of the intelligent network coupling vehicle teams in the lane change process and the formation before and after the down-ramp are ensured, and the guarantee is provided for the safety and the high efficiency of future traffic.
Description
Technical Field
The invention relates to the field of intelligent traffic control, in particular to a cooperative lane change strategy in front of an intelligent network connected vehicle lower ramp.
Background
With the increasing amount of maintenance of motor vehicles, traffic safety and traffic congestion problems are becoming increasingly serious. The intelligent network connection can greatly reduce accidents and congestion caused by human errors through accurate perception and accurate control of surrounding environments. And intelligent network vehicles with the same destination or overlapping paths can be operated by adopting CACC (Cooperative Adaptive Cruise Control) formation, so that the traffic capacity is greatly increased, and the emission and the energy consumption are reduced. However, it is still very difficult to achieve 100% permeability of the intelligent network vehicle, so that a mixed traffic flow consisting of the intelligent network vehicle and the manual driving vehicle still exists for a long time. The existing intelligent network vehicle is degraded from CACC to ACC (Adaptive Cruise Control) when following the manual driving vehicle, so that the passing efficiency, safety and stability are reduced, and therefore, how to ensure the continuity and integrity of the queue in the running process is very important.
At present, two methods for lane change of intelligent network linkage vehicle teams are mainly adopted, namely integral lane change and sequential lane change. However, the distance between vehicles required by the two lane changing modes is larger, and a proper lane changing gap is often difficult to find in a scene with larger traffic flow density. If the queue needs an off ramp, the turn road junction may be missed due to no appropriate gap, or the queue may be disturbed for forced off ramp, so as to greatly reduce the ability of the intelligent network linkage vehicle team to ease traffic flow and improve traffic efficiency.
Disclosure of Invention
Aiming at the defects of the prior art, the technical problem to be solved by the invention is to provide the collaborative lane changing strategy in front of the down-ramp of the intelligent network train, which can find a proper gap in a higher traffic density environment, safely and orderly change lanes, and enable the intelligent network train to form a train to run before and after lane changing, thereby ensuring the safe, efficient and stable state of road traffic.
In order to solve the technical problems, the invention adopts the following technical scheme:
a collaborative lane change strategy in front of an intelligent network connected vehicle lower ramp comprises the following steps.
Step 1, determining an optimal first lane change vehicle: the front of the down ramp is provided with an inner lane and an outer lane which are closely adjacent; the front of the inner lane has an down ramp, also called a target lane; an intelligent network train waiting for changing lanes from the down-ramp runs on the outer lane; the intelligent network car team is provided with n intelligent network cars, and the numbers of the intelligent network cars are 1,2,3, … …, i, … … and n from front to back in sequence; wherein i is more than or equal to 1 and less than or equal to n; each intelligent network car in the intelligent network car team utilizes a sensor carried by the intelligent network car team to measure the speed of the manual driving car around the target lane and the longitudinal distance between the manual driving car and the intelligent network car to determine the optimal first lane change car, and the number of the intelligent network car is i.
Step 2, the first lane change and deceleration of the optimal first lane change vehicle i specifically comprises the following steps:
step 2-1, first channel changing: and (3) the optimal first lane change vehicle i determined in the step (1) is changed from the outer lane to the target lane at a longitudinal uniform speed.
Step 2-2, determining a d And t d : according to the speed of the front vehicle of the optimal first lane change vehicle i in the current lane and the distance value of the optimal first lane change vehicle i from the lower ramp, determining the uniform deceleration a of the optimal first lane change vehicle i in the target lane d Uniform deceleration time t d And at t d Velocity v of the rear d 。
Step 2-3, decelerating: optimal first lane change vehicle i to a located in target lane d Running at uniform speed reduction and setting uniform speed reduction time t d After that, the set speed v is reached d ；
Step 2-4, uniform speed: at a speed v d And driving at a constant speed in the target lane.
Step 3, formation deceleration: n-1 intelligent network automobiles positioned on the outer lane are reorganized and formed, uniformly and slowly run according to the respective set deceleration, and reach the speed v in the respective set time respectively d 。
Step 4, secondary channel changing: step 3, each intelligent network-connected automobile in the intelligent network-connected new automobile team after re-formation utilizes a sensor carried by the intelligent network-connected automobile to measure the speed of the manual driving automobile around the target lane and the longitudinal distance between the manual driving automobile and the intelligent network-connected automobile so as to determine the intelligent network-connected automobile meeting the requirement of secondary lane change; and then, the intelligent network-connected automobiles meeting the requirement of secondary lane changing all perform secondary lane changing at a longitudinal uniform speed.
Step 5, remaining intelligent network automobiles positioned on the outer lane are all connected with each other according to the speed v d And (3) carrying out uniform-speed running, and repeating the step (4) until all intelligent network-connected vehicles positioned on the outer lane finish lane changing to the target lane before the down-ramp.
Step 1, a method for determining an optimal first lane change vehicle specifically comprises the following steps:
step 1-1, setting a first channel changing condition: assuming that the ith intelligent network-connected automobile at the current moment successfully changes lanes to a target lane, and the estimated acceleration of the ith intelligent network-connected automobile and the following automobiles on the target lane are respectively a i And a i，r When a is i And a i，r Meanwhile, when the following two conditions are met, the ith intelligent network-connected automobile and the following automobiles are safe to run, and the ith intelligent network-connected automobile meets the first lane changing condition: wherein:
condition (1), a i ＞a min 。
Condition (2), a i，r ＞a min 。
Wherein a is min Is the set minimum vehicle acceleration.
Step 1-2, calculating a i And a i，r : each intelligent network car in the intelligent network car team utilizes the sensors carried by the intelligent network car team to measure the speed of the manual driving car around the target lane and the longitudinal distance between the manual driving car and the intelligent network car, and calculates a by adopting a following function i And a i，r 。
Step 1-3, judging that the first lane change vehicle is met: the calculation a obtained by the calculation in the step 1-2 i And a i，r And (3) comparing and judging with the first lane changing condition set in the step (1-1) so as to obtain the vehicle conforming to the first lane changing.
Step 1-4, determining an optimal first lane change vehicle: when the step 1-3 judges that only one vehicle accords with the first lane change at the same moment, changing the intelligent network-connected vehicle into the optimal first lane change vehicle; and when the step 1-3 judges that two or more vehicles which meet the first lane change at the same moment are available, determining the vehicle closest to the tail of the intelligent network train team as the optimal first lane change vehicle, thereby shortening the time and the driving distance required by lane change of the whole intelligent network train team.
In step 1-1, a i And a i，r The specific calculation formula is as follows:
a i ＝F(s i，l ，v i，l ，v i )
a i，r ＝F(s i，r ，v i ，v i，r )
wherein F (·) is a following function, which represents the adjustment of the acceleration of the rear vehicle according to the distance and the speed between the front vehicle and the rear vehicle during manual driving, and reflects the following behavior of the manual driving vehicle.
s i，l Is the distance between the vehicle i and the nearest preceding vehicle of the target lane.
s i，r Is the distance between the vehicle i and the nearest rear vehicle of the target lane.
v i，l The speed of the nearest preceding vehicle for the target lane vehicle i.
v i，r Is the speed of the nearest following vehicle for the target lane vehicle i.
v i Is the speed of the vehicle i.
In step 2-2, a d And t d The following conditions need to be satisfied simultaneously:
①v d ＝v 0 -a d t d ＜v l
②X＝x d +(t e -t d )v d +(n-1)(s e +l)＜S
wherein:
condition (1) indicates the speed v of the lane change vehicle after deceleration d Is smaller than the speed v of the front vehicle l The distance between the front and rear vehicles is increased, so that other vehicles can finish lane changing; in the formula, v 0 The initial speed of the optimal first lane change vehicle i when changing lanes to the target lane is indicated.
The condition (2) indicates that the distance X from the start of the deceleration of the optimal first-time lane change vehicle to the completion of lane change of the whole queue is smaller than the distance S from the start of the deceleration of the optimal first-time lane change vehicle to the entrance of the down-ramp, namely the whole queue completes lane change before reaching the down-ramp area; wherein x is d The distance travelled by the vehicle in the process of decelerating for the optimal first lane change is obtained.
t e The time from the start of the deceleration of the optimal first lane change vehicle to the completion of lane change of the last vehicle in the queue.
(t e -t d )v d The distance travelled by the vehicle in the uniform speed process for the optimal first lane change is obtained.
s e The distance between the front and the rear of the vehicle is expected for intelligent network connection vehicle queue, and the distance is set value.
l is the vehicle length of the intelligent network car.
(n-1)(s e +l) is the length of the queue after the completion of the queue change before the vehicle optimally first changes lanes.
t 1 The constant-speed driving time of the vehicles with the numbers of i+1, i+2 and the number of n after the optimal first lane change is carried out.
t c Indicating the optimal lane change time of the first lane change vehicle; Δx 1 Indicating the distance of the optimal first lane change vehicle from the front vehicle in the longitudinal direction at the beginning of the deceleration of the target lane.
The formation deceleration method in the step 3 specifically comprises the following steps:
A. i+1, i+2, & gt, n intelligent linked cars located in the outside lane, first keep v 0 At constant speed, time t has elapsed 1 At the time of a d Acceleration subtraction of (2)Fast to v d And then keeping the constant speed.
B. The 1 st, 2 nd, i-1 intelligent network-linked car in the outside lane, first keeps v 0 At constant speed, time t has elapsed 2 At the time of a d Acceleration of (c) is decelerated to v d After which the constant speed is maintained, wherein t is 2 The method comprises the following steps:
n-1 intelligent network automobiles positioned on the outer lane are reorganized and formed, uniformly and slowly run according to respective set deceleration, respectively reach respective expected arrival positions within respective set time, and reach the speed v d The method comprises the steps of carrying out a first treatment on the surface of the The calculation method of the expected arrival position of the jth intelligent network-connected automobile positioned on the outer lane comprises the following steps:
A. when 1.ltoreq.j.ltoreq.i-1, the predicted arrival position is downstream (n-j) (s e +l).
B. When i+1.ltoreq.j.ltoreq.n, the predicted arrival position is at the downstream (n-j+1) of the adjacent lane of the optimal first-change vehicle (s e +l), thereby being capable of maintaining a constant longitudinal speed for lane changing.
In the step 4, the j-th intelligent network-connected automobile positioned on the outer lane meets the condition of secondary lane change as follows:
condition (1), Δx j，l ＞0；
Condition (2), v l ＞v j ；
Wherein Deltax is j，l For the measurement longitudinal distance v of the j-th intelligent network-connected automobile and the nearest preceding automobile of the finished lane change automobile on the target lane j Speed, v, for the jth intelligent network-connected car l Is the speed of the front vehicle.
If the jth intelligent network-connected automobile meets the condition (1) and the condition (2) at the same time, the jth intelligent network-connected automobile can change the lane, otherwise, the jth intelligent network-connected automobile continues to run at a constant speed, and the lane changing time is waited.
The invention has the following beneficial effects: the invention fully plays the advantages of cooperative sensing and decision making of intelligent network linkage vehicle teams, utilizes the whole team sensing and judging the channel changing condition, and further selects the mode of preferentially changing the channel vehicles, thereby finding out the proper gap in the larger density vehicle flow to the greatest extent; the strategy that the bicycle changes the road preferentially and moves in a specific deceleration mode is adopted, so that the road changing manufacturing condition of other vehicles is met, and the whole road changing process is ensured to be completed before reaching the down-ramp; and during the period, the rest vehicles in the queue are reorganized and formed, the formation driving is guaranteed to the greatest extent, the preset position and speed are set, and the safety and the efficiency of subsequent lane changing are guaranteed. The method provided by the invention has the advantages that the initial vehicle gap is small, the continuity and completeness of the intelligent network linkage vehicle team in the course of changing lanes and the formation before and after the down ramp are ensured, and the guarantee is provided for the safety and the high efficiency of future traffic.
Drawings
Fig. 1 is a schematic structural diagram of a collaborative lane change strategy in front of an intelligent network connected vehicle subramp.
Fig. 2 is a schematic diagram of an initial traffic condition in an example of an embodiment of the invention.
FIG. 3 is a schematic illustration of a lane-change-first vehicle lane-change and deceleration in an example of an embodiment of the invention.
FIG. 4 is a schematic diagram of a reorganization of the remaining vehicles of the queue in an example of an embodiment of the invention.
Fig. 5 is a schematic diagram of successive lane changes of the remaining vehicles of the queue in an example of an embodiment of the invention.
Detailed Description
The invention will be described in further detail with reference to the accompanying drawings and specific preferred embodiments.
In the description of the present invention, it should be understood that the terms "left", "right", "upper", "lower", etc. indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, are merely for convenience in describing the present invention and simplifying the description, and do not indicate or imply that the apparatus or element being referred to must have a specific orientation, be configured and operated in a specific orientation, and "first", "second", etc. do not indicate the importance of the components, and thus are not to be construed as limiting the present invention. The specific dimensions adopted in the present embodiment are only for illustrating the technical solution, and do not limit the protection scope of the present invention.
As shown in fig. 1, a cooperative lane change strategy in front of an intelligent network linkage vehicle lower ramp,
step 1, determining an optimal first lane change vehicle
The front of the down ramp is provided with an inner lane and an outer lane which are closely adjacent; the inner front of the inner lane is provided with an under ramp, which is also called a target lane; an intelligent network train waiting for changing lanes from the down-ramp runs on the outer lane; the intelligent network car team is provided with n intelligent network cars, and the numbers of the intelligent network cars are 1,2,3, … …, i, … … and n from front to back in sequence; wherein i is more than or equal to 1 and less than or equal to n; each intelligent network car in the intelligent network car team utilizes the sensor carried by the intelligent network car team to measure the speed of the manual driving car around the target lane and the longitudinal distance between the manual driving car and the intelligent network car team so as to determine the optimal first lane change car, and the number of the intelligent network car is i.
Therefore, the method for determining the optimal first lane change vehicle specifically comprises the following steps.
Step 1-1, setting a first channel changing condition: assuming that the ith intelligent network-connected automobile at the current moment successfully changes lanes to a target lane, and the estimated acceleration of the ith intelligent network-connected automobile and the following automobiles on the target lane are respectively a i And a ir When a is i And a ir Meanwhile, when the following two conditions are met, the ith intelligent network-connected automobile and the following automobiles are safe to run, and the ith intelligent network-connected automobile meets the first lane changing condition: wherein:
condition (1), a i ＞a min Wherein a is i The calculation formula of (2) is as follows:
a i ＝F(s i，l ，v i，l ，v i )
wherein F (·) is a following function, which represents the adjustment of the acceleration of the rear vehicle according to the distance and the speed between the front vehicle and the rear vehicle during manual driving, and reflects the following behavior of the manual driving vehicle.
s i，l Is the distance between the vehicle i and the nearest preceding vehicle of the target lane.
v i，l The speed of the nearest preceding vehicle for the target lane vehicle i.
v i Is the speed of the vehicle i.
a min Is the set minimum vehicle acceleration.
Condition (2), a ir ＞a min The method comprises the steps of carrying out a first treatment on the surface of the Wherein a is ir The calculation formula of (2) is as follows:
a i，r ＝F(s i，r ，v i ，v i，r )
wherein s is i，r Is the distance between the vehicle i and the nearest rear vehicle of the target lane.
v i，r Is the speed of the nearest following vehicle for the target lane vehicle i.
Step 1-2, calculating a i And a i，r : each intelligent network car in the intelligent network car team utilizes a sensor carried by the intelligent network car to measure the speed of an artificial driving car around the target lane and the longitudinal distance between the artificial driving car and the intelligent network car, and calculates a by adopting a following function i And a i，r 。
Step 1-3, judging that the first lane change vehicle is met: the calculation a obtained by the calculation in the step 1-2 i And a i，r And (3) comparing and judging with the first lane changing condition set in the step (1-1) so as to obtain the vehicle conforming to the first lane changing.
Step 1-4, determining an optimal first lane change vehicle: when the step 1-3 judges that only one vehicle accords with the first lane change at the same moment, changing the intelligent network-connected vehicle into the optimal first lane change vehicle; and when the step 1-3 judges that two or more vehicles which meet the first lane change at the same moment are available, determining the vehicle closest to the tail of the intelligent network train team as the optimal first lane change vehicle, thereby shortening the time and the driving distance required by lane change of the whole intelligent network train team.
The following function F (-) contains 3 parameters, the calculation method of each parameter is the prior art, taking the front two adjacent vehicles k-1 and k as an example, the 3 parameters in the following function F (-) are the distance s between the front two vehicles and the rear two vehicles respectively k-1，k Speed v of front vehicle k-1 Rear vehicle speed v k The specific form of F (-) is as follows:
F(s k-1，k ，v k-1 ，v k )＝α(V(s k-1，k )-v k )+β(v k-1 -v k )
wherein alpha and beta are undetermined coefficients, V (s k-1，k ) Indicating that the distance between the front and rear vehicles is s k-1，k Speed s expected to be reached by the vehicle after time st For static safety distance, v max For maximum speed s go Spacing required to maintain maximum speed. The parameters can be calibrated based on the manual driving vehicle track according to the actual road section and the specific scene.
In this embodiment, as shown in fig. 2, there are 5 intelligent network vehicles in the fleet, and the numbers are 1,2,3, 4, and 5 in order from downstream to upstream, and each vehicle has a length l=5m, and a speed v e =25 m/s, front-rear vehicle spacing s e Run =20m. The measured longitudinal spacing s between the target lane and the adjacent preceding and following vehicles i，l 、s i，r Velocity v i，l 、v i，r The method comprises the following steps:
| s 1，l ＝35m | s 2，l ＝60m | s 3，l ＝5m | s 4，l ＝30m | s 5，l ＝55m |
| s 1，r ＝35m | s 2，r ＝10m | s 3，r ＝55m | s 4，r ＝30m | s 5，r ＝10m |
| v 1，l ＝25m/s | v 2，l ＝25m/s | v 3，l ＝25m/s | v 4，l ＝25m/s | v 5，l ＝25m/s |
| v 1，r ＝25m/s | v 3，r ＝25m/s | v 3，r ＝27m/s | v 4，r ＝27m/s | v 5，r ＝27m/s |
calculating a lane change condition of each vehicle, wherein the following function is calibrated according to the actual track of the manually driven vehicle, and coefficients alpha=0.6, beta=0.9 and a static safety distance s are determined st =5m, maximum velocity v max =30m/s, spacing s required to maintain maximum speed go =35 m, then it is assumed that after lane change of each vehicle, the vehicle and its own predicted acceleration a i，r And a i The method comprises the following steps:
if and only if (1)a) i，r ＞a min ②a i ＞a min When the vehicle i meets the lane change condition, the embodiment considers the general vehicle performance, a min ＝-5m/s 2 Therefore, only the car numbered 1 and the car numbered 4 can be changed. And the vehicle with the number 4 is closer to the tail, so that the vehicle is selected as the optimal first lane change vehicle.
Step 2, the first lane change and deceleration of the optimal first lane change vehicle i specifically comprises the following steps:
step 2-1, first channel changing: and (3) the optimal first lane change vehicle i determined in the step (1) is changed from the outer lane to the target lane at a longitudinal uniform speed. After the lane change is completed, the distance between the lane change and the entrance of the down ramp is obtained by using a map, the distance between the lane change and the front vehicle is obtained in real time by using a sensor, and the distance and the speed of the lane change are sent to other intelligent network vehicles by using a V2V communication technology.
Step 2-2, determining a d And t d : according to the speed of the front vehicle of the optimal first lane change vehicle i in the current lane and the distance value of the optimal first lane change vehicle i from the lower ramp, determining the uniform deceleration a of the optimal first lane change vehicle i in the target lane d Uniform deceleration time t d And at t d Velocity v of the rear d 。
A is as described above d And t d The following conditions need to be satisfied simultaneously:
①v d ＝v 0 -a d t d ＜v l
②X＝x d +(t e -t d )v d +(n-1)(s e +l)＜S
wherein:
condition (1) indicates the speed v of the lane change vehicle after deceleration d Is smaller than the speed v of the front vehicle l The distance between the front and rear vehicles is increased, so that other vehicles can finish lane changing; in the formula, v 0 The initial speed of the optimal first lane change vehicle i when changing lanes to the target lane is indicated.
The condition (2) indicates that the distance X from the start of the deceleration of the optimal first-time lane change vehicle to the completion of lane change of the whole queue is smaller than the distance S from the start of the deceleration of the optimal first-time lane change vehicle to the entrance of the down-ramp, namely the whole queue completes lane change before reaching the down-ramp area; wherein x is d The distance travelled by the vehicle in the process of decelerating for the optimal first lane change is obtained.
t e The time from the start of the deceleration of the optimal first lane change vehicle to the completion of lane change of the last vehicle in the queue.
(t e -t d )v d The distance travelled by the vehicle in the uniform speed process for the optimal first lane change is obtained.
s e The distance between the front and the rear of the vehicle is expected for the intelligent network connection queue and is set to be a set value.
l is the vehicle length of the intelligent network car.
(n-1)(s e +l) is the length of the queue after the completion of the queue change before the vehicle optimally first changes lanes.
t 1 The constant-speed driving time of the vehicles with the numbers of i+1, i+2 and the number of n after the optimal first lane change is carried out.
t c Indicating the optimal lane change time of the first lane change vehicle; Δx 1 Indicating the distance of the optimal first lane change vehicle from the front vehicle in the longitudinal direction at the beginning of the deceleration of the target lane.
Step 2-3, decelerating: optimal first lane change vehicle i to a located in target lane d Running at uniform speed reduction and setting uniform speed reductionTime t d After that, the set speed v is reached d ；
Step 2-4, uniform speed: at a speed v d And driving at a constant speed in the target lane.
In the present embodiment, the lane change and deceleration of the vehicle with priority lane change is as shown in FIG. 3, the lane width is 3.75m, and the vehicle is first started from the initial speed v 0 Starting at =25m/s, keeping the longitudinal constant, and the transverse direction is first 1.78m/s 2 Acceleration of 1.125s to 2m/s, maintaining constant speed for 0.75s at-1.78 m/s 2 The acceleration of (2) is reduced to 0 to finish lane change, and the lane change time is t c =3s, and then lane changes of other vehicles also follow this method. At this time, the distance Δx from the preceding lane 2 is measured 1 =30m, and the distance s=500m from the entrance of the down-ramp, followed by a d The acceleration of the vehicle starts to do uniform deceleration movement, and the uniform deceleration time t d The speed reaches v d ，a d And t d The condition (1) and the condition (2) are satisfied at the same time, the specific value can be selected according to the requirement of the actual situation, in this embodiment, a d ＝-2m/s 2 ,t d ＝4s，v d =17 m/s, determine whether the condition is satisfied:
v d ＜v l ＝25m/s
x d +(t e -t d )v d +(n-1)(s e +l)＝343.97m＜S＝500m
therefore, the condition (1) and the condition (2) are satisfied, and after the deceleration is completed, the vehicle is kept at v d And (5) running at a constant speed. Because the channel changing condition is judged before channel changing, the front and rear vehicles are drivenThe distance and the speed are proper, the state of the rear vehicle is in a controllable range, and when the vehicle with the priority lane change is decelerated, the rear vehicle also responds to the deceleration, the distance between the front vehicle and the rear vehicle is kept proper, and no collision occurs.
Step 3, formation deceleration: n-1 intelligent network automobiles positioned on the outer lane are reorganized and formed, uniformly and slowly run according to the respective set deceleration, and reach the speed v in the respective set time respectively d 。
The formation deceleration method in the step 3 specifically comprises the following steps:
A. i+1, i+2, & gt, n intelligent linked cars located in the outside lane, first keep v 0 At constant speed, time t has elapsed 1 At the time of a d Acceleration of (c) is decelerated to v d And then keeping the constant speed.
B. The 1 st, 2 nd, i-1 intelligent network-linked car in the outside lane, first keeps v 0 At constant speed, time t has elapsed 2 At the time of a d Acceleration of (c) is decelerated to v d After which the constant speed is maintained, wherein t is 2 The method comprises the following steps:
in the present embodiment, as shown in fig. 4, the reorganization of the queues holds v for the vehicle with the vehicle number i=5 first 0 Speed constant travel of =25m/s, time elapsed t 1 When=6.25 s, the product is denoted by a d ＝-2m/s 2 Acceleration of (c) is decelerated to v d After 17m/s, the constant speed is maintained;
v is first maintained for vehicles with vehicle number i=1, 2,3 0 Speed uniform traveling at =25m/s, time elapsed At the time of a d ＝-2m/s 2 Acceleration of (c) is decelerated to v d After 17m/s, a constant speed was maintained.
At this time, for a vehicle of the vehicle number i=5, the predicted position is 25 (n-i+1) =25m downstream of the adjacent lane of the priority lane vehicle; for vehicles with vehicle numbers i=1, 2,3, the predicted position is downstream 25 (n-i) m of the lane adjacent to the lane-changing vehicle. And all vehicles reach the same speed v as the priority lane change vehicle d ＝17m/s。
Step 4, secondary channel changing: step 3, each intelligent network-connected automobile in the intelligent network-connected new automobile team after re-formation utilizes a sensor carried by the intelligent network-connected automobile to measure the speed of the manual driving automobile around the target lane and the longitudinal distance between the manual driving automobile and the intelligent network-connected automobile so as to determine the intelligent network-connected automobile meeting the requirement of secondary lane change; and then, the intelligent network-connected automobiles meeting the requirement of secondary lane changing all perform secondary lane changing at a longitudinal uniform speed.
Step 5, remaining intelligent network automobiles positioned on the outer lane are all connected with each other according to the speed v d And (3) carrying out uniform-speed running, and repeating the step (4) until all intelligent network-connected vehicles positioned on the outer lane finish lane changing to the target lane before the down-ramp.
N-1 intelligent network automobiles positioned on the outer lane are reorganized and formed, uniformly and slowly run according to respective set deceleration, respectively reach respective expected arrival positions within respective set time, and reach the speed v d The method comprises the steps of carrying out a first treatment on the surface of the The calculation method of the expected arrival position of the jth intelligent network-connected automobile positioned on the outer lane comprises the following steps:
A. when 1.ltoreq.j.ltoreq.i-1, the predicted arrival position is downstream (n-j) (s e +l).
B. When i+1.ltoreq.j.ltoreq.n, the predicted arrival position is at the downstream (n-j+1) of the adjacent lane of the optimal first-change vehicle (s e +l), thereby being capable of maintaining a constant longitudinal speed for lane changing.
In the step 4, the j-th intelligent network-connected automobile positioned on the outer lane meets the condition of secondary lane change as follows:
condition (1), Δx j，l ＞0；
Condition (2), v l ＞v j ；
Wherein Deltax is j，l For the measurement longitudinal distance v of the j-th intelligent network-connected automobile and the nearest preceding automobile of the finished lane change automobile on the target lane j Speed, v, for the jth intelligent network-connected car l Is the speed of the front vehicle.
If the jth intelligent network-connected automobile meets the condition (1) and the condition (2) at the same time, the jth intelligent network-connected automobile can change the lane, otherwise, the jth intelligent network-connected automobile continues to run at a constant speed, and the lane changing time is waited.
In this embodiment, the remaining vehicles are successively changed to the lane as shown in FIG. 5, and after the formation reorganization is completed, the preceding vehicle speed v l Vehicle speed v numbered j =25 m/s j =17 m/s, measure the distance Δx from the preceding vehicle j，l The method comprises the following steps:
| Δx 1，l ＝73.72m | Δx 2，l ＝48.72m | Δx 3，l ＝23.72m | Δx 5，l ＝-1.28m |
thus, vehicles numbered 2,3, 5 can change lanes, and vehicle numbered 1 waits about (- Δx) 1，l )/(v l -v d ) Lane change may also begin after =0.16 s. After the lane change is completed, all intelligent network connected vehicles of the original queue complete the lane change, the continuity of the queues is guaranteed to the greatest extent in the lane change process, the queues are complete before and after the lane change, and then the functions of the intelligent network connected vehicle team can be fully exerted.
The preferred embodiments of the present invention have been described in detail above, but the present invention is not limited to the specific details of the above embodiments, and various equivalent changes can be made to the technical solution of the present invention within the scope of the technical concept of the present invention, and all the equivalent changes belong to the protection scope of the present invention.
Claims (1)
1. The intelligent network-connected cooperative lane change strategy in front of the off-ramp is characterized in that: the method comprises the following steps:
step 1, determining an optimal first lane change vehicle: the front of the down ramp is provided with an inner lane and an outer lane which are closely adjacent; the front of the inner lane has an down ramp, also called a target lane; an intelligent network train waiting for changing lanes from the down-ramp runs on the outer lane; the intelligent network car team is provided with n intelligent network cars, and the numbers of the intelligent network cars are 1,2,3, … …, i, … … and n from front to back in sequence; wherein i is more than or equal to 1 and less than or equal to n; each intelligent network car in the intelligent network car team utilizes a sensor carried by the intelligent network car team to measure the speed of the manual driving car around the target lane and the longitudinal distance between the manual driving car and the intelligent network car to determine the optimal first lane change car, and the number of the intelligent network car is i, so that the method for determining the optimal first lane change car comprises the following steps:
step 1-1, setting a first channel changing condition: assuming that the ith intelligent network-connected automobile at the current moment successfully changes lanes to a target lane, and the estimated acceleration of the ith intelligent network-connected automobile and the following automobiles on the target lane are respectively a i And a i,r When a is i And a i,r Meanwhile, when the following two conditions are met, the ith intelligent network-connected automobile and the following automobiles are safe to run, and the ith intelligent network-connected automobile meets the first lane changing condition: wherein:
condition (1), a i >a min ；
Condition (2), a i,r >a min ；
Wherein a is min Is the set minimum vehicle acceleration;
wherein a is i And a i,r The specific calculation formula is as follows:
a i ＝F(s i,l ,v i,l ,v i )
a i,r ＝F(s i,r ,v i ,v i,r )
wherein F (·) is a following function, which represents the adjustment of the acceleration of the rear vehicle according to the distance and the speed between the front vehicle and the rear vehicle during manual driving, and reflects the following behavior of the manual driving vehicle;
s i,l the distance between the vehicle i and the nearest preceding vehicle of the target lane;
s i,r the distance between the vehicle i and the nearest rear vehicle of the target lane;
v i,l the speed of the nearest preceding vehicle for the target lane vehicle i;
v i,r the speed of the nearest rear vehicle of the target lane vehicle i;
v i is the speed of vehicle i;
step 1-2, calculating a i And a i,r : each intelligent network car in the intelligent network car team utilizes a sensor carried by the intelligent network car to measure the speed of an artificial driving car around the target lane and the longitudinal distance between the artificial driving car and the intelligent network car, and calculates a by adopting a following function i And a i,r ；
Step 1-3, judging that the first lane change vehicle is met: the calculation a obtained by the calculation in the step 1-2 i And a i,r Comparing and judging with the first lane changing condition set in the step 1-1, so as to obtain a vehicle conforming to the first lane changing;
step 1-4, determining an optimal first lane change vehicle: when the step 1-3 judges that only one vehicle accords with the first lane change at the same moment, the intelligent network-connected vehicle is the optimal first lane change vehicle; when the step 1-3 judges that two or more vehicles which meet the first lane change at the same moment are available, determining the vehicle closest to the tail of the intelligent network train queue as the optimal first lane change vehicle, thereby shortening the time and the driving distance required by lane change of the whole intelligent network train queue;
step 2, the first lane change and deceleration of the optimal first lane change vehicle i specifically comprises the following steps:
step 2-1, first channel changing: the optimal first lane change vehicle i determined in the step 1 is changed from an outer lane to a target lane at a longitudinal uniform speed;
step 2-2, determining a d And t d : according to the speed of the front vehicle of the optimal first lane change vehicle i in the current lane and the distance value of the optimal first lane change vehicle i from the lower ramp, determining the uniform deceleration a of the optimal first lane change vehicle i in the target lane d Uniform deceleration time t d And at t d Velocity v of the rear d ；
a d And t d The following conditions need to be satisfied simultaneously:
①v d ＝v 0 -a d t d <v l
②X＝x d +(t e -t d )v d +(n-1)(s e +l)<S
wherein:
condition (1) indicates the speed v of the lane change vehicle after deceleration d Is smaller than the speed v of the front vehicle l The distance between the front and rear vehicles is increased, so that other vehicles can finish lane changing; in the formula, v 0 Representing the initial speed of the optimal first lane change vehicle i when changing lanes to a target lane;
the condition (2) indicates that the distance X from the start of the deceleration of the optimal first-time lane change vehicle to the completion of lane change of the whole queue is smaller than the distance S from the start of the deceleration of the optimal first-time lane change vehicle to the entrance of the down-ramp, namely the whole queue completes lane change before reaching the down-ramp area; wherein x is d The distance travelled by the vehicle in the deceleration process of the optimal first lane change is used;
t e to change from optimum firstThe time from the start of the track vehicle to the completion of the track change of the last vehicle in the queue;
(t e -t d )v d the distance travelled by the vehicle in the uniform speed process for the optimal first lane change;
s e the distance between the front and the rear of the expected vehicles for the intelligent network connection queue is a set value;
l is the vehicle length of the intelligent network-connected automobile;
(n-1)(s e +l) is the length of the queue before the optimal first lane change vehicle after the lane change of the queue is completed;
t 1 the constant-speed driving time of the vehicles with the numbers of i+1, i+2, … and n after the optimal first lane change is carried out;
t c indicating the optimal lane change time of the first lane change vehicle; delta + 1 Representing the distance between the optimal first lane change vehicle and the longitudinal direction of the front vehicle at the beginning of target lane deceleration;
step 2-3, decelerating: optimal first lane change vehicle i to a located in target lane d Running at uniform speed reduction and setting uniform speed reduction time t d After that, the set speed v is reached d ；
Step 2-4, uniform speed: at a speed v d Driving at a constant speed in a target lane;
step 3, formation deceleration: n-1 intelligent network automobiles positioned on the outer lane are reorganized and formed, uniformly and slowly run according to respective set deceleration, reach respective expected arrival positions in respective set time, and reach the speed v d ；
The formation deceleration method specifically comprises the following steps:
A. the (i+1, i+2, …) th intelligent network connected automobile positioned on the outer lane, firstly, v is kept 0 At constant speed, time t has elapsed 1 At the time of a d Acceleration of (c) is decelerated to v d Then keeping a constant speed;
B. 1 st, 2 nd, … th, i-1 st intelligent network-connected automobile located on outer lane, first keep v 0 At constant speed, time t has elapsed 2 At the time of a d Acceleration of (c) is decelerated to v d After which the constant speed is maintained, wherein t is 2 The method comprises the following steps:
the calculation method of the expected arrival position of the jth intelligent network-connected automobile positioned on the outer lane comprises the following steps:
the calculation method of the expected arrival position of the j-th intelligent network-connected automobile positioned on the outer lane comprises the following steps:
A. when 1.ltoreq.j.ltoreq.i-1, the predicted arrival position is downstream (n-j) (s e +l);
B. when i+1.ltoreq.j.ltoreq.n, the predicted arrival position is at the downstream (n-j+1) of the adjacent lane of the optimal first-change vehicle (s e +l), thus can keep the longitudinal uniform speed to change the channel;
step 4, secondary channel changing: step 3, each intelligent network-connected automobile in the intelligent network-connected new automobile team after re-formation utilizes a sensor carried by the intelligent network-connected automobile to measure the speed of the manual driving automobile around the target lane and the longitudinal distance between the manual driving automobile and the intelligent network-connected automobile so as to determine the intelligent network-connected automobile meeting the requirement of secondary lane change; then, the intelligent network-connected automobiles meeting the requirement of secondary lane changing all perform secondary lane changing at a longitudinal uniform speed;
the j-th intelligent network-connected automobile positioned on the outer lane meets the condition of secondary lane change as follows:
condition (1), Δx j,l >0；
Condition (2), v l >v j ；
Wherein Deltax is j,l For the measurement longitudinal distance v of the j-th intelligent network-connected automobile and the nearest preceding automobile of the finished lane change automobile on the target lane j Speed, v, for the jth intelligent network-connected car l Is the speed of the front vehicle;
if the jth intelligent network-connected automobile meets the condition (1) and the condition (2) at the same time, the jth intelligent network-connected automobile can change the lane, otherwise, the jth intelligent network-connected automobile continues to run at a constant speed, and the lane changing time is waited;
step 5, remaining intelligent network located on outer laneThe vehicles are connected according to the speed v d And (3) carrying out uniform-speed running, and repeating the step (4) until all intelligent network-connected vehicles positioned on the outer lane finish lane changing to the target lane before the down-ramp.
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