WO2020007215A1 - 一种基于车辆行为调整模型的用于最佳跟驰车距计算的曲线拟合建模方法 - Google Patents
一种基于车辆行为调整模型的用于最佳跟驰车距计算的曲线拟合建模方法 Download PDFInfo
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Definitions
- the invention relates to the field of transportation. Based on a scientific vehicle behavior adjustment model, a curve fitting modeling method for calculating the optimal following distance is proposed. Create conditions for safe and efficient follow-up operation with a smooth (comfortable) behavior adjustment process.
- the optimal distance between front and rear vehicles that is, the optimal following distance
- the optimal distance between front and rear vehicles is obviously not a fixed one.
- Variable value As far as the car is running at any moment, what is the distance between the car and the car? Is the car following and running both safe and efficient, while meeting the stability (comfort) requirements of vehicle behavior adjustment? Not only the basic data required for high-quality vehicle follow-up control, but also an important basis for scientific management of road network traffic flow by the traffic management department.
- the vehicle grasps this "best following distance” in real time, and compares it with the current actual following distance to understand its current following status and behavior quality, and then it can scientifically determine the specific details of its own behavior adjustment. . It can be seen that the "best following distance” is at any time important for the vehicle's safe, efficient and smooth (comfortable) following operation. The question is how to calculate this "best following distance”?
- the present invention proposes a curve fitting modeling method for calculating the optimal following distance based on the scientific behavior adjustment model of the vehicle, which can reduce the number of engineering experiments on the one hand and increase the built The accuracy of the fitted function.
- the invention is based on a scientific vehicle behavior adjustment model, and proposes a curve fitting modeling method for calculating the optimal following distance.
- Step 1 Establish a mathematical model that can reflect the dynamic behavior characteristics of the vehicle during the process of decelerating and stopping according to the control needs of passenger and cargo transportation for the process of decelerating and stopping of the vehicle:
- v 0 is the initial speed when the vehicle starts braking and decelerating
- k and ⁇ are constants greater than
- ⁇ is a small speed increase greater than
- t is a time variable
- v is a speed variable (v
- Step 2 Calculate the values of the parameters k, ⁇ , and ⁇ according to the smoothness and fastness requirements of the vehicle's braking and stopping.
- the absolute value of acceleration, and the absolute value of its time derivative, can be used to evaluate the smoothness and speed of vehicle behavior adjustment.
- ) can be obtained by referring to ISO2631. The value is generally 2m / s 3 .
- Step 3 First, calculate the vehicle braking distance with an initial speed of v 0 according to the vehicle braking and stopping behavior model shown in equation (1). By integrating time (1), the calculation formula of the vehicle braking distance can be obtained:
- Step 4 Then, using formula (3), step 2 and step 3 are performed cyclically for any initial speed of the vehicle to obtain the braking distance under any initial speed of the vehicle.
- Step 5 According to the different initial speeds obtained in Step 4 and the corresponding vehicle braking distance values, use curve analysis to establish a curve fitting function
- S Braking g (v 0 ) (4) is used to calculate the braking distance of the vehicle at any time.
- g () represents a function.
- Step 6 Determine the calculation principle according to the control requirements, and calculate the optimal following distance according to the calculation principle.
- Calculation principle 1 Use the rear position of the vehicle in front at the current moment as the reference point for the rear vehicle to stop. The "best distance" at this time is
- g f () represents the fitting function of the following vehicle behavior, It indicates the initial speed when the rear vehicle is braking, and ⁇ s is the safety margin.
- Calculation principle 2 The rear position of the previous vehicle after parking is the reference point for the rear vehicle to stop and the emergency stop of the previous vehicle is used as the calculation basis. Fit function of braking distance and initial speed when the vehicle is in emergency stop:
- g p () represents the fitting function of the preceding vehicle behavior, Indicates the initial speed when the vehicle in front is braking.
- the present invention provides a new numerical fitting method that is closely combined with theory and practice. Investment costs and significantly improve the efficiency of the fitting function.
- This method is suitable for the real-time calculation of dynamic safe vehicle distance in the full-speed domain of the transportation field, so as to provide a basis for vehicle safety and efficient car-following control. It is particularly suitable for the future automatic driving of vehicles in the field of highway transportation and the follow-up of vehicles in the field of rail transit.
- Speeding control can be used to provide scientific basis for traffic management departments and the vehicle manufacturing industry to formulate future vehicle behavior codes.
- Figure 1 shows the vehicle decelerating and stopping operation process based on the behavior model
- Figure 2 describes the application of the optimal following distance calculation in vehicle following control.
- the proposed curve-fitting modeling method for calculating the optimal following distance is mainly based on a scientific vehicle behavior adjustment model, which is characterized in that the method includes the following steps:
- Step 1 According to the passenger and cargo transportation control requirements for the vehicle's decelerating and stopping operation process, establish a dynamic behavioral model of vehicle decelerating and stopping that can meet the following safety, efficiency and smoothness and speed of vehicle behavior adjustment:
- v 0 is the initial speed when the vehicle starts braking and decelerating
- k and ⁇ are constants greater than
- ⁇ is a small speed increase greater than
- t is a time variable
- v is a speed variable (v
- Step 2 Calculate the values of the parameters k, ⁇ , and ⁇ according to the smoothness and fastness requirements of the vehicle's braking and stopping.
- the impulse value (i.e. the acceleration change rate) during the vehicle's variable speed operation is a variable value
- ) Used to evaluate the smoothness of the vehicle behavior adjustment process. And people hope that the vehicle behavior adjustment process is not only smooth, but also rapid, so max (
- Step 3 First, calculate the vehicle braking distance with an initial speed of v 0 according to the vehicle braking and stopping behavior model shown in equation (1). By integrating time (1), the calculation formula of the vehicle braking distance can be obtained:
- Step 4 Then, using formula (3), step 2 and step 3 are performed cyclically for any initial speed of the vehicle to obtain the braking distance under any initial speed of the vehicle.
- Step 5 According to the different initial speeds obtained in Step 4 and the corresponding vehicle braking distance values, use curve analysis to establish a curve fitting function
- Step 6 Determine the calculation principle according to the control requirements, and calculate the optimal following distance according to the calculation principle.
- the "best distance” In the process of following the vehicle, the "best distance" must ensure the safety of rear vehicle behavior adjustment, the efficiency of car following and the smoothness and speed of behavior adjustment in order to show the "best” characteristics.
- Calculation principle 1 Use the rear position of the vehicle in front at the current moment as the reference point for the rear vehicle to stop. The "best distance" at this time is
- g f () represents the fitting function of the braking behavior of the rear vehicle. It indicates the initial speed when the rear vehicle is braking, and ⁇ s is the safety margin.
- formula (5) is very important for determining the braking stop point of a vehicle at a certain speed when stopping at a fixed point or determining the speed when braking and stopping according to the position of the target parking point.
- g p () represents the fitting function of the preceding vehicle behavior, Indicates the initial speed when the vehicle in front is braking.
- equation (7) reflects the general situation of car following.
- Figure 2 describes the application of the optimal following distance calculation in vehicle following control.
- the optimal distance is calculated according to the calculation formula (5) or (7) corresponding to the determined calculation principle
Abstract
提出一种用于交通运输领域最佳跟驰车距计算的曲线拟合建模方法。根据车辆在停车运行过程的控制需求,建立能够科学反映车辆在停车运行过程中动态行为特征的数学模型(I),式中v0为车辆开始制动减速时的初速度,k、τ为大于0的常数,δ为大于0的微小速度增量,t为时间变量,v为速度变量(v|t=-∞=v0+δ,v|t=∞=-δ),tanh()表示双曲正切函数。本发明基于上述车辆行为调整模型,提出一种动态最佳跟驰车距的曲线拟合方法,用于动态最佳跟驰车距的实时计算,可为车辆以平稳(舒适)、快速的行为调整过程实现安全、高效跟驰运行创造条件,也可为交通管理部门进行交通管理,以及车辆制造行业提高车辆自动化水平、降低工程实验成本,提供技术支持。
Description
本发明涉及交通运输领域,基于一种科学的车辆行为调整模型,提出一种用于最佳跟驰车距计算的曲线拟合建模方法,为确定车辆最佳跟驰车距,确保车辆能够以平稳(舒适)的行为调整过程实现安全、高效跟驰运行创造条件。
特别适用于各类载运工具的自动驾驶。
车辆跟驰运行过程中,出于安全性、高效性和自身行为调整的平稳性和快速性考虑,前、后车辆之间的最佳距离,即最佳跟驰车距,显然不是一个固定不变的值。就车辆跟驰运行的任意时刻而言,跟驰车距为何值,车辆的跟驰运行才是既安全又高效的,同时满足车辆行为调整的平稳(舒适)性需求?不仅是高质量车辆跟驰控制所需要的基础数据,而且也是交通管理部门进行路网车流科学管理的重要依据。
显然,车辆实时地掌握这个“最佳跟驰车距”,与当前的实际跟驰车距作比较分析,可以了解自身当前的跟驰状态和行为质量,进而能够科学确定自身行为调整的具体细节。可见,“最佳跟驰车距”在任意时刻对于车辆安全、高效、平稳(舒适)跟驰运行的重要性。问题是怎样计算这个“最佳跟驰车距”呢?
目前,在世界范围内的交通领域尚无一个被广泛接受的“动态最佳跟驰车距实时计算”的行业标准。不仅公路交通领域对动态安全车距存在技术上的需求,轨道交通领域在全速域内任意跟驰形势下以动态安全车距作为车辆跟驰行为调整(控制)的参考依据,在技术上的需求更为迫切,虽有若干典型速度下的“安全车距”标准,但完全不能满足CBTC(Communication-based Train Control)系统车辆在任意跟驰形势下均能安全、高效运行的控制需求。
当前学术界和工程界,“最佳跟驰车距”主要是采取拟合函数的计算方法获得。该方法根据工程实验中取得的基础数据,进行曲线拟合,从而得到如式(a)所示的最佳跟驰车距计算公式。
S
OptimalFollowingDistance=f(v
f) (a) 式中S
OptimalFollowingDistance表示最佳跟驰车距,v
f表示后车速度,f()表示函数。
上述“最佳跟驰车距”的计算公式,完全依赖于工程实践中的数据获得。由于动态安全车距涉及速度、控制策略等诸多参数,其复杂性主要表现为“每个参数均有无穷多个数值,其组合更是难以穷尽”,为建立准确的拟合函数所作的工程实验将是大量的,同时也必须是有限的才是在工程上可行的,大量的工程实验耗费巨额资金,而实验次数有限性又令拟合函数的准确性受到质疑。解决上述矛盾,将有助于实现未来车辆自动驾驶的安全性、高效性、平稳性和智能化。
本发明针对上述现状,基于车辆的科学行为调整模型,提出一种用于最佳跟驰车距计算的曲线拟合建模方法,一方面可降低工程实验的次数,另一方面能够提高所建拟合函数的准确性。
发明内容
本发明基于一种科学的车辆行为调整模型,提出一种用于最佳跟驰车距计算的曲线拟合建模方法。
本发明通过以下技术方案来实现:
(1)建立一种满足跟驰安全性、高效性和车辆行为调整的平稳性、快速性的车辆行为调整模型,具体步骤如下:
步骤1:根据客、货运输对车辆减速停车运行过程的控制需求,建立能够科学反映车辆减速停车过程中动态行为特征的数学模型:
式中,v
0为车辆开始制动减速时的初速度,k、τ为大于0的常数,δ为大于0的微小速度增量,t为时间变量,v为速度变量(v|
t=-∞=v
0+δ,v|
t=∞=-δ),tanh()表示双曲正切函数。
步骤2:根据车辆制动停车的平稳性和快速性需求,计算参数k、δ、τ的值。
加速度的绝对值,以及其时间导数的绝对值,可用于评估车辆行为调整的平稳性和快速性。
式中:a为加速度。
参数k、δ可根据车辆行为调整的平稳性和快速性需求,由式(2)计算得到。然后,将t=0和v
0、k、δ的值代入式(1),就可计算得到τ的值。max(|a|)的值可以查阅ISO2631获得,
的值一般取2m/s
3。
(2)确定“最佳制动距离”计算的拟合函数。
步骤3:首先,根据式(1)所示的车辆制动停车行为模型,计算初始速度为v
0的车辆制动距离。对式(1)进行时间积分,即可得到车辆制动距离的计算公式:
步骤4:然后,利用式(3),针对车辆任意初始速度,循环执行步骤2、步骤3,可以得到车辆任意初始速度条件下的制动距离。
步骤5:根据步骤4得到的不同初始速度,以及与之相应的车辆制动距离值,利用数值分析方法建立曲线拟合函数
S
Braking=g(v
0) (4)用于计算得到车辆在任意时刻的制动距离。式中g()表示函数。
(3)最佳跟驰车距的计算。
步骤6:根据控制需求确定计算原则,按计算原则分别计算最佳跟驰车距。
计算原则1:以当前时刻前车的尾部位置为后车制动停车的参考点。此时的“最佳车距”为
计算原则2:以前车停车后的尾部位置为后车制动停车的参考点,并以前车紧急停车为计算依据。车辆紧急停车时制动距离与初始速度的拟合函数:
与现有技术相比,本发明提供了一种理论与实际紧密结合的、新的数值拟合方法,降低了重大工程领域完全依赖工程实验数据建立拟合函数的复杂程度,可大幅减少工程实验的投资成本,并显著提高建立拟合函数的工作效率。该方法适用于交通领域全速域内动态安全车距的实时计算,从而可以为车辆安全、高效跟驰控制提供依据,特别适合于未来公路交通领域的车辆自动驾驶和轨道交通领域移动闭塞系统车辆的跟驰运行控制,可用于交通管理部门和交通工具制造行业制定未来车辆行为规范提供科学依据。
图1为基于行为模型的车辆减速停车运行过程;
图2描述最佳跟驰车距计算在车辆跟驰控制中应用。
下面结合附图和具体实施例对本发明进行详细说明。
实施例
实施例技术方案一
(1)提出的用于最佳跟驰车距计算的曲线拟合建模方法,主要基于一种科学的车辆行为调整模型,其特征在于,该方法包括以下步骤:
步骤1:根据客、货运输对车辆减速停车运行过程的控制需求,建立能够满足跟驰安全性、高效性和车辆行为调整的平稳性、快速性的车辆减速停车动态行为模型:
式中,v
0为车辆开始制动减速时的初速度,k、τ为大于0的常数,δ为大于0的微小速度增量,t为时间变量,v为速度变量(v|
t=-∞=v
0+δ,v|
t=∞=-δ),tanh()表示双曲正切函 数。
当k=k
1、k
2(0<k
2<k
1)时,可得相应的v-t曲线和a-t曲线,见图1所示(图中虚线表示的曲线为k=k
1时的曲线沿横坐标轴平移而得)。
显而易见,当δ确定后,不同k值条件下车辆减速停车运行过程,即从初速v
0至末速0,所花费的时间和运行的距离存在着“差异”;k值的大小与曲线的陡峭程度存在密切相关性,不仅体现了车辆运行的效率和平稳程度,而且反映了车辆在自身减速能力约束下所采取的控制策略,能够准确描述司机驾车行驶车辆减速运行过程中的行为细节,以及人们对车辆减速运行过程的普遍期望。
步骤2:根据车辆制动停车的平稳性和快速性需求,计算参数k、δ、τ的值。
对式(1)求导,可得车辆减速运行过程中的加速度函数
由于tanh
2(k(t-τ))≤1,可知
显然,当t=τ时,加速度a的绝对值最大。
车辆变速运行过程中的冲动值(即加速度变化率)为
求加速度的二次导数
由式(2.3)可知,
在tanh
2(k(t-τ))=1和
时存在极值点,进而可以求得车辆变速运行情况下
的最大绝对值。由于tanh
2(k(t-τ))=1当且仅当t→±∞时才成立,不符合工程需求,故
的最大绝对值只能取在
的时刻。
可知
联立式(2.1)、(2.5),可以得到计算k、δ的方程组
在载运工具运用领域,max(|a|)、
被用于评价车辆行为调整过程的平稳性。而人们希望车辆的行为调整过程不仅是平稳的,而且是迅速的,因此max(|a|)、
必存在唯一值能够满足人们对车辆行为调整过程的平稳性和快速性需求。这样,当车辆的初速度v
0已知时,利用式(2)就可以求解得到k、δ的值。
然后,将t=0和v
0、k、δ的值代入式(1),就可计算得到τ的值。
(2)确定“最佳制动距离”计算的拟合函数。
步骤3:首先,根据式(1)所示的车辆制动停车行为模型,计算初始速度为v
0的车辆制动距离。对式(1)进行时间积分,即可得到车辆制动距离的计算公式:
步骤4:然后,利用式(3),针对车辆任意初始速度,循环执行步骤2、步骤3,可以得到车辆任意初始速度条件下的制动距离。
步骤5:根据步骤4得到的不同初始速度,以及与之相应的车辆制动距离值,利用数值分析方法建立曲线拟合函数
S
Braking=g(v
0) (4)
用于计算得到车辆在任意时刻的制动距离。式中g()表示函数。
以下进一步公开最佳跟驰车距的计算技术方案
(3)最佳跟驰车距的计算。
步骤6:根据控制需求确定计算原则,按计算原则分别计算最佳跟驰车距。
车辆跟驰运行过程中,“最佳车距”必须保证后车行为调整安全性、跟驰的高效性和行为调整平稳性和快速性,才能显示出“最佳”的特征。
目前,“最佳车距”有两种计算原则:
计算原则1:以当前时刻前车的尾部位置为后车制动停车的参考点。此时的“最佳车距”为
显然,式(5)对定点停车时确定车辆某一速度下的制动停车点或根据目标停车点的位置确定制动停车时的速度至关重要。
计算原则2:考虑前车制动停车时需要行驶一段距离,以前车停车后的尾部位置为后车制动停车的参考点。另一方面,由于前车的制动距离与其制动时的初速度和减速过程中的每一时刻的加速度相关,为增加工程实施的可行性,一般将安全放在第一的位置,即规定“以前车停车后的尾部位置为后车制动停车的参考点”的最佳车距计算,以前车紧急停车为依据。车辆紧急停车与自身的制动性能有关,一般基于安全考量,以最大恒力矩制动停车。故针对某一品牌、规格的车辆,不难得出其紧急停车时制动距离与初始速度的拟合函数:
显然,式(7)反映来车辆跟驰的一般情形。
图2描述最佳跟驰车距计算在车辆跟驰控制中应用。
首先,后车获得前车速度和后车速度后,根据当前技术条件和控制需求,确定最佳跟驰车距的计算原则;
然后,根据与确定的计算原则相对应的计算公式(5)或(7)计算出最佳车距;
最后,将当前最佳车距与实际车距进行比较分析,确定相应的控制律,实施控制律,以平稳、迅速的车辆行为调整实现安全、高效跟驰运行。
Claims (2)
- 一种基于车辆行为科学调整模型的最佳跟驰车距计算的曲线拟合建模方法,其特征在于,该方法包括以下步骤:1)根据车辆在减速停车运行过程中对平稳性和快速性的控制需求,建立能够科学反映车辆动态行为特征的数学模型:式中,v 0为车辆开始制动减速时的初速度,k、τ为大于0的常数,δ为大于0的微小速度增量,t为时间变量,v为速度变量(v| t=-∞=v 0+δ,v| t=∞=-δ),tanh()表示双曲正切函数;2)根据车辆制动停车的平稳性和快速性需求(见式(2)所示),计算公式(1)模型中参数k、δ、τ的值;参数k、δ可根据车辆行为调整的平稳性和快速性需求,由下式计算得到式中:a为加速度;然后,将t=0和v 0、k、δ的值代入式(1),就可计算得到τ的值;3)步骤2)算得的参数代入步骤1)的式(1),再根据式(1)所示的车辆制动停车行为模型,通过对式(1)进行时间积分,即可得到初始速度为v 0的车辆制动距离的计算公式:4)然后,针对车辆任意初始速度v 0,循环执行步骤2)、步骤3),可以得到车辆任意不同初始速度条件下的制动距离;5)根据步骤4)得到的不同初始速度v 0,以及与之相应的车辆制动距离值,利用数值分析方法建立曲线拟合函数:S Braking=g(v 0) (4)即,用于任意初始速度下计算满足行为调整平稳性和快速性的最佳车辆制动距离的曲线拟 合函数建模完成。
- 一种由权利要求1建模后用于最佳跟驰车距计算方法,其特征在于,该方法包括以下步骤:6)根据控制需求确定计算原则,按计算原则分别计算最佳跟驰车距;计算原则1:以当前时刻前车的尾部位置为后车制动停车的参考点,此时的“最佳车距”为计算原则2:“以前车停车后的尾部位置为后车制动停车的参考点”的最佳车距计算,以前车紧急停车为依据。车辆紧急停车时制动距离与初始速度的拟合函数:
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