CN104794265B - A kind of movement based on acceleration information follows design methods - Google Patents
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Abstract
Design methods are followed the invention discloses a kind of movement based on acceleration information, what vehicle was moved in more preferable simulation actual traffic scene follows situation.Present invention firstly provides a kind of acceleration-deceleration transformation mechanism, according to the different transport condition of front vehicles（Acceleration or deceleration）, model is followed using different movements.On this basis, the present invention further devises two kinds and follows model：Acceleration follows model and deceleration to follow model, and front vehicles follow model in acceleration mode using acceleration, otherwise follows model using deceleration.Model is followed compared to existing, the present invention's follows design methods, solve in simulation process, the phenomenons such as the windage jump that vehicle occurs when travelling, so that the acceleration and deceleration of vehicle are able to smoothly carry out, and the situation of traffic congestion in the transportation network of emulation can be effectively reduced, improve the patency of road.
Description
Technical field
The present invention relates to the car in emulation vehicular ad hoc network (Vehicular Ad-hoc Networks, VANETs)
The technical field of model is followed, particularly a kind of movement based on acceleration information follows design methods.
Background technology
VANETs is a kind of special mobile ad-hoc network, has important meaning to the research and development of intelligent transportation
Justice.In actual VANETs networks, with following significant properties：
(1) node high-speed mobile changes, and node mobile behavior by pavement facilities in actual traffic environment, pedestrian,
The influence of the barrier factor such as vehicle；
(2) network size is grand, and traffic microcosmic influence factors are complicated.
(3) the density situation of node differs between section in network.In actual scene, the section under urban environment on section
Dot density is larger, and the node on the section of countryside is then sparse；
(4) movement of node is limited by road, can only be moved on road.
Influenceed by these features, when practical study VANETs application and procotol, performance is carried out to it
During test, whard to control, dangerous big, not reproducible etc. the difficulty of field test will be faced with, thus to these new opplications
Performance verification is mainly completed by imitation technology.
And it is how more real to actual traffic scene modeling during analog simulation, it is an important problem.
In this course, the modeling of vehicle movement traveling is crucial.Because in VANETs networks, what is mainly studied is node
Between (vehicle), the communication issue between node and road side facility etc..
Vehicle mobility model (VMM, Vehicular Mobile Model) refers to that vehicle travels feelings on traffic route
The mathematical modeling of condition, including vehicle with speeding, overtaking other vehicles, stop, lane change, acceleration and deceleration and mobile etc. under traffic rules, should
Model being capable of accurate simulation actual vehicle situation of movement and traveling rule.
In some current achievements in research, SUMO (Simulation of Urban Mobility) is by German aerospace
Center research and development, one is used for artificial urban traffic conditions, the continuous traffic simulation platform in microcosmic and space.The platform can be very
Good simulated implementation traffic scene.
The platform mainly realizes three movements and follows model：IDM movements follow model, and Gipps movements follow model,
Krauss movements follow model.
IDM movements follow the design of model only to consider monorail situation, do not account for the lane change situation of driving vehicle, the mould
Type reflection is that a kind of movement under absolute ideal situation follows model, can not simulate irrational during actual travel drive
Behavior is sailed, this is the shortcoming place that this follows model.Gipps movement follow model either freely run over journey still with
All it is to design realization premised on being perfectly safe of traveling with journey is run over.
Krauss movements follow model to be improved on the basis of Gipps movements follow model.Krauss follows model
It is required that when vehicle traveling is on very smooth road, and in the case of deceleration, its modeling travelled to actual vehicle can be compared
Real driving situation is closer to, chattering occurs in the case of acceleration.
The content of the invention
The technical problems to be solved by the invention are to overcome the deficiencies in the prior art and propose a kind of based on acceleration information
Movement follow design methods, by tracking the velocity variations situation of front vehicles, change vehicle acceleration or deceleration traveling,
So that the acceleration or deceleration of vehicle is able to steadily carry out.
The present invention uses following technical scheme to solve above-mentioned technical problem：
Design methods, including following step are followed according to a kind of movement based on acceleration information proposed by the present invention
Suddenly：
Step 1, the reasonable boundary conditions for pre-setting Current vehicle travel speed；
If the speed v of step 2, Current vehiclefMore than preceding vehicle speed vl, then step 3 is performed；If vfLess than or equal to vl, then
Perform step 4；
Step 3, the reasonable boundary conditions according in step 1, desired distance, the effective length of vehicle body of Current vehicle and front truck
Degree, expect slack time, front truck velocity magnitude and slow down when peak acceleration, calculate Current vehicle transport condition be
Reasonable boundary conditions during deceleration, so that safe velocity v maximum when obtaining slowing downsafe=vd_safe, perform step 5；
Step 4, the reasonable boundary conditions according in step 1, desired distance, the effective length of vehicle body of Current vehicle and front truck
Peak acceleration when spending, expecting slack time, front truck velocity magnitude and accelerate, calculates Current vehicle transport condition to add
Reasonable boundary conditions when fast, so that safe velocity v maximum when obtaining acceleratingsafe=va_safe；
Wherein, g is the spacing of front truck and current vehicle, gdesIt is the desired workshop spacing of driver, τaIt is vehicle from current speed
Degree accelerates to maximal rate vmaxTime, τ is the reaction time that driver makes definite behavior, vmaxIt is that driver expects traveling
Maximal rate,Represent the acceleration magnitude during giving it the gun；
Perform step 5；
Step 5, the maximum speed limit according to traffic route and the now maximum safe velocity of vehicle, and artificially anti-
Between seasonable, the actual travel speed v of Current vehicle is obtainedrealIf, vrealFor 0 return to step 1, otherwise according to vrealTo update
Vehicle Speed and position.
The design methods further side of optimization is followed as a kind of movement based on acceleration information of the present invention
In case, the step 3,
Wherein, τbRepresent that vehicle decelerates to for 0 time from present speed,Represent the acceleration during Reduced Speed Now
Spend size.
The design methods further side of optimization is followed as a kind of movement based on acceleration information of the present invention
Travel speed after being updated in case, the step 5, position is respectively：
vreal(t+ Δs t)=max [0, rand [vdes(t)-ε·a,vdes(t)]]
X (t+ Δs t)=x (t)+vreal·Δt
Wherein, vdes(t)=min [vmax, vf+ a (v) Δs t, vsafe], vreal(t+ Δs t) is the travel speed after updating,
(t+ Δs t) is the position after updating to x, and a (v) represents acceleration magnitude now, and ε represents that peak acceleration a is affected by environment
One factor of influence, Δ t is the period, and x (t) represents the position of vehicle during moment t.
The design methods further side of optimization is followed as a kind of movement based on acceleration information of the present invention
Case, the desired distance is the expectation safe distance g that Current vehicle is kept with front truck in the process of movingdes。
The design methods further side of optimization is followed as a kind of movement based on acceleration information of the present invention
Case, the expectation slack time is, in the case where meeting acceleration or deceleration, to reach desired distance gdesRequired time τdes, should
Time is determined by the reaction time of maximum acceleration and driver.
The design methods further side of optimization is followed as a kind of movement based on acceleration information of the present invention
Case, the boundary condition of the step 3, is referred specifically to：According to actual situation, the peak acceleration b, Yi Jiche of vehicle deceleration process
Traveling minimum speed 0, and b be more than 0.
The design methods further side of optimization is followed as a kind of movement based on acceleration information of the present invention
Boundary condition in case, step 4, is referred specifically to：According to actual situation, the peak acceleration a of vehicle acceleration, and vmax,
And a is more than 0.
The present invention uses above technical scheme compared with prior art, with following technique effect：
The inventive method proposes a kind of acceleration-deceleration transformation mechanism, solution by tracking the velocity variations situations of front vehicles
Determine windage jump shortcoming present in existing some mobility models so that the acceleration or deceleration of vehicle is able to steadily carry out, and
Improve the average speed of driving vehicle in network.Meanwhile, the situation of traffic congestion in the transportation network of emulation is effectively reduced,
Improve the patency of road.
Brief description of the drawings
Fig. 1 is that the movement based on acceleration information follows model realization block diagram.
Fig. 2 is acceleration-deceleration transformation mechanism design diagram.
Fig. 3 is that maximum safe velocity realizes schematic diagram.
Embodiment
The embodiment to the present invention is described further below in conjunction with the accompanying drawings：
A kind of reference picture 1, movement based on acceleration information follows design methods, comprises the following steps：
Step 1, pre-set Current vehicle travel speed reasonable boundary conditions；
If the speed v of step 2, Current vehiclefMore than preceding vehicle speed vl, then step 3 is performed；If vfLess than or equal to vl, then
Perform step 4；
Step 3, the reasonable boundary conditions according in step 1, desired distance, the effective length of vehicle body of Current vehicle and front truck
Degree, expect slack time, front truck velocity magnitude and slow down when peak acceleration, calculate Current vehicle travel speed be
Reasonable boundary conditions during deceleration, so that safe velocity v maximum when obtaining slowing downsafe=vd_safe, perform step 5；
Step 4, the reasonable boundary conditions according in step 1, desired distance, the effective length of vehicle body of Current vehicle and front truck
Peak acceleration when spending, expecting slack time, front truck velocity magnitude and accelerate, calculates Current vehicle travel speed to add
Reasonable boundary conditions when fast, so that safe velocity v maximum when obtaining acceleratingsafe=va_safe；Perform step 5；
Step 5, the maximum speed limit according to traffic route and the now maximum safe velocity of vehicle, and artificially anti-
Between seasonable, the actual travel speed v of Current vehicle is obtainedrealIf, vrealFor 0 return to step 1, otherwise according to vrealTo update
Vehicle Speed and position.
The boundary condition of the step 3, is referred specifically to：According to actual situation, the peak acceleration b of vehicle deceleration process,
And the minimum speed 0 of the traveling of vehicle, and b is more than 0.
Boundary condition in step 4, is referred specifically to：According to actual situation, the peak acceleration a of vehicle acceleration, with
And vmax, and a is more than 0.
As preferred embodiment, the desired distance in the step 3,4 is, according to actual conditions, to obtain Current vehicle
The expectation safe distance g that should be kept with front truck in the process of movingdes。
Expect that slack time refers to accelerate in the case of satisfaction (or to subtract as preferred embodiment, in step 3,4
Speed) in the case of, reach desired distance gdesRequired time τdes, the time is by maximum acceleration (or deceleration) and drives
Reaction time of member etc. determines.
Acceleration-deceleration transformation mechanism uses a kind of method based on range prediction and follows model come decision-making vehicle, should
The final judgment condition of method is to compare current time car speed size.
Reference picture 2, illustrates specific acceleration-deceleration mechanism：
Within the given period (t, t+T), according to the position x of now current vehiclefWith the position x of front truckl, when predicting this
Between in section, front truck l and Current vehicle f operating range
xl *=xl+vlT formula (1)
xf *=xf+vfT formula (2)
So as to obtain：
The Euclidean distance of current two car：D=| xl-xf| formula (3)
Predict the Euclidean distance of two cars：Formula (4)
Formula (5)
Clearly as the initial position of two cars is determined, Current vehicle f is only needed to and front truck l during prediction
Compare current travel speed.For safety, the travel speed of Current vehicle and during the equal travel speed of front truck, i.e.,
vf=vlWhen, model is followed using deceleration.Specific conversion judgment mechanism is as follows：
Deceleration model → acceleration model=vf<vl
Acceleration model → deceleration model=vf≥vl
As preferred embodiment, the maximum safe velocity of the deceleration model is referred specifically to：From vfDecelerate to 0
During, the desired ride speed of mobile vehicle.
Reference picture 3, illustrates the maximum safe velocity v of deceleration modeld_safeCalculating process：
(1) boundary condition of running model
In free running model, translational speed v of the vehicle on roadfBoundary condition is：
vf≤vmaxFormula (6)
Maximal rate vmaxIt is the speed that driver expects traveling.
The intention of driver always avoids colliding with other any vehicles, therefore in the case where following running model, it is a certain
The traveling that each vehicle of moment is made is determined, is based on collision free method.So, vfIt should not be greater than the safety of maximum
Travel speed vsafe：
vf≤vsafeFormula (7)
Maximum safe velocity vsafeLimited by vehicle self-condition, also by the shadow of other vehicle travel situations
Ring, content below is exported into vsafeComputation model.
According to actual situation, the acceleration of vehicle acceleration is a, and the acceleration of moderating process is b (and in the present invention
In be called deceleration)；
Thus two reasonable boundary conditions that acceleration a and deceleration b is travelled below in relation to vehicle are released：
Formula (8)
a,b>0 formula (9)
Wherein, t is the time；
(2) running time continuous model is analyzed
The mobility model basic condition shown according to Fig. 3, we can be analyzed between vehicle, in moment t, front truck
With the spacing g of rear car：
G=xl-xf-LlFormula (10)
Formula (11)
Wherein, xl、xfThe position of current vehicle and the position of front truck, L are represented respectivelylRepresent the effective length of front truck, gdesIt is
Desired workshop spacing, τdes=τb+ τ is desired slack time,Maximum deceleration and driver by vehicle
Wish determines that τ is the reaction time that driver makes definite behavior.Thus, the safety for obtaining deceleration model follows model：
d(vf)+vf·τ≤d(vl)+g formula (12)
In formula (12), d (vf) when being that rear car needs emergency brake, with decelerationFrom speed
vfTo 0 distance travelled, the speed is a function relevant with the speed that vehicle is travelled.For more reasonably closing to reality
Driving strategy, it is necessary toPlace extension d (vf) Taylor series, finally give：
Formula (13)
Formula (14)
The vehicle traveling boundary condition of analysis in comprehensive (1), obtains following formula：
Formula (15)
Formula (16)
So as to obtain in moment t, in the case that all driving conditions all reach maximum tolerance boundary value, deceleration model
Maximum safe velocity vd_safeValue be：
Formula (17)
Wherein, τbRepresent that vehicle decelerates to for 0 time from present speed,Represent the acceleration during Reduced Speed Now
Spend size.
As preferred embodiment, the maximum safe velocity of the acceleration model is referred specifically to：From present speed v
Accelerate to desired maximal rate vmaxDuring, the desired ride speed of mobile vehicle.
Reference picture 3, illustrates maximum safe velocity v during acceleration modela_safeCalculating process：
I.e. with acceleration(a(v)>0) travel, the acceleration is a letter relevant with Vehicle Speed
Number, speed is from vfTo vmaxAcceleration steadily follow model.Here we change formula (14), obtain：
Formula (18)
Unfolding calculation is carried out to the differential below：
Formula (19)
Due to：
Formula (20)
So formula (18) can using abbreviation as：
Formula (21)
According to the modeling process of deceleration model, then obtain in moment t, accelerate to follow the maximum security row of model process
Sail speed va_safeValue be：
Formula (22)
Formula (23)
Wherein, g is the spacing of front truck and current vehicle, gdesIt is the desired workshop spacing of driver, τaIt is vehicle from current speed
Degree accelerates to maximal rate vmaxTime, τ is the reaction time that driver makes definite behavior, vmaxIt is that driver expects traveling
Maximal rate,Represent the acceleration magnitude during giving it the gun；
Preferably, the boundary condition in step 3, is referred specifically to：According to actual situation, vehicle has a moderating process most
High acceleration b (is called maximum deceleration), and the minimum speed 0 that vehicle is travelled, and b is more than 0.
Preferably, the boundary condition in step 4, is referred specifically to：According to actual situation, vehicle has an accelerator most
High acceleration a, and vehicle maximum travelling speed vmax, and a is more than 0.
Preferably, the travel speed v after being updated in the step 5real((t+ Δs t) is respectively by t+ Δ t), position x：
vreal(t+ Δs t)=max [0, rand [vdes(t)-ε·a,vdes(t)]] formula (24)
X (t+ Δs t)=x (t)+vrealΔ t formula (25)
Wherein, vdes(t)=min [vmax, vf+ a (v) Δs t, vsafe], a (v) represents acceleration magnitude now, and ε is represented
A factor of influence affected by environment peak acceleration a, Δ t is the period, and x (t) represents the position of vehicle during moment t.
It is described above, it is only the embodiment in the present invention, but protection scope of the present invention is not limited thereto, and appoints
What be familiar with the people of the technology disclosed herein technical scope in, it will be appreciated that the conversion or replacement expected, should all cover
Within the scope of the present invention, therefore, protection scope of the present invention should be defined by the protection domain of claims.
Claims (5)
1. a kind of movement based on acceleration information follows design methods, it is characterised in that comprise the following steps：
Step 1, the reasonable boundary conditions for pre-setting Current vehicle travel speed；
If the speed v of step 2, Current vehiclefMore than preceding vehicle speed vl, then step 3 is performed；If vfLess than or equal to vl, then perform
Step 4；
Step 3, the reasonable boundary conditions according in step 1, the desired distance of Current vehicle and front truck, the effective length of vehicle body,
Peak acceleration when expecting slack time, front truck velocity magnitude and slowing down, calculates the transport condition of Current vehicle to slow down
When reasonable boundary conditions so that safe velocity v maximum when obtaining slowing downsafe=vd_safe, perform step 5；
In the step 3,
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Wherein, τbRepresent that vehicle decelerates to for 0 time from present speed,Represent that the acceleration during Reduced Speed Now is big
It is small；
Step 4, the reasonable boundary conditions according in step 1, the desired distance of Current vehicle and front truck, the effective length of vehicle body,
Peak acceleration when expecting slack time, front truck velocity magnitude and accelerating, when calculating Current vehicle transport condition to accelerate
Reasonable boundary conditions so that safe velocity v maximum when obtaining acceleratingsafe=va_safe；
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Wherein, g is the spacing of front truck and current vehicle, gdesIt is the desired workshop spacing of driver, τaIt is that vehicle adds from present speed
Speed arrives maximal rate vmaxTime, τ is the reaction time that driver makes definite behavior, vmaxIt is that driver expects traveling most
Big speed,Represent the acceleration magnitude during giving it the gun；
Perform step 5；
Step 5, the maximum speed limit according to traffic route and the now maximum safe velocity of vehicle, and during artificial reaction
Between, obtain the actual travel speed v of Current vehiclerealIf, vrealFor 0 return to step 1, otherwise according to vrealCarry out more new vehicle
Travel speed and position；
Travel speed after being updated in the step 5, position is respectively：
vreal(t+ Δs t)=max [0, rand [vdes(t)-ε·a,vdes(t)]]
X (t+ Δs t)=x (t)+vreal(t+Δt)·Δt
Wherein, vdes(t)=min [vmax, vf+ a (v) Δs t, vsafe], vreal(t+ Δs t) is the travel speed after updating, x (t+
Δ t) is the position after updating, and a (v) represents acceleration magnitude now, and ε represents affected by environment one of peak acceleration a
Factor of influence, Δ t is the period, and x (t) represents the position of vehicle during moment t.
2. a kind of movement based on acceleration information according to claim 1 follows design methods, it is characterised in that
The desired distance is the expectation safe distance that Current vehicle is kept with front truck in the process of moving.
3. a kind of movement based on acceleration information according to claim 1 follows design methods, it is characterised in that
The expectation slack time is, in the case where meeting acceleration or deceleration, to reach the time τ needed for desired distancedes, the time by
Maximum acceleration and the reaction time of driver determine.
4. a kind of movement based on acceleration information according to claim 1 follows design methods, it is characterised in that
The boundary condition of the step 3, is referred specifically to：According to actual situation, the peak acceleration b of vehicle deceleration process, and vehicle
The minimum speed 0 of traveling, and b is more than 0.
5. a kind of movement based on acceleration information according to claim 1 follows design methods, it is characterised in that
Boundary condition in step 4, is referred specifically to：According to actual situation, the peak acceleration a of vehicle acceleration, and vmax, and a
More than 0.
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| CN109976385A (en) * | 2019-04-03 | 2019-07-05 | 成都永奉科技有限公司 | A kind of Following Car control method based on acceleration |
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| CN110979309B (en) * | 2019-12-23 | 2021-03-19 | 北京航空航天大学 | Vehicle following model stability control method considering driver perception error |
| CN112100836B (en) * | 2020-09-07 | 2022-06-07 | 腾讯科技（深圳）有限公司 | Method and device for acquiring vehicle boundary parameters |
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| CN1719354A (en) * | 2005-05-08 | 2006-01-11 | 上海交通大学 | Acceleration control method of vehicle follow gallop sports |
| CN1876461A (en) * | 2006-07-06 | 2006-12-13 | 上海交通大学 | Method for controlling speed difference-distance when following a driving vehicle |
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| CN1719354A (en) * | 2005-05-08 | 2006-01-11 | 上海交通大学 | Acceleration control method of vehicle follow gallop sports |
| CN1876461A (en) * | 2006-07-06 | 2006-12-13 | 上海交通大学 | Method for controlling speed difference-distance when following a driving vehicle |
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| 一种基于最小可觉差的安全车距设计模型;时伟等;《交通运输***工程与信息》;20110430;第11卷(第2期);第33-38页 * |
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