CN109859456B - Platooning's initial scheme under car networking environment determines method - Google Patents
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Abstract
The invention discloses platooning's initial schemes under a kind of car networking environment to determine method, it is that one kind can be under car networking environment, to the method that is determined of initial formation scheme of mixed traffic flow on multiple-lane road (being made of common pilot steering vehicle and the connection vehicle mixing of automatic Pilot net).This method can permit multiple automatic Pilot net connection vehicle propositions in road and form a team to apply, then obtain lateral position (lane where namely) and the lengthwise position of each vehicle；All vehicles (including net connection vehicle and common pilot steering vehicle) are respectively considered as a node later, form vehicle location topological diagram, then according to the spacing between vehicle, and remove common pilot steering vehicle, obtain vehicle reachability graph, the lengthwise position sequence for finally joining vehicle according to automatic Pilot net, forms formation scheme.
Description
Technical field
The present invention relates to platooning's initial schemes under a kind of car networking environment to determine method, is a kind of for joining in vehicle
Under net environment, join in the mixed traffic flow that vehicle is constituted to by common pilot steering vehicle and automatic Pilot net, team to be formed
Several automatic driving vehicles of column carry out the method that initial formation scheme determines.
Background technique
Furthermore between vehicle, vehicle and trackside it is the vehicle for being able to carry out Function for Automatic Pilot that automatic Pilot net, which joins vehicle,
It can be in communication with each other between equipment, the information of transmission includes the position of vehicle, motion state etc..The formation traveling of vehicle is vehicle connection
One of important application of net.After formation, a series of vehicles follow the head vehicle in queue to travel, and whole windage reduces, rear portion
The kinematics control of vehicle can be with transition to first bus.Therefore, traveling of forming into columns can bring huge benefit.
However, not only joining vehicle in roadnet comprising automatic Pilot net, further including common pilot steering vehicle.When certainly
It is dynamic that the position of these vehicles is different when driving net connection vehicle proposition and forming a team to apply, can all be added formation and they in queue
In sequence be limited to form a team mutual spatial relationship of application when proposing.
Summary of the invention
In order to compile the form a team automatic Pilot net connection vehicle of application of multiple propositions on multiple-lane road for queue, the present invention is mentioned
A kind of initial formation method out.This method is suitable for mixed traffic flow environment, namely by pilot steering vehicle and automatic Pilot net
Join the traffic flow that vehicle is formed.
The technical solution adopted by the present invention to solve the technical problems is,
A kind of platooning's initial scheme under car networking environment determines method, the multiple Autonets connection vehicle run on road
Proposition forms a team to apply, determines formation initial scheme by following processes, and formation scheme information is sent to and each is driven automatically
Sail net connection vehicle: this method forms vehicle reachability graph, meter according to the vehicle position information in lane quantity information, mixed traffic flow
It calculates and obtains the queue length that each lane is allowed, determine formation initial scheme, specifically include the following steps:
1) topological diagram of vehicle location is formed using the horizontal and vertical information of vehicle；
2) according to topological diagram, consider the safety condition of pilot steering vehicle, form vehicle reachability graph；
3) queue length allowed in each lane is calculated, takes the maximum as the length formed into columns, and according to automatic Pilot vehicle
Lengthwise position carry out queue number, ultimately form queue.
Lane and longitudinal direction where obtaining lane quantity and type of vehicle, each vehicle in above-mentioned technical proposal, in step 1)
Position, the type of vehicle is divided into automatic Pilot net connection vehicle and common pilot steering vehicle, and will not propose application of forming into columns
Automatic Pilot net connection vehicle be considered as pilot steering vehicle without exception；Each vehicle forms vehicle location topology as a node
Scheme, a vehicle corresponds to a line, a column in each lane corresponding diagram in topological diagram.
The safety requirements of each pilot steering vehicle, the i.e. headroom of vehicle front and subsequent headroom are considered in step 2)
It is required that being located at each preceding headroom of pilot steering vehicle in topological diagram and adding dummy row respectively at rear headroom, it is being formed by
In region, the corresponding node of pilot steering vehicle and the line being connected directly with the node are removed from topological diagram, forms vehicle
Reachability graph.
The vehicle of foremost in all vehicles for proposing formation application is set to first bus in step 3), lengthwise position is set as
Zero, the lengthwise position of other vehicles is the fore-and-aft distance of the position relative to first bus, according to automatic Pilot net connection vehicle needs
Minimum spacing lmin, calculate the queue length n=L/l allowed in each lanemin, L is to correspond to row from first bus in vehicle reachability graph to start
To the lane, breaking part line segment corresponds to the length in lane, takes each lane queue length maximum value as the length formed into columns, according to certainly
The dynamic lengthwise position for driving net connection vehicle is from closely to queue number is far successively carried out, ultimately forming queue.
If the automatic Pilot net that the length formed into columns is greater than the application that proposes to form into columns joins vehicle number, all application vehicles in step 3)
Queue can be added, otherwise enter queue from the front to the back according to formation length, queue failure is added in remaining vehicle application.
The beneficial effects of the present invention are:
It uses method of the invention that can join under vehicle environment for automatic Pilot net and initial formation scheme is provided, and queue
Length can maximize.
Detailed description of the invention
Fig. 1 is multi-lane traffic flow operation figure；
Fig. 2 is vehicle location topological diagram；
Fig. 3 is vehicle reachability graph；
Fig. 4 is queue maximum vehicle number and queue number schematic diagram；
Fig. 5 is the schematic diagram executed after formation scheme finishes；
Fig. 6 is the techniqueflow schematic diagram of the method for the present invention.
Specific embodiment
The present invention is described in further detail with reference to the accompanying drawing.
Fig. 1 show a multiple-lane road, wherein the vehicle run includes that automatic Pilot net connection vehicle is manually driven with common
Sail vehicle.If certain automatic Pilot net connection vehicle does not propose form into columns application or its requirement for not being incorporated into queue, by it
It is considered as common pilot steering vehicle.
When multiple Autonets connection vehicle proposes to form into columns application, the information of lane quantity and the letter of all vehicles are obtained first
Breath.The quantity in the available lane in lane quantity namely place section, the information of vehicle include the type in lane where vehicle, vehicle
The lengthwise position of (automatic Pilot net joins vehicle or common pilot steering vehicle), vehicle.Wherein, the lengthwise position of vehicle determines
It is as follows: the vehicle of foremost in all vehicles for the application that proposes to form into columns to be set to first bus, lengthwise position is set as zero, subsequent all
The lengthwise position that automatic Pilot net joins vehicle is the fore-and-aft distance of itself and first bus.After obtaining all information of vehicles, vehicle is formed
The topological diagram of position.Each vehicle, regardless of it is automatic Pilot net connection vehicle or common pilot steering vehicle, in vehicle location
In lattice point figure, there is corresponding node；As shown in Figure 2.Topological diagram is tessellate, and each car lateral position is as row, every vehicle
Road is as column.
It is formed after topological diagram, the safe distance according to common pilot steering vehicle requires (including pilot steering vehicle
Front clearance lhWith rear portion clearance lr, parameter sets according to demand), each pilot steering vehicle in topological diagram
Front clearance at and rear portion clearance at add dummy row, by pilot steering vehicle node in being formed by region
Line removal with being connected directly with the node, forms vehicle reachability graph, as shown in Figure 3.It is available according to vehicle reachability graph
Certain automatic driving vehicle can be with movable spatial dimension on multiple-lane road.
According to the average headway requirement of automatic Pilot net connection vehicle, first bus and row where it on every lane are calculated
Each node rear portion can accommodate how many vehicles.Vehicle number is accommodated according to (each lane i.e. in reachability graph movable space length L
Away from the corresponding lane length of breaking part line segment from first trip) divided by minimum space headway (lmin, set according to demand) and it calculates.
By taking the rightmost side lane in Fig. 4 as an example, the length is L, then accommodate vehicle number length calculation method and beQueue is maximum
The maximum value for allowing vehicle number that all queues is selected to accommodate vehicle numbers, by taking Fig. 4 as an example namely n1~n4Between the maximum, can be with
Find out n2=n4.It after receiving vehicle number determines, by automatic driving vehicle according to lengthwise position sequencing, is numbered, such as schemes
Shown in 4.If queue maximum accommodates vehicle number n4Join vehicle number more than automatic Pilot net, then team can be added in all application vehicles
Column, otherwise according to preceding n4Vehicle can enter queue, and queue failure is added in remaining vehicle application.
So far, the initial queue layout of automatic Pilot net connection vehicle determines that final queue is formed as shown in Figure 5.
Claims (3)
1. platooning's initial scheme under a kind of car networking environment determines method, which is characterized in that this method is according to number of track-lines
Vehicle position information in amount information, mixed traffic flow forms vehicle reachability graph, calculates and obtains the queue length that each lane is allowed,
It determines formation initial scheme, specifically includes the following steps:
1) topological diagram of vehicle location is formed using the horizontal and vertical information of vehicle；
2) according to topological diagram, consider the safety condition of pilot steering vehicle, form vehicle reachability graph；
3) queue length allowed in each lane is calculated, takes the maximum as the length formed into columns, and according to automatic driving vehicle
Lengthwise position carries out queue number, ultimately forms queue；
Consider the safety requirements of each pilot steering vehicle in the step 2), i.e. the headroom of vehicle front and subsequent net
Sky requires, and is located at each preceding headroom of pilot steering vehicle in topological diagram and adds dummy row respectively at rear headroom, is being formed
Region in, the corresponding node of pilot steering vehicle and the line being connected directly with the node are removed from topological diagram, formed
Vehicle reachability graph；
The vehicle of foremost in all vehicles for proposing formation application is set to first bus in the step 3), lengthwise position is set as
Zero, the lengthwise position of other vehicles is the fore-and-aft distance relative to first bus position, most according to automatic Pilot net connection vehicle needs
Small spacing lmin, calculate the queue length n=L/l allowed in each lanemin, L be vehicle reachability graph in from first bus correspond to row start to
The lane breaking part line segment corresponds to the length in lane, takes each lane queue length maximum value as the length formed into columns, according to automatic
The lengthwise position of net connection vehicle is driven from closely to far successively carrying out queue number.
2. platooning's initial scheme under car networking environment described in accordance with the claim 1 determines method, which is characterized in that step
Rapid 1) middle lane and lengthwise position where obtaining lane quantity and type of vehicle, each vehicle, the type of vehicle are divided into certainly
It is dynamic to drive net connection vehicle and common pilot steering vehicle, and the automatic Pilot net connection vehicle for not proposing formation application is considered as without exception
Pilot steering vehicle；Each vehicle forms vehicle location topological diagram as a node, and a vehicle corresponds to a line in topological diagram,
A column in each lane corresponding diagram.
3. platooning's initial scheme under car networking environment described in accordance with the claim 1 determines method, which is characterized in that step
It is rapid 3) in if the automatic Pilot net that the length formed into columns is greater than the application that proposes to form into columns joins vehicle number, all application vehicles can add
Otherwise enqueue enters queue according to formation length from the front to the back, queue failure is added in remaining vehicle application.
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| CN110261856B (en) * | 2019-07-31 | 2021-06-11 | 北京邮电大学 | Radar detection method and device based on multi-radar cooperative detection |
| CN110992676B (en) * | 2019-10-15 | 2021-06-04 | 同济大学 | Road traffic capacity and internet automatic driving vehicle equivalent coefficient estimation method |
| CN112750297B (en) * | 2019-10-31 | 2022-09-16 | 广州汽车集团股份有限公司 | Fleet control method, scheduling processing system, vehicle and control system |
| CN112835352B (en) * | 2019-11-25 | 2022-10-04 | 华为云计算技术有限公司 | Formation control method and device, vehicle, electronic device and storage medium |
| CN111161526B (en) * | 2020-01-02 | 2023-10-20 | 腾讯科技（深圳）有限公司 | Vehicle formation method, device, system and medium |
| CN111325967B (en) * | 2020-02-28 | 2020-12-25 | 清华大学 | Intelligent networking automobile formation control method and device based on cooperative assignment |
| CN111445690A (en) * | 2020-03-03 | 2020-07-24 | 北京汽车集团有限公司 | Vehicle team driving method, vehicle and system |
| CN113734169A (en) * | 2020-12-16 | 2021-12-03 | 江铃汽车股份有限公司 | Car following control method and system based on vehicle-road cooperation |
| CN113401234B (en) * | 2021-06-11 | 2023-05-02 | 上海振华重工(集团)股份有限公司 | Method and system for mixing automatic driving vehicle and manual driving vehicle |
| CN113823079B (en) * | 2021-10-27 | 2022-08-16 | 大连理工大学 | Formation control method for manned/unmanned vehicles based on vehicle-road cooperation |
| CN115578849B (en) * | 2022-09-28 | 2023-08-29 | 东南大学 | Optimization method for centralized formation of automatic driving vehicles in special lane environment |
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| JP3906768B2 (en) * | 2002-09-03 | 2007-04-18 | 株式会社デンソー | Convoy travel system |
| CN106408930A (en) * | 2015-07-31 | 2017-02-15 | 中国联合网络通信集团有限公司 | Method and apparatus for creating driving fleet |
| CN105809950A (en) * | 2016-03-28 | 2016-07-27 | 重庆邮电大学 | Vehicle fleet forming method and system based on vehicle road collaboration technology |
| US9940840B1 (en) * | 2016-10-06 | 2018-04-10 | X Development Llc | Smart platooning of vehicles |
| US10372123B2 (en) * | 2016-12-30 | 2019-08-06 | Bendix Commercial Vehicle Systems Llc | “V” shaped and wide platoon formations |
| CN106600952A (en) * | 2017-01-24 | 2017-04-26 | 中国科学院自动化研究所 | Method for vehicle formation forming |
| CN107010064B (en) * | 2017-03-24 | 2019-06-14 | 奇瑞汽车股份有限公司 | A kind of fleet's formation drive manner and system |
| CN108388247B (en) * | 2018-01-30 | 2020-11-10 | 上海交通大学 | Unmanned vehicle formation driving method based on directed communication network |
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