CN110379182A - One kind being based on the dynamic (dynamical) ring road merging area cooperative control system of bus or train route broad sense - Google Patents
One kind being based on the dynamic (dynamical) ring road merging area cooperative control system of bus or train route broad sense Download PDFInfo
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Abstract
The present invention relates to one kind to be based on the dynamic (dynamical) ring road merging area cooperative control system of bus or train route broad sense, which includes: doab bus or train route broad sense dynamics module: establishing bus or train route broad sense kinetic model and determines that ring road imports Collaborative Control index based on this model；Ring road imports vehicle security boundary determining module: importing vehicle based on ring road and determines that ring road imports vehicle security boundary from vehicle driving information and A-road information of vehicles；A-road security boundary is determined based on from vehicle driving information and periphery A-road information of vehicles；Collaborative planning control module: Collaborative Control index is imported as target using ring road, vehicle security boundary is imported with ring road and A-road vehicle safety boundary is constraint, carries out ring road remittance vehicle motion planning and A-road group's vehicle motion planning and ring road is controlled with this to import vehicle and A-road group's vehicle traveling.Compared with prior art, the present invention carries out effective Collaborative Control to ring road merging area, improves traffic safety and traffic efficiency.
Description
Technical field
The present invention relates to a kind of vehicle networking technical fields, are closed more particularly, to one kind based on the dynamic (dynamical) ring road of bus or train route broad sense
Flow area's cooperative control system.
Background technique
It is the comprehensive traffic behavior needed from group's vehicle is laterally, longitudinally controlled that ring road, which imports, and the driving of all associated vehicles
Member often can not make accurate judgment, correctly drive, and the fault of any vehicle can all cause to be caused since speed is uncoordinated
Traffic jam environment aggravation even serious safety accident.
Instantly most of researchs import the ring road that A-road is considered as single lane, and will import vehicle and be reduced to fixed remittance
Access point.At this point, A-road collaborative vehicle, which only imports vehicle to ring road, executes longitudinal acceleration and deceleration co-operating, to ensure that ring road converges
Enter the safety of process.And major trunk roads are mostly multilane in a practical situation, if being limited only to longitudinal association of single A-road
With control, the generalized force excitation for importing vehicle will certainly be seriously affected to the traffic balance generation of single A-road.Therefore, it is based on
Intelligent network join automotive engineering, ring road interflow traffic environment in for more A-road group vehicles longitudinally, laterally Collaborative Control into
The generalized force for importing vehicle excitation is dispersed on a plurality of A-road by row further investigation and exploitation, with global traffic safety and
Traffic efficiency is that more vehicle Collaborative Controls of objective optimization are an approach.
Summary of the invention
It is an object of the present invention to overcome the above-mentioned drawbacks of the prior art and provide one kind to be based on bus or train route broad sense
Dynamic (dynamical) ring road merging area cooperative control system.
The purpose of the present invention can be achieved through the following technical solutions:
One kind being based on the dynamic (dynamical) ring road merging area cooperative control system of bus or train route broad sense, which includes:
Doab bus or train route broad sense dynamics module: the module is established bus or train route broad sense kinetic model and is determined based on this model
Ring road imports Collaborative Control index；
Ring road imports vehicle security boundary determining module: the module is based on ring road and imports vehicle from vehicle driving information and A-road vehicle
Information determines that ring road imports vehicle security boundary；
A-road security boundary determining module: the module is determined based on from vehicle driving information and A-road nearby vehicle information
A-road vehicle safety boundary；
Collaborative planning control module: the module imports Collaborative Control index as target using ring road, imports vehicle safety with ring road
Boundary and A-road vehicle safety boundary are constraint, carry out ring road import vehicle motion planning and A-road group's vehicle motion planning and with
This control ring road imports vehicle and A-road group's vehicle traveling.
The bus or train route broad sense kinetic model includes that ring road imports vehicle broad sense excitation submodel；
It is to import broad sense based on the ring road up to bright Bell's principle of dynamics that the ring road, which imports vehicle broad sense excitation submodel,
Submodel is motivated, mathematical model is as follows:
Wherein, the broad sense Active spurring of modelIt is motivated for the remittance of ring road vehicle, the broad sense response of modelFor entirety
The transient state and steady-state response of traffic flow, the transient state and steady-state response of the whole traffic flow include velocity perturbation, acceleration wave
Dynamic and comfort transient state and steady-state response,For the generalized constraint force of model element, the model element is lane change model
In all vehicles, the generalized constraint force includes longitudinal with constraint and the constraint of lateral lane-change of speeding.
The ring road imports Collaborative Control index and includes traffic efficiency, safety and traffic flow stability and drive comfortable
Property.
The A-road information of vehicles includes motion state, position, speed, acceleration, the course angle of A-road vehicle
And lane information.
It includes the position of ring road vehicle, velocity and acceleration information that the ring road, which imports information of vehicles,.
The security boundary includes longitudinal security boundary and laterally security boundary.
The ring road imports vehicle motion planning specifically:
It is driven at a constant speed in ring road according to the rate limitation of traffic law step 1: ring road imports vehicle, and in ring road end
Drive into acceleration lane；
Step 2: doing acceleration linear motion when ring road remittance reaches acceleration lane to set acceleration value, and converging
Access point, which executes, forces lane change；
Step 3: ring road imports vehicle and obtains current time vehicle location and posture during lane change, vehicle is imported in ring road
Under security boundary constraint, automatic lane change dynamic real-time trajectory planning is carried out, specifically: ring road imports vehicle and imports vehicle safety in ring road
Optimal lane change track is obtained under boundary constraint and is executed according to the optimal lane change track, while ring road imports vehicle security boundary and determines
Module generates real-time ring road and imports vehicle security boundary, the reality for causing ring road to import vehicle when A-road vehicle generating state is mutated
When border track imports vehicle security boundary beyond real-time ring road, then optimal lane change track is planned again, complete automatic lane change dynamic
Real-time track planning.
A-road group's vehicle motion planning specifically:
Step 1: the A-road vehicle into ring road merging area is logical by vehicle mounted communication equipment and traffic control center's foundation
News；
Step 2: control centre is carried out in advance by the relative position and relative velocity of current A-road vehicle and ring road vehicle
It surveys, corresponding A-road rear car is determined as collaborative vehicle when by ring road vehicle lane change, is confirmed as the A-road vehicle of collaborative vehicle
The control instruction of traffic control center is received, cooperative motion mode includes that longitudinal deceleration evacuation and lateral lane change avoid two kinds；
Step 3: traffic control center judges the performance indicator of two kinds of cooperative motion modes, and by final fortune
Dynamic instruction is sent to corresponding collaborative vehicle；
Step 4: collaborative vehicle executes traffic control center's instruction, cooperative motion process is completed, specifically: by vehicle-mounted
Sensor obtains surrounding vehicles information, and A-road security boundary determining module calculates real-time A-road security boundary, works as periphery
When vehicle generating state is mutated so that A-road vehicle actual path exceeds real-time A-road security boundary, main vehicle is planned again
The operating provisions of road vehicle complete A-road vehicle cooperative motion.
Compared with prior art, the present invention has the advantage that
(1) present invention is imported in traffic environment in ring road and is carried out for the longitudinally, laterally Collaborative Control of more A-road group vehicles
The generalized force for importing vehicle excitation is dispersed on a plurality of A-road by research and development, is one kind with global traffic safety and friendship
Logical efficiency is more vehicle Collaborative Controls of optimization aim.
(2) on lane change trajectory planning, mostly research do not account for lane change vehicle nearby vehicle motion state variation, only into
The security boundary the primary system plan of single car system dynamics is gone, present invention employs lane change tracks to plan in real time, to lane change
Emergency case have adaptibility to response, lane change safety is higher.
(3) safety of the invention judgement includes longitudinal impact security constraint and lateral stability security constraint.
(4) proposed by the invention based on the dynamic (dynamical) ring road interflow control of bus or train route broad sense, control object includes A-road
Both with ring road vehicle, it can utmostly optimize overall traffic efficiency, avoid single object control.
Detailed description of the invention
Fig. 1 is that the present invention is based on the structural block diagrams of the dynamic (dynamical) ring road merging area cooperative control system of bus or train route broad sense；
Fig. 2 is ring road merging area Che-Lu Guangyi dynamic system；
Fig. 3 is to import vehicle before entering acceleration lane, the decision phase schematic diagram based on car networking；
Fig. 4 is to import vehicle after entering acceleration lane, the real-time planning stage signal in the lane change track based on environment sensing
Figure.
In figure, SV is that import vehicle, VMi be A-road group's vehicle, and Δ Sij is longitudinal safe distance between vehicles, and it is wide that Fsv is that ring road imports
Adopted power excitation.
Specific embodiment
The present invention is described in detail with specific embodiment below in conjunction with the accompanying drawings.Note that the following embodiments and the accompanying drawings is said
Bright is substantial illustration, and the present invention is not intended to be applicable in it object or its purposes is defined, and the present invention does not limit
In the following embodiments and the accompanying drawings.
Embodiment
As shown in Figure 1, a kind of be based on the dynamic (dynamical) ring road merging area cooperative control system of bus or train route broad sense, which includes:
Doab bus or train route broad sense dynamics module: the module is established bus or train route broad sense kinetic model and is determined based on this model
Ring road imports Collaborative Control index；
Ring road imports vehicle security boundary determining module: the module is based on ring road and imports vehicle from vehicle driving information and A-road vehicle
Information determines that ring road imports vehicle security boundary；
Major trunk roads security boundary determining module: the module is based on A-road and imports information of vehicles from vehicle driving information and ring road
Determine A-road vehicle safety boundary；
Collaborative planning control module: the module imports Collaborative Control index as target using ring road, imports vehicle safety with ring road
Boundary and A-road vehicle safety boundary are constraint, carry out ring road import vehicle motion planning and A-road group's vehicle motion planning and with
This control ring road imports vehicle and A-road group's vehicle traveling.
Bus or train route broad sense kinetic model includes that ring road imports vehicle broad sense excitation submodel, and ring road imports vehicle broad sense and motivates submodule
Type is to import broad sense based on the ring road up to bright Bell's principle of dynamics to motivate submodel, and mathematical model is as follows:
Wherein, the broad sense Active spurring of modelIt is motivated for the remittance of ring road vehicle, the broad sense response of modelFor entirety
The transient state and steady-state response of traffic flow, the transient state and steady-state response of the whole traffic flow include velocity perturbation, acceleration wave
Dynamic and comfort transient state and steady-state response,For the generalized constraint force of model element, the model element is lane change model
In all vehicles, the generalized constraint force includes longitudinal with constraint and the constraint of lateral lane-change of speeding.
It includes traffic efficiency, safety and traffic flow stability and ride comfort that ring road, which imports Collaborative Control index,.
A-road information of vehicles includes motion state, position, speed, acceleration, course angle and the lane of A-road vehicle
Information.It includes the position of ring road vehicle, velocity and acceleration information that ring road, which imports information of vehicles,.Security boundary includes longitudinal safety
Boundary and laterally security boundary.
Ring road imports vehicle motion planning specifically:
It is driven at a constant speed in ring road according to the rate limitation of traffic law step 1: ring road imports vehicle, and in ring road end
Drive into acceleration lane；
Step 2: doing acceleration linear motion when ring road remittance reaches acceleration lane to set acceleration value, and converging
Access point, which executes, forces lane change；
Step 3: ring road imports vehicle and obtains current time vehicle location and posture during lane change, vehicle is imported in ring road
Under security boundary constraint, automatic lane change dynamic real-time trajectory planning is carried out, specifically: ring road imports vehicle and imports vehicle safety in ring road
Optimal lane change track is obtained under boundary constraint and is executed according to the optimal lane change track, while ring road imports vehicle security boundary and determines
Module generates real-time ring road and imports vehicle security boundary, the reality for causing ring road to import vehicle when A-road vehicle generating state is mutated
When border track imports vehicle security boundary beyond real-time ring road, then optimal lane change track is planned again, complete automatic lane change dynamic
Real-time track planning.
A-road group's vehicle motion planning specifically:
Step 1: the A-road vehicle into ring road merging area is logical by vehicle mounted communication equipment and traffic control center's foundation
News；
Step 2: control centre is carried out in advance by the relative position and relative velocity of current A-road vehicle and ring road vehicle
It surveys, corresponding A-road rear car is determined as collaborative vehicle when by ring road vehicle lane change, is confirmed as the A-road vehicle of collaborative vehicle
The control instruction of traffic control center is received, cooperative motion mode includes that longitudinal deceleration evacuation and lateral lane change avoid two kinds；
Step 3: traffic control center judges the performance indicator of two kinds of cooperative motion modes, and by final fortune
Dynamic instruction is sent to corresponding collaborative vehicle；
Step 4: collaborative vehicle executes traffic control center's instruction, cooperative motion process is completed, specifically: by vehicle-mounted
Sensor obtains surrounding vehicles information, and A-road security boundary determining module calculates real-time A-road security boundary, works as periphery
When vehicle generating state is mutated so that A-road vehicle actual path exceeds real-time A-road security boundary, main vehicle is planned again
The operating provisions of road vehicle complete A-road vehicle cooperative motion.
In terms of comprehensive, bus or train route broad sense kinetic model is established in intelligent network connection traffic environment first, ring road is imported into vehicle
It is motivated as a generalized force.Comprehensively consider traffic efficiency, safety, driver comfort design ring road import Collaborative Control refer to
The index is inputted decision model in the optimal Coordination Decision planning module of traffic efficiency by mark, imports group Che Xietong by ring road
Control strategy imports vehicle to ring road respectively and A-road group's vehicle carries out motion planning.Wherein, ring road remittance vehicle passes through environment sensing
After sensor learns itself position, speed, acceleration, course angle and A-road vehicle-related information, itself is calculated
Security boundary, planning show that ring road imports accelerating sections lane change and imports point.And A-road group vehicle equally passes through environment sensing sensor
Learn that position, speed, accelerating sections, course angle and ring road import the environmental informations such as information of vehicles, analysis meter calculate A-road it is longitudinal,
Lateral security boundary according to circumstances determines to take collaboration longitudinal with decision or the lateral lane change decision of collaboration of speeding.
Fig. 2 shows the dynamic system model for describing this traffic scene of ring road merging area.Vehicle on A-road exists
With respective safe distance between vehicles traveling on longitudinal, import vehicle SV and driven into from ring road.SV is before entering acceleration lane with lower vehicle
Speed traveling, and then start to accelerate and prepare to import A-road after entering acceleration lane.
Fig. 3 is to import vehicle SV before entering acceleration lane, the schematic diagram of the decision phase based on car networking technology.At this
A stage, all vehicles establish communication link by medium or short range communication modes and traffic control center (TCC), and by TCC's
It directly controls, establish car networking system and uploads the every state parameter of itself in real time.In this stage, TCC is being owned
After the status information of vehicle, the optimal A-road group vehicle that one imports vehicle for ring road can be calculated by algorithm analysis meter and is assisted
Same scheme, and the program is transmitted to all vehicles in car networking system.
Fig. 4 is to import vehicle SV after entering acceleration lane, the lane change track real-time planning stage based on environment sensing
Schematic diagram.In this stage, lane change vehicle (indicated in figure with importing vehicle SV, but be not limited to SV) passes through millimeter wave thunder
It reaches, the sensors such as camera detection lane change vehicle and the opposite spacing of surrounding vehicles, speed, the traffic environment of surrounding is felt
Know, carries out the automatic lane change dynamic real-time trajectory planning based on quintic algebra curve.The security constraint of real-time track planning includes vertical
To crashworthiness constraint and lateral stability constraint.
Above embodiment is only to enumerate, and does not indicate limiting the scope of the invention.These embodiments can also be with other
Various modes are implemented, and can make in the range of not departing from technical thought of the invention it is various omit, displacement, change.
Claims (8)
1. one kind is based on the dynamic (dynamical) ring road merging area cooperative control system of bus or train route broad sense, which is characterized in that the system includes:
Doab bus or train route broad sense dynamics module: the module establishes bus or train route broad sense kinetic model and determines ring road based on this model
Import Collaborative Control index；
Ring road imports vehicle security boundary determining module: the module is based on ring road and imports vehicle from vehicle driving information and A-road vehicle letter
It ceases and determines that ring road imports vehicle security boundary；
A-road security boundary determining module: the module determines main vehicle based on from vehicle driving information and A-road nearby vehicle information
Road vehicle safety boundary；
Collaborative planning control module: the module imports Collaborative Control index as target using ring road, imports vehicle security boundary with ring road
It is constraint with A-road vehicle safety boundary, carries out ring road and import vehicle motion planning and A-road group's vehicle motion planning and controlled with this
Ring road processed imports vehicle and A-road group's vehicle traveling.
2. it is according to claim 1 a kind of based on the dynamic (dynamical) ring road merging area cooperative control system of bus or train route broad sense, it is special
Sign is that the bus or train route broad sense kinetic model includes that ring road imports vehicle broad sense excitation submodel；
It is to import broad sense excitation based on the ring road up to bright Bell's principle of dynamics that the ring road, which imports vehicle broad sense excitation submodel,
Submodel, mathematical model are as follows:
Wherein, the broad sense Active spurring of modelIt is motivated for the remittance of ring road vehicle, the broad sense response of modelFor whole traffic
The transient state and steady-state response of stream, the transient state and steady-state response of the whole traffic flow include velocity perturbation, acceleration fluctuation and
The transient state and steady-state response of comfort,For the generalized constraint force of model element, the model element is in lane change model
All vehicles, the generalized constraint force include longitudinal with constraint and the constraint of lateral lane-change of speeding.
3. it is according to claim 1 a kind of based on the dynamic (dynamical) ring road merging area cooperative control system of bus or train route broad sense, it is special
Sign is that the ring road imports Collaborative Control index and includes traffic efficiency, safety and traffic flow stability and drive comfortable
Property.
4. it is according to claim 1 a kind of based on the dynamic (dynamical) ring road merging area cooperative control system of bus or train route broad sense, it is special
Sign is, the A-road information of vehicles include the motion state of A-road vehicle, position, speed, acceleration, course angle and
Lane information.
5. it is according to claim 1 a kind of based on the dynamic (dynamical) ring road merging area cooperative control system of bus or train route broad sense, it is special
Sign is that it includes the position of ring road vehicle, velocity and acceleration information that the ring road, which imports information of vehicles,.
6. it is according to claim 1 a kind of based on the dynamic (dynamical) ring road merging area cooperative control system of bus or train route broad sense, it is special
Sign is that the security boundary includes longitudinal security boundary and laterally security boundary.
7. it is according to claim 1 a kind of based on the dynamic (dynamical) ring road merging area cooperative control system of bus or train route broad sense, it is special
Sign is that the ring road imports vehicle motion planning specifically:
It drives at a constant speed in ring road according to the rate limitation of traffic law step 1: ring road imports vehicle, and is driven into ring road end
Acceleration lane；
Step 2: doing acceleration linear motion when ring road remittance reaches acceleration lane to set acceleration value, and importing point
It executes and forces lane change；
Step 3: ring road imports vehicle and obtains current time vehicle location and posture during lane change, vehicle safety is imported in ring road
Under boundary constraint, automatic lane change dynamic real-time trajectory planning is carried out, specifically: ring road imports vehicle and imports vehicle security boundary in ring road
Constraint is lower to be obtained optimal lane change track and executes according to the optimal lane change track, while ring road imports vehicle security boundary determining module
It generates real-time ring road and imports vehicle security boundary, the practical rail for causing ring road to import vehicle when A-road vehicle generating state is mutated
When mark imports vehicle security boundary beyond real-time ring road, then optimal lane change track is planned again, completes automatic lane change dynamic realtime
Trajectory planning.
8. it is according to claim 1 a kind of based on the dynamic (dynamical) ring road merging area cooperative control system of bus or train route broad sense, it is special
Sign is, A-road group's vehicle motion planning specifically:
Step 1: the A-road vehicle into ring road merging area establishes communication by vehicle mounted communication equipment and traffic control center；
Step 2: control centre is predicted by current A-road vehicle with the relative position of ring road vehicle and relative velocity,
Corresponding A-road rear car is determined as collaborative vehicle when by ring road vehicle lane change, and the A-road vehicle for being confirmed as collaborative vehicle connects
The control instruction of traffic control center is received, cooperative motion mode includes that longitudinal deceleration evacuation and lateral lane change avoid two kinds；
Step 3: traffic control center judges the performance indicator of two kinds of cooperative motion modes, and final movement is referred to
Order is sent to corresponding collaborative vehicle；
Step 4: collaborative vehicle executes traffic control center's instruction, cooperative motion process is completed, specifically: passing through vehicle-mounted sensing
Device obtains surrounding vehicles information, and A-road security boundary determining module calculates real-time A-road security boundary, works as nearby vehicle
When generating state is mutated so that A-road vehicle actual path exceeds real-time A-road security boundary, A-road vehicle is planned again
Operating provisions, complete A-road vehicle cooperative motion.
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| CN111091721A (en) * | 2019-12-23 | 2020-05-01 | 清华大学 | Ramp confluence control method and system for intelligent train traffic system |
| CN113002544A (en) * | 2021-04-13 | 2021-06-22 | 知行汽车科技（苏州）有限公司 | Ramp afflux point track planning method |
| CN113002544B (en) * | 2021-04-13 | 2022-04-22 | 知行汽车科技（苏州）有限公司 | Ramp afflux point track planning method |
| CN113324556A (en) * | 2021-06-04 | 2021-08-31 | 苏州智加科技有限公司 | Route planning method and device based on cooperative reinforcement learning of vehicle and road and application system |
| CN113324556B (en) * | 2021-06-04 | 2024-03-26 | 苏州智加科技有限公司 | Path planning method and device based on vehicle-road collaborative reinforcement learning and application system |
| CN113781770A (en) * | 2021-08-13 | 2021-12-10 | 同济大学 | Double-clutch simulation type cooperative control system for vehicle roads in confluence area |
| CN113781770B (en) * | 2021-08-13 | 2023-03-31 | 同济大学 | Simulation double-clutch type confluence area vehicle-road cooperative control system |
| CN114655214A (en) * | 2022-04-24 | 2022-06-24 | 重庆长安汽车股份有限公司 | Segmented control method and control system for driving through junction |
| CN114655214B (en) * | 2022-04-24 | 2024-04-26 | 重庆长安汽车股份有限公司 | Sectional control method and system for driving through converging port |
| CN114707364A (en) * | 2022-06-02 | 2022-07-05 | 西南交通大学 | Ramp vehicle convergence simulation method, device, equipment and readable storage medium |
| CN114707364B (en) * | 2022-06-02 | 2022-09-02 | 西南交通大学 | Ramp vehicle convergence simulation method, device, equipment and readable storage medium |
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