CN113844462A - Energy consumption-considered automatic driving vehicle road section driving track optimization method - Google Patents

Energy consumption-considered automatic driving vehicle road section driving track optimization method Download PDF

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CN113844462A
CN113844462A CN202111078639.8A CN202111078639A CN113844462A CN 113844462 A CN113844462 A CN 113844462A CN 202111078639 A CN202111078639 A CN 202111078639A CN 113844462 A CN113844462 A CN 113844462A
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automatic driving
vehicle
intersection
driving vehicle
time
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吴伟
罗小玉
杨家伟
刘洋
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Changsha University of Science and Technology
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W60/00—Drive control systems specially adapted for autonomous road vehicles
    • B60W60/001—Planning or execution of driving tasks

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Abstract

The invention discloses a method for optimizing a road section running track of an automatic driving vehicle considering energy consumption, which comprises the following steps of firstly, collecting the number of lanes on the road section, the length of the automatic driving vehicle, the current lane of the automatic driving vehicle, the current running speed, the current distance from a stop line of an intersection and the time when the automatic driving vehicle enters the intersection; secondly, determining a relational expression between the running distance and the running time of each automatic driving vehicle on a road section according to the current distance between each automatic driving vehicle and a stop line of the intersection and the time of entering the intersection, and determining the speed and the acceleration of each automatic driving vehicle in each time step; and finally, establishing an automatic driving vehicle road section driving track optimization model considering energy consumption. The method can be applied to the future automatic driving environment, plans the road section driving track for the automatic driving vehicle, ensures that the automatic driving vehicle arrives at the intersection on time and enters the intersection, and can reduce the energy consumption of the vehicle.

Description

Energy consumption-considered automatic driving vehicle road section driving track optimization method
Technical Field
The invention belongs to the field of intelligent traffic control, relates to the technical field of traffic control of automatic driving vehicles running on urban road sections under an automatic driving environment, and particularly relates to a method for optimizing road section running tracks of the automatic driving vehicles by considering energy consumption.
Background
Autonomous vehicles can communicate with each other and pass in coordination with each other without any operation by the driver. The driving track planning, vehicle speed guiding, traffic control and the like of the automatic driving vehicle become research hotspots nowadays, in addition, the development of green traffic is advocated in the world nowadays, and the energy consumption problem of the vehicle is also the current key research direction.
At present, most of researches for optimizing the track of the automatic driving vehicle are carried out aiming at intersections, the vehicle can safely and smoothly pass through the intersections by an intelligent traffic control method, the optimal time when the automatic driving vehicle enters the intersections is optimized, and the optimal right of pass is distributed to the vehicle, but the energy consumption problem of the automatic driving vehicle and the optimization of the running track on road sections are not considered.
Therefore, the invention provides a method for optimizing the road section running track of the automatic driving vehicle considering energy consumption, and the method is a main problem to be solved by analyzing the relation between the vehicle oil consumption and the speed and the acceleration from the running track of the automatic driving vehicle on the road section and ensuring that the automatic driving vehicle can arrive at a stop line and enter an intersection at the moment of entering the intersection on time under the condition of minimum oil consumption.
Through the literature retrieval of the prior art, many research results aiming at traffic control of intersections in an automatic driving environment exist, but most of the research results take the minimum delay of an automatic driving vehicle as an objective function, the driving speed of the vehicle is taken as a fixed value in some researches, the variability of the speed is ignored, and related researches for optimizing the driving track of the automatic driving vehicle section considering energy consumption are rare.
Disclosure of Invention
The technical problem is as follows: aiming at the defects of the existing research, the invention aims to provide a method for optimizing the road section running track of an automatic driving vehicle considering energy consumption, which starts from the running track optimization and the oil consumption of the automatic driving vehicle on the road section under the automatic driving environment, links the energy consumption of the automatic driving vehicle with the speed and the acceleration through a microscopic oil consumption model, calculates the oil consumption of each automatic driving vehicle in real time, and simultaneously restrains the running time, the running speed and the acceleration of the automatic driving vehicle on the road section, so that the total oil consumption of all automatic driving vehicles is minimum, and the energy consumption can be saved while ensuring that the automatic driving vehicle arrives at the stop line of an intersection on time.
The technical scheme is as follows: in order to solve the technical problem, the method of the invention comprises the following steps:
step 1: acquiring a current lane of the automatic driving vehicle, a current driving speed and a current distance from a stop line of the intersection, acquiring the length of the automatic driving vehicle, and inputting the time when the automatic driving vehicle enters the intersection;
step 11: collecting the number of lanes of a running road section of an automatic driving vehicle, expressing the number by n, numbering lanes according to the sequence from inside to outside, and recording as l, wherein l belongs to {1, 2.., n }; collecting the length of an automatic driving vehicle, wherein the length is expressed by L and the unit is meter; collecting the number of the automatic driving vehicles of each lane on a road section at a certain moment, and recording the number as NlAnd numbering the automatically-driven vehicles on each lane from small to large according to the distance from the intersection, and recording as il，il∈{1，2，...，Nl}; gather the basic data that automatic drive vehicle went, include: the current lane is marked as li， liE {1, 2.., l }; the current time, is recorded as t0The time of entering the intersection is recorded as
Figure BDA0003263021710000011
The units are seconds; current speed of vehicle, note
Figure BDA0003263021710000012
The unit is meter per second; distance from the stop line at the intersection, note
Figure BDA0003263021710000013
The unit is meter;
step 2: dividing the running time of the automatic driving vehicles into equal-step time periods, determining a relational expression between the running distance and the running time of each automatic driving vehicle on a road section according to the distance between the current automatic driving vehicle and a stop line of the intersection and the time of entering the intersection, and determining the speed and the acceleration of each automatic driving vehicle in each time step;
step 21: in order to ensure that the automatic driving vehicle arrives at the intersection on time, the automatic driving vehicle is in a stop line
Figure BDA0003263021710000014
In the case of (2), time of travel
Figure BDA0003263021710000015
The formula (1) is required to be satisfied:
Figure BDA0003263021710000016
step 22: calculating the travel time of the ith autonomous vehicle on the lane l
Figure BDA0003263021710000017
Dispersing into B segments with equal step length, and sequentially dividing the time of each segment as shown in formula (2)
Figure BDA0003263021710000018
Numbering, denoted J, J ∈ {1, 2.., B }:
Figure BDA0003263021710000019
step 23: the speed at which the autonomous vehicle travels should satisfy equations (3) - (5):
Figure BDA0003263021710000021
Figure BDA0003263021710000022
Figure BDA0003263021710000023
in the formula (3), the first and second groups,
Figure BDA0003263021710000024
the corresponding speed of the ith automatic driving vehicle on the lane l in the unit of meter per second when the time period j is 1;
Figure BDA0003263021710000025
the unit of acceleration corresponding to the ith automatic driving vehicle on the lane l when the time period j is 1 is meter per second; in the formula (4), the first and second groups,
Figure BDA0003263021710000026
the speed of the ith automatic driving vehicle on the lane l at the moment j is measured in meters per second;
Figure BDA0003263021710000027
the acceleration of the ith automatic driving vehicle on the lane l at the moment j is measured in meters per square second; in the formula (5), VminFor minimum speed limit of road section, VmaxThe unit is the maximum speed limit of the road section, and the unit is meter per second;
step 24: distance traveled by autonomous vehicle
Figure BDA0003263021710000028
Equation (6) should be satisfied:
Figure BDA0003263021710000029
step 25: ensuring that vehicles closer to the intersection enter the intersection first, as shown in equation (7):
Figure BDA00032630217100000210
in the formula (7), the first and second groups,
Figure BDA00032630217100000211
the distance of the ith autonomous vehicle from the stop line of the intersection on the lane l,
Figure BDA00032630217100000212
the distance between the i +1 st automatic driving vehicle and the stop line of the intersection on the lane L is shown, L represents the length of the automatic driving vehicle, d represents the safe vehicle distance, and the unit is meter;
step 26: acceleration of autonomous vehicle
Figure BDA00032630217100000213
Equation (8) should be satisfied; acceleration of a vehicle upon arrival at an intersection in view of driving safety of the autonomous vehicle within the intersection
Figure BDA00032630217100000214
Equation (9) is satisfied and the speed at the intersection is reached
Figure BDA00032630217100000215
The maximum speed limit at the intersection is less than or equal to the maximum speed limit of the intersection, as shown in a formula (10);
Figure BDA00032630217100000216
Figure BDA00032630217100000217
Figure BDA00032630217100000218
in the formula (8), aminFor minimum acceleration of autonomous vehicle, amaxThe unit is meter per second of square for the highest acceleration; in the formula (10), the first and second groups,
Figure BDA00032630217100000219
indicating the speed of the ith autonomous vehicle on lane i as it enters the intersection,
Figure BDA00032630217100000220
the unit is the maximum speed limit of the intersection, and the unit is meter per second;
step 27: setting a rate of change of acceleration to satisfy the constraint of equation (11) in consideration that a change in acceleration of the autonomous vehicle affects passenger comfort; when the vehicle speed reaches the maximum, keeping the vehicle running at a constant speed can make the energy consumption of the automatic driving vehicle smaller, and satisfy the constraint of the formula (12):
Figure BDA00032630217100000221
Figure BDA00032630217100000222
in the formula (11), the reaction mixture,
Figure BDA00032630217100000223
the acceleration of the ith autonomous vehicle in lane i at time j,
Figure BDA00032630217100000224
acceleration, Δ a, of the ith autonomous vehicle in lane l at time j-1minFor the minimum value of the rate of change of acceleration of the autonomous vehicle, Δ amaxThe unit is the maximum value of the change rate of the acceleration degree of the vehicle, and the maximum value is meter per second of square; in the formula (12), v' is the maximum driving speed of the vehicle and has the unit of meter per second;
and step 3: calculating the oil consumption of each automatic driving vehicle in real time by using a microscopic oil consumption model, and calculating to obtain the running track of the automatic driving vehicle on a road section by taking the minimum total oil consumption of all the automatic driving vehicles as a target;
step 31: calculating the fuel consumption of each autonomous vehicle, wherein the fuel consumption is calculated according to the formula (13):
Figure BDA00032630217100000225
in the formula (13), the first and second groups,
Figure BDA00032630217100000226
indicating i-th station automation on lane lFuel consumption in liters for driving a vehicle;
Figure BDA00032630217100000227
when the power of the speed is 'p' and the power of the acceleration is 'q', the corresponding fuel model fitting coefficient takes a value related to the acceleration, as shown in the formula (14):
Figure BDA00032630217100000228
step 32: establishing an objective function by taking the minimum total fuel consumption E of all the automatic driving vehicles as a target, and optimizing the speed and the acceleration of all the automatic driving vehicles by combining the formulas (1) to (14) as shown in a formula (15) to obtain the road section driving track of the automatic driving vehicles:
Figure BDA00032630217100000229
compared with the prior art, the invention has the beneficial effects that: the method collects parameters such as the time when the automatic driving vehicle enters the intersection, the current speed, the current lane, the distance between the current lane and the stop line of the intersection, the length of the automatic driving vehicle and the like, considers the energy consumption problem of the automatic driving vehicle, optimizes the speed and the acceleration of the automatic driving vehicle on the road section, determines the road section driving track of each automatic driving vehicle, ensures that the automatic driving vehicle arrives at the stop line on time and enters the intersection, and simultaneously can reduce the energy consumption of the vehicle.
Drawings
FIG. 1 is a flow chart of the method of the present invention;
FIG. 2 is a schematic illustration of a road segment according to an embodiment of the present invention;
FIG. 3 is a schematic of "speed versus time" for an autonomous vehicle traveling over a road segment;
FIG. 4 is a graphical illustration of "travel acceleration versus time" for a particular autonomous vehicle traveling over a road segment;
Detailed Description
The invention will be described in further detail below with reference to the accompanying fig. 1-4 and examples, but the embodiments of the invention are not limited thereto. The embodiments of the present invention are not limited to the examples described above, and any other changes, modifications, substitutions, combinations, and simplifications which do not depart from the spirit and principle of the present invention should be construed as equivalents thereof, and they are included in the scope of the present invention.
A method for optimizing a road section driving track of an automatic driving vehicle considering energy consumption comprises the following specific steps:
step 1: acquiring a current lane of the automatic driving vehicle, a current driving speed and a current distance from a stop line of the intersection, acquiring the length of the automatic driving vehicle, and inputting the time when the automatic driving vehicle enters the intersection;
step 2: dividing the running time of the automatic driving vehicles into equal-step time periods, determining a relational expression between the running distance and the running time of each automatic driving vehicle on a road section according to the distance between the current automatic driving vehicle and a stop line of the intersection and the time of entering the intersection, and determining the speed and the acceleration of each automatic driving vehicle in each time step;
and step 3: calculating the oil consumption of each automatic driving vehicle in real time by using a microscopic oil consumption model, and calculating to obtain the running track of the automatic driving vehicle on a road section by taking the minimum total oil consumption of all the automatic driving vehicles as a target;
step 1, collecting basic information of the running of an automatic driving vehicle as input of a road section running track optimization model, step 11, collecting the length L of the automatic driving vehicle to be 4.5m, in the embodiment, as shown in fig. 2, researching that a road section is a bidirectional eight-lane, numbering lanes according to the sequence from inside to outside, and recording as L, L belongs to {1,2, 3, 4 }; according to the distance between the automatically-driven vehicle and the stop line of the intersection, numbering all the automatically-driven vehicles on each lane from small to large, and recording as il，ilE {1,2, 3, 4, 5 }; taking the safe vehicle distance d as 2 m; collect the remaining basic data of autopilot vehicle, include: current lane liCurrent time t0Current vehicle speed
Figure BDA0003263021710000031
Distance from the stop line at the intersection
Figure BDA0003263021710000032
Moment of entering intersection
Figure BDA0003263021710000033
As shown in table 1:
table 1 vehicle driving basic data table in the embodiment
Figure BDA0003263021710000034
Figure BDA0003263021710000041
Step 2, according to the time when the automatic driving vehicle enters the intersection
Figure BDA0003263021710000042
And setting constraint conditions including the constraints of the running time, the running speed and the acceleration of the automatic driving vehicles, and optimizing the running track of the automatic driving vehicles on a road section, wherein in the embodiment, each lane of the road section comprises 5 automatic driving vehicles, and the total number of 4 lanes comprises 16 automatic driving vehicles. Calculating the speed and the acceleration of all the automatic driving vehicles on the road section according to the constraint formulas (1) to (12) in the step 2, the constraint formulas (13) and (14) in the step 31 and the objective function formula (15), wherein the lane liNumber of autonomous vehicle i 1lFig. 3 shows a "travel speed-time" map of the autonomous vehicle at 5, and fig. 4 shows a "travel acceleration-time" map.
Step 3, calculating to obtain the current time t according to the constraint formulas (1) - (14) and the objective function formula (15)0Fuel consumption data for all autonomous vehicles traveling to the intersection stop line on each lane at 0, as shown in table 2:
table 2 fuel consumption data table for all the autonomous vehicles on each lane to drive to the intersection stop line at the current time t0 ═ 0
Lane number l Vehicle number (table) Oil consumption of automatic driving vehicle (L)
1 5 0.0654
2 5 0.0394
3 5 0.0383
4 5 0.0537
By applying the method of the invention, the optimized objective function E is obtained by calculation, and the value is 0.1968L.

Claims (1)

1. A method for optimizing a driving trajectory of a road segment of an autonomous vehicle taking into account energy consumption, the method comprising the steps of:
step 1: acquiring a current lane of the automatic driving vehicle, a current driving speed and a current distance from a stop line of the intersection, acquiring the length of the automatic driving vehicle, and inputting the time when the automatic driving vehicle enters the intersection;
step 2: dividing the running time of the automatic driving vehicles into equal-step time periods, determining a relational expression between the running distance and the running time of each automatic driving vehicle on a road section according to the distance between the current automatic driving vehicle and a stop line of the intersection and the time of entering the intersection, and determining the speed and the acceleration of each automatic driving vehicle in each time step;
and step 3: calculating the oil consumption of each automatic driving vehicle in real time by using a microscopic oil consumption model, and calculating to obtain the running track of the automatic driving vehicle on a road section by taking the minimum total oil consumption of all the automatic driving vehicles as a target;
the step 1 comprises the following steps:
step 11: collecting the number of lanes of a running road section of an automatic driving vehicle, expressing the number by n, numbering lanes according to the sequence from inside to outside, and recording the number as l, wherein l belongs to {1,2, …, n }; collecting the length of an automatic driving vehicle, wherein the length is expressed by L and the unit is meter; collecting the number of the automatic driving vehicles of each lane on a road section at a certain moment, and recording the number as NlAnd numbering the automatically-driven vehicles on each lane from small to large according to the distance from the intersection, and recording as il，il∈{1,2,…,Nl}; gather the basic data that automatic drive vehicle went, include: the current lane is marked as li，liE {1,2, …, l }; the current time, is recorded as t0The time of entering the intersection is recorded as
Figure FDA0003263021700000011
The units are seconds; current speed of vehicle, note
Figure FDA0003263021700000012
The unit is meter per second; distance from the stop line at the intersection, note
Figure FDA0003263021700000013
The unit is meter;
the step 2 comprises the following steps:
step 21: in order to ensure that the automatic driving vehicle arrives at the intersection on time, the automatic driving vehicle is in a stop line
Figure FDA0003263021700000014
In the case of (2), time of travel
Figure FDA0003263021700000015
The formula (1) is required to be satisfied:
Figure FDA0003263021700000016
step 22: calculating the travel time of the ith autonomous vehicle on the lane l
Figure FDA0003263021700000017
Dispersing into B segments with equal step length, and sequentially dividing the time of each segment as shown in formula (2)
Figure FDA0003263021700000018
Numbering, denoted J, J ∈ {1,2, …, B }:
Figure FDA0003263021700000019
step 23: the speed at which the autonomous vehicle travels should satisfy equations (3) - (5):
Figure FDA00032630217000000110
Figure FDA00032630217000000111
Figure FDA00032630217000000112
in the formula (3), the first and second groups,
Figure FDA00032630217000000113
the corresponding speed of the ith automatic driving vehicle on the lane l in the unit of meter per second when the time period j is 1;
Figure FDA00032630217000000114
is the first on the lane lThe unit of acceleration corresponding to the i automatic driving vehicles in the time period j equal to 1 is meter per second of square; in the formula (4), the first and second groups,
Figure FDA00032630217000000115
the speed of the ith automatic driving vehicle on the lane l at the moment j is measured in meters per second;
Figure FDA00032630217000000116
the acceleration of the ith automatic driving vehicle on the lane l at the moment j is measured in meters per square second; in the formula (5), VminFor minimum speed limit of road section, VmaxThe unit is the maximum speed limit of the road section, and the unit is meter per second;
step 24: distance traveled by autonomous vehicle
Figure FDA00032630217000000117
Equation (6) should be satisfied:
Figure FDA00032630217000000118
step 25: ensuring that vehicles closer to the intersection enter the intersection first, as shown in equation (7):
Figure FDA0003263021700000021
in the formula (7), the first and second groups,
Figure FDA0003263021700000022
the distance of the ith autonomous vehicle from the stop line of the intersection on the lane l,
Figure FDA0003263021700000023
the distance between the i +1 st automatic driving vehicle and the stop line of the intersection on the lane L is shown, L represents the length of the automatic driving vehicle, d represents the safe vehicle distance, and the unit is meter;
step 26: acceleration of autonomous vehicle
Figure FDA0003263021700000024
Equation (8) should be satisfied; acceleration of a vehicle upon arrival at an intersection in view of driving safety of the autonomous vehicle within the intersection
Figure FDA0003263021700000025
Equation (9) is satisfied and the speed at the intersection is reached
Figure FDA0003263021700000026
The maximum speed limit at the intersection is less than or equal to the maximum speed limit of the intersection, as shown in a formula (10);
Figure FDA0003263021700000027
Figure FDA0003263021700000028
Figure FDA0003263021700000029
in the formula (8), aminFor minimum acceleration of autonomous vehicle, amaxThe unit is meter per second of square for the highest acceleration; in the formula (10), the first and second groups,
Figure FDA00032630217000000210
indicating the speed of the ith autonomous vehicle on lane i as it enters the intersection,
Figure FDA00032630217000000211
the unit is the maximum speed limit of the intersection, and the unit is meter per second;
step 27: setting a rate of change of acceleration to satisfy the constraint of equation (11) in consideration that a change in acceleration of the autonomous vehicle affects passenger comfort; when the vehicle speed reaches the maximum, keeping the vehicle running at a constant speed can make the energy consumption of the automatic driving vehicle smaller, and satisfy the constraint of the formula (12):
Figure FDA00032630217000000212
Figure FDA00032630217000000213
in the formula (11), the reaction mixture,
Figure FDA00032630217000000214
the acceleration of the ith autonomous vehicle in lane i at time j,
Figure FDA00032630217000000215
acceleration, Δ a, of the ith autonomous vehicle in lane l at time j-1minFor the minimum value of the rate of change of acceleration of the autonomous vehicle, Δ amaxThe unit is the maximum value of the change rate of the acceleration degree of the vehicle, and the maximum value is meter per second of square; in the formula (12), v′The maximum driving speed of the vehicle is expressed in the unit of meter per second;
the step 3 comprises the following steps:
step 31: calculating the oil consumption of each automatic driving vehicle;
step 32: establishing an objective function by taking the minimum total fuel consumption E of all the automatic driving vehicles as a target, and optimizing the speed and the acceleration of all the automatic driving vehicles by combining the formulas (1) to (12) as shown in a formula (13) to obtain the road section driving track of the automatic driving vehicles:
Figure FDA00032630217000000216
in the formula (12), the first and second groups,
Figure FDA00032630217000000217
fuel consumption in liters for the ith autonomous vehicle on lane l.
CN202111078639.8A 2021-09-15 2021-09-15 Energy consumption-considered automatic driving vehicle road section driving track optimization method Withdrawn CN113844462A (en)

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Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN116946141A (en) * 2023-09-18 2023-10-27 成都赛力斯科技有限公司 Control method and device of extended range electric automobile, electric automobile and storage medium

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN116946141A (en) * 2023-09-18 2023-10-27 成都赛力斯科技有限公司 Control method and device of extended range electric automobile, electric automobile and storage medium
CN116946141B (en) * 2023-09-18 2023-11-24 成都赛力斯科技有限公司 Control method and device of extended range electric automobile, electric automobile and storage medium

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Application publication date: 20211228