CN115273450B - Channel changing method for vehicles entering formation under network automatic driving environment - Google Patents
Channel changing method for vehicles entering formation under network automatic driving environment Download PDFInfo
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Abstract
The invention provides a lane changing method for vehicles entering formation under a network automatic driving environment, which comprises the steps of firstly acquiring environment information of a traffic road section of the vehicle formation through advanced sensing equipment and technology, and determining the position of the lane changing vehicle inserted into the formation according to safe lane changing conditions; and then calculating the acceleration and deceleration of the lane changing vehicle and the adjacent two vehicles at the insertion position and the total adjustment time of longitudinal control, the transverse and longitudinal control acceleration of the lane changing vehicle and the lane changing time in the process of inserting the lane changing vehicle into the vehicle formation, and the total adjustment time of the new vehicle formation, the acceleration and deceleration of the corresponding vehicle and the acceleration and deceleration time. Therefore, the lane changing vehicles enter the existing vehicle formation and are formed again, the formation safety is guaranteed, and the passing efficiency is improved.
Description
Technical Field
The invention relates to the field of automatic network driving and vehicle formation, in particular to a lane changing method for vehicles entering formation under the automatic network driving environment.
Background
Along with the development of intelligent, networking and informatization technologies in the traffic field, an intelligent vehicle-road cooperative system becomes an important means for improving the traffic efficiency of a traffic system. The road junction section is used as an important component of the road traffic network, and the dynamic track optimization of the intelligent network-connected automobiles in the road section has obvious influence on the traffic efficiency of the road traffic network. Therefore, in the vehicle-road cooperative environment, aiming at playing the advantages of intelligent network-connected vehicles, a set of vehicle channel changing method for entering formation is provided, and the method has important significance for improving road safety and running efficiency.
At present, studies on vehicle formation strategies based on intelligent networking are mainly divided into two categories: in one aspect, some students perform dynamics analysis on individual vehicles, building vehicle models and vehicle fleet models. For example Chen Xianpeng et al, aiming at the problem of vehicle formation control considering external interference and uncertainty of model parameters, a vehicle formation structure under a vehicle-mounted self-organizing network is planned, a control algorithm is applied to intelligent vehicle formation, and requirements of vehicle formation stability and vehicle formation queue stability are met. For example, an et al designs a sliding mode control method on the basis of a transverse dynamics model of the vehicle formation, and adopts an improved constant time interval control method for the longitudinal formation of the vehicle formation, so that the inter-vehicle distance is further reduced, and the robustness of the vehicle formation can be ensured. On the other hand, some students form a formation by intelligent vehicle path tracking progression by planning formation routes using vehicle formation control algorithms. For example, li et al establishes potential functions comprising a gravitational field and a repulsive field to realize movement control of an intelligent agent based on the control thought of an artificial potential field method aiming at the formation and obstacle avoidance control problem of multiple robots, and accurately designs potential field functions to represent a queue structure according to an expected formation and a driving task. Han Lu et al designed an adaptive formation controller based on a linear feedback algorithm by establishing a pilot-following attitude error model aiming at the formation control problem under the conditions of uncertain internal parameters and external environment interference, so that stable formation control of vehicles can be realized. The current research methods for the vehicle formation strategies are various, but focus on formation methods and formation self management, neglecting interaction of the vehicle formation with non-formation vehicles in actual road traffic and formation reconstruction methods after the vehicles are inserted into the vehicle formation, and the research has a certain difficulty in application in specific road traffic scenes.
Disclosure of Invention
The invention solves the technical problems: aiming at the defects of the existing vehicle formation strategy, the lane changing method for the vehicle entering the formation under the online automatic driving environment is provided, and on the basis of meeting the requirements of safe lane changing and comfortable driving, the lane changing vehicle is inserted into the existing vehicle formation and forms a new formation, so that the passing efficiency is improved.
The technical proposal of the invention is as follows: a lane change method for vehicles entering formation under a network-connected automatic driving environment comprises the following implementation steps:
step 1, acquiring environment information of a vehicle formation passing road section through sensing equipment and technology, wherein the environment information of the vehicle formation passing road section comprises lane lines, formation vehicles and motion state data of the vehicles requesting lane change;
step 2, based on the data of the environment information of the traffic road section of the vehicle formation in the step 1, according to the influence of the vehicle decision time on the relative distance, a judgment basis of inserting the lane changing vehicle into different positions of the vehicle formation is given, and the position of inserting the lane changing vehicle into the formation is determined;
step 3, giving a longitudinal control strategy for the movement of the lane changing vehicle based on the lane changing vehicle insertion formation position determined in the step 2, and performing longitudinal control on the movement of the vehicle so that the lane changing vehicle reaches the longitudinal insertion formation position;
step 4, providing a transverse control strategy for the movement of the lane changing vehicle based on the fact that the lane changing vehicle reaches the longitudinal insertion formation position in the step 3, and performing transverse control on the movement of the vehicle to form a formation after the lane changing vehicle is inserted;
step 5: and (3) carrying out longitudinal control on the vehicle movement of the formation after the vehicle is inserted into the lane change vehicle in the step (4) again so that the vehicle accelerates to reach the maximum speed limit V of the road after decelerating m The distance between the vehicle heads of the vehicle formation after the vehicle is inserted is kept at the minimum safety distance d h The vehicle formation C resumes the initial running state;
step 6: and (3) repeating the calculation processes of steps 2,3,4 and 5 for the next vehicle requesting to enter the vehicle formation C, determining the insertion queue position and the control strategy of the lane changing vehicle, realizing the insertion of the lane changing vehicle into the vehicle formation and completing the vehicle formation reconstruction.
In the step 1, environmental information of a vehicle formation passing road section is obtained, including the movement status data of a lane line, formation vehicles and vehicles requesting lane change, so as to determine the lane width l, and the maximum speed limit V of the current road m Vehicle X running speed V requesting lane change x Current vehicle formation C-head vehicle C 1 Along lane line heading coordinate x 1 X coordinate X of vehicle with requested lane change x Difference d of 0 。
In the step 2, the implementation steps of determining the insertion formation position of the lane change vehicle are as follows:
(1) First, it is determined whether or not the vehicle X satisfies the condition of becoming the vehicle formation C head vehicle, that is:
d＝(V m -V x )·Δt+d 0
d 0 ＝x 1 -x x
wherein d is the vehicle X requesting lane change and the current vehicle formation C head vehicle C 1 Longitudinal relative distance along lane line, V m Is the maximum speed limit of the road, V x For requesting lane change vehicle X running speed, deltat is decision time, d 0 Forming C-head vehicle C for current vehicle 1 Along lane line heading coordinate x 1 X coordinate X of vehicle with requested lane change x Difference, a a For longitudinal maximum acceleration limited by road safety and comfort, L is the standard vehicle length of an autonomous vehicle.
(2) If the vehicle C cannot meet the requirement, judging whether the vehicle X meets the requirement of inserting the two vehicles C before the vehicle formation 1 And C 2 The vehicles C in the current vehicle formation C are obtained 2 Conditions for front vehicle:
wherein d h The minimum safety distance of the head space of the vehicles in the vehicle formation C is calculated, i is a positive integer variable from 1 to n-1, and n is the number of the vehicles in the vehicle formation C.
(3) If the above-mentioned judgment condition cannot be satisfied until i=n-1, a policy is adopted that the vehicle X is inserted into the current vehicle formation C to become a tail car:
wherein a is a For maximum longitudinal acceleration limited by road safety and comfort, L is the standard vehicle length of the autonomous vehicle, d h The minimum safe distance for the head space of the vehicles in vehicle consist C.
The step 3 is realized as follows:
(1) When the vehicle X is in front of the current vehicle formation C and becomes a head vehicle, the acceleration required for requesting a lane change vehicle is calculated using the following formula:
S＝V m t+2L-d
(2) When vehicle X is inserted into the vehicle formation ith vehicle and (i+1) th vehicle C i And C i+1 The acceleration required by the vehicle requesting lane change is calculated by the following formula:
D＝D 1 +D 2
t＝t 1 +t 2
V m t-(D 1 +D 2 )＝3L
S＝V x t-2L+n(L+d)+d
(3) When the current vehicle formation C is inserted and becomes a tail car, the acceleration required by the vehicle requesting lane change is calculated by the following formula:
S＝V m t+d 0 -(n+1)L-(n-1)d
wherein a is x To request the acceleration required by the lane change vehicle, a a For maximum longitudinal acceleration limited by road safety and comfort, a s For maximum longitudinal deceleration limited by road safety and comfort, V 0 Is the minimum speed of the vehicle after deceleration, t 1 Time, t, is adjusted for the deceleration phase of the formation of vehicles 2 Adjusting time for acceleration stage of vehicle formation, t is total adjustment time of vehicle formation, D 1 The driving distance of the (i+1) th vehicle and the following vehicles in the speed reduction stage in the adjustment time is D 2 The driving distance of the (i+1) th vehicle and the following vehicle in the acceleration stage in the adjustment time is D, the total driving distance of the (i+1) th vehicle and the following vehicle in the adjustment time is S, the driving distance of the vehicle X requesting lane change meeting the safety lane change condition is S, and n is the number of vehicles in the vehicle formation C.
Further, the step 4 is implemented as follows:
(1) The lane change vehicle X carries out the longitudinal control of the vehicle movement according to the step 3 and simultaneously carries out the lateral side control, so that the vehicle body of the lane change vehicle X is tangent with a lane line in the vehicle formation adjustment time, and the lateral acceleration a of the vehicle requiring lane change is calculated l The vehicle controls acceleration in the longitudinal direction while controlling the lateral direction with the following calculation formula:
wherein k is the lane width, W is the standard body width of the lane change autopilot vehicle, a l For a lateral maximum acceleration limited by road safety and comfort, t is the total adjustment time for the vehicle formation.
(2) After the lane change vehicle X body is tangent with the lane line in the vehicle formation adjustment time, enabling the lane change vehicle X to reach the lane A central axis in the shortest time, wherein the vehicle lane change time is as follows:
τ＝τ 1 +τ 2
wherein τ 1 To request lane change vehicle lateral control acceleration time τ 2 For transversely controlling the deceleration time of the vehicle requesting lane change, tau is the lane change time of the vehicle requesting lane change, a l For maximum lateral acceleration limited by road safety and comfort, a m For a lateral maximum deceleration limited by road safety and comfort, t is the total adjustment time for the vehicle platoon.
Further, the step 5 is implemented as follows:
(1) If the vehicle X is inserted into the first vehicle and becomes the head vehicle, the total adjustment time t' of the vehicle formation is calculated by the following calculation formula:
t′＝t′ 1 +t′ 2
V m t-(X 1 +X 2 )＝L-d h
wherein a is a For maximum longitudinal acceleration limited by road safety and comfort, a s For maximum longitudinal deceleration limited by road safety and comfort, V' 0 For the minimum speed of the head car after the speed is reduced, t 'is the total adjustment time of the car formation, and t' 1 Adjusting the time, t ', of the deceleration phase after insertion formation for vehicles' 2 Adjusting the time, X, of the acceleration phase after insertion formation for vehicles 1 Decelerating the driving distance X for the head vehicle of the vehicle formation 2 Accelerating the driving distance for the head car of the vehicle formation.
(2) If the vehicle X is inserted between the vehicles in the original vehicle formation C, calculating the total formation adjustment time t' after the vehicle is inserted and the longitudinal control acceleration and deceleration of the vehicle X by using the following calculation formula:
t′＝t′ 1 +t′ 2
V m t′-(X 1 +X 2 )＝2L-2d h
wherein a is a For maximum longitudinal acceleration limited by road safety and comfort, a s For maximum longitudinal deceleration limited by road safety and comfort, V' 0 X is the minimum speed of the head car after the head car is decelerated 1 Decelerating the driving distance X for the head vehicle of the vehicle formation 2 Accelerating the driving distance, V ', of the head vehicle for vehicle formation' 0x A is the minimum speed of the vehicle X after deceleration ax For vehicle X acceleration, a sx Is the deceleration of the vehicle X.
(3) If the vehicle X is inserted into the current vehicle formation C and then becomes a tail car, the following calculation formula is used to calculate the total adjustment time t' of the vehicle formation:
t′＝t′ 1 +t′ 2
V m t-(X 1 +X 2 )＝L d -d h -L
wherein a is a For maximum longitudinal acceleration limited by road safety and comfort, a s For maximum longitudinal deceleration limited by road safety and comfort, V' 0 The minimum speed of the head car after the head car is decelerated is t' is the total adjustment time of the car formation, X 1 Decelerating the driving distance X for the head vehicle of the vehicle formation 2 Accelerating the driving distance L for the head car of the vehicle formation d The distance between the vehicle X and the vehicle formation C tail car head is the distance between the vehicle X and the vehicle formation C tail car head for requesting lane change.
Compared with the prior art, the invention has the advantages that:
(1) Firstly, acquiring environmental information of a vehicle formation passing road section through sensing equipment and technology, and determining the position of a lane changing vehicle inserted into the formation according to a safe lane changing condition; and then calculating the acceleration and deceleration and longitudinal control total adjustment time of the lane changing vehicle and two adjacent vehicles at the insertion position of the lane changing vehicle in the process of inserting the lane changing vehicle into the vehicle formation, wherein the horizontal and longitudinal control acceleration and the lane changing time of the lane changing vehicle, the total adjustment time of the new vehicle formation, the acceleration and deceleration of the corresponding vehicle and the acceleration and deceleration time of the new vehicle formation are calculated, so that the lane changing vehicle enters the existing vehicle formation and is re-formed, the formation safety is ensured, and the passing efficiency is greatly improved.
(2) Different from other strategies for forming formation by adopting dynamics analysis or formation control algorithm, the invention provides corresponding control strategies for vehicle insertion formation and formation reconstruction according to the scene of adding the lane change vehicles into the vehicle formation, ensures formation safety, realizes the insertion of the lane change vehicles into the existing vehicle formation and forms a new formation on the basis of meeting the requirements of safe lane change and comfortable driving, and improves the passing efficiency.
Drawings
FIG. 1 is a schematic illustration of an initial state of a planned vehicle according to the present invention;
FIG. 2 is a schematic diagram of a safe lane change condition;
FIG. 3 is a schematic illustration of a lane change vehicle inserted into a vehicle fleet head;
FIG. 4 is a schematic illustration of a lane change vehicle inserted between a fleet of vehicles;
FIG. 5 is a schematic illustration of a lane change vehicle inserted into a vehicle fleet tail;
fig. 6 is a flow chart of an implementation of the method of the present invention.
Detailed Description
The present invention will be described in detail below with reference to the drawings and embodiments. It is to be understood that this example is merely illustrative of the present invention and is not intended to limit the scope of the present invention.
As shown in fig. 6, the method of the present invention comprises the following steps:
step 1, acquiring environmental information of a vehicle formation passing road section through sensing equipment and technology, wherein the information comprises lane lines, obstacles, formation vehicles and motion state data of the vehicles requesting lane change.
And 2, determining the position of the lane change vehicle inserted into the formation based on the data acquired in the step 1.
(1) Planning the initial state of the road section vehicle. Determining a current traffic flow state based on the data collected in step 1, planning an initial state of the vehicle, as shown in fig. 1, and automatically driving the vehicle formation C to the current roadMaximum speed limit V m When the vehicle runs on the lane A, n vehicles C are shared in the vehicle formation C 1 ，C 2 ...C i ...C n The same minimum head distance d is kept between vehicles h . Automatic driving vehicle X requesting lane change at speed V x And driving on the B lane. Vehicle X is at a certain time t x A lane change insert vehicle formation C request is initiated.
(2) The relative distance d is calculated taking the decision time into account. After the automatic driving vehicle X sends out a request, a decision is calculated and formed through a processing system, a command is finally received to control the vehicle, and because communication delay exists in the process, the decision time is considered on the basis of determining the initial state of the vehicle, and the request lane change vehicle X and the current vehicle formation C, namely the head vehicle C, are calculated 1 Longitudinal distance along lane line:
d＝(V m -V x )·Δt+d 0
d 0 ＝x 1 -x x
wherein d is the vehicle X requesting lane change and the current vehicle formation C head vehicle C 1 Longitudinal relative distance along lane line, V m Is the maximum speed limit of the road, V x For requesting lane change vehicle X running speed, deltat is decision time, d 0 Forming C-head vehicle C for current vehicle 1 Along lane line heading coordinate x 1 X coordinate X of vehicle with requested lane change x And (3) a difference.
(3) Safe lane changing conditions. In order to ensure the safety of the lane change of the vehicle X, the lane change environment needs to meet constraint conditions: that is, there is no vehicle in the three parking spaces in front of and behind the target lane, which is regarded as a safe lane change environment, as shown in fig. 2, and the vehicle meets the lane change condition at this time.
(4) Firstly, whether the vehicle X meets the condition of becoming the head car of the vehicle formation C is judged according to the safe lane change condition, and as shown in fig. 3, the lane change vehicle can be inserted into the current vehicle formation C to become the head car under the condition of meeting the safe lane change condition. Due to the formation of vehicles at speed V m The vehicle X should therefore be in front of the vehicle formation C head vehicle and be able to meet the enter vehicle formation conditions, namely:
wherein a is a For longitudinal maximum acceleration limited by road safety and comfort, L is the standard vehicle length of an autonomous vehicle.
If the vehicle X can meet the above requirement, the vehicle X is inserted before the current vehicle formation C head vehicle, and a strategy of the vehicle formation head vehicle is adopted.
(5) If the lane change condition in (4) cannot be satisfied, judging whether the vehicle X satisfies the condition of becoming the head vehicle of the vehicle formation C or not according to the safe lane change condition, and judging whether the vehicle X satisfies the conditions of inserting two vehicles C before the vehicle formation 1 And C 2 The vehicles C in the current vehicle formation C are obtained 2 Conditions for the front vehicle. Still consider the three parking spaces around the target lane, when there is no car, it can be regarded as a safe lane change environment, as shown in fig. 4, the lane change vehicle can insert two vehicles C of the current vehicle formation C under the condition of meeting the safe lane change 1 And C 2 Between them. Due to the formation of vehicles at speed V m The vehicle X should therefore meet the lane change into vehicle platoon conditions, namely:
if the vehicle X can meet the above requirement, the vehicle X is inserted into the first two vehicles C of the vehicle formation 1 And C 2 The vehicles C in the vehicle formation C 2 Strategy for front vehicles.
If the above-mentioned judging condition cannot be satisfied, continuously judging whether the vehicle X satisfies the two vehicles C before the inserted vehicle formation 2 And C 3 The vehicles C in the current vehicle formation C are obtained 3 Front car of (a). At this time, the vehicle X should meet the lane change condition for entering the vehicle queue, namely:
wherein d h The minimum safe distance for the head space of the vehicles in vehicle consist C.
If the vehicle X can meet the requirement, the vehicle X is inserted into the first two vehicles C of the vehicle formation 2 And C 3 The vehicles C in the vehicle formation C 3 Strategy for front vehicles.
If the above-mentioned judging condition cannot be satisfied, then the same is followed to continuously judge whether the vehicle X satisfies the i-th vehicle and the i+1th vehicle C of the inserted vehicle formation i And C i+1 The vehicles C in the current vehicle formation C are obtained i Front car of (a). At this time, the vehicle X should meet the lane change condition for entering the vehicle queue, namely:
where i is a positive integer variable from 1 to n-1, n is the number of vehicles in vehicle formation C.
If the vehicle X can meet the requirement, the vehicle X is inserted into the first two vehicles C of the vehicle formation i And C i+1 The vehicles C in the vehicle formation C i+1 Strategy for the lead car until i=n-1.
(6) If the above-mentioned judging condition cannot be satisfied until i=n-1, then the vehicle X does not satisfy the condition of inserting the front of the head of the current vehicle formation C and the space between the vehicle formations, and the vehicle X is inserted into the tail vehicle C of the current vehicle formation C n And then becomes a strategy of the tail car. Considering that no vehicles exist in the three parking spaces in front of and behind the target lane, the lane change environment can be regarded as a safe lane change environment, as shown in fig. 5, the lane change vehicle can be inserted into the current vehicle formation C, and the vehicle C can be inserted into the current vehicle formation C under the condition of meeting the safe lane change condition n The tail car is formed by the following steps:
so far, the position strategy of inserting the lane changing vehicles into the vehicle formation under different conditions is obtained.
And 3, performing longitudinal control on the movement of the vehicle based on the insertion formation position of the lane change vehicle determined in the step 2 so that the lane change vehicle reaches the longitudinal insertion formation position.
(1) Firstly, if a lane-changing vehicle insertion formation strategy is that a current vehicle formation C is inserted into a head vehicle, controlling the inserted vehicles to adopt maximum acceleration and deceleration so that the vehicle X and the head vehicle C of the current vehicle formation C after acceleration 1 The head space is kept at 2L. The calculation formula is as follows:
S＝V m t+2L-d
wherein a is x In order to request the acceleration required by the lane change vehicle, S is the distance that the lane change vehicle X needs to travel to meet the lane change condition.
Thereby simultaneously obtaining the acceleration a required by the lane change vehicle X x 。
(2) If the lane-changing vehicle insertion formation strategy is that the inserted vehicles are formed into the ith vehicle and the (i+1) th vehicle C i And C i+1 The vehicles are controlled to all adopt the maximum acceleration and deceleration so that the acceleration reaches V after the (i+1) th vehicle is decelerated m In the process of (1), the distance between the ith vehicle and the i+1 vehicle is enlarged to be 3L of a three-parking space, namely:
D＝D 1 +D 2
t＝t 1 +t 2
V m t-(D 1 +D 2 )＝3L
S＝V x t-2L+n(L+d)+d
wherein a is a For maximum longitudinal acceleration limited by road safety and comfort, a s For maximum longitudinal deceleration limited by road safety and comfort, V 0 For the minimum speed of the vehicle after deceleration, t is the total adjustment time of the vehicle formation, t 1 Time, t, is adjusted for the deceleration phase of the formation of vehicles 2 Adjusting time for a vehicle formation acceleration stage, wherein D is the distance traveled by the (i+1) th vehicle and the following vehicles within the adjustment time, and D 1 The driving distance of the (i+1) th vehicle and the following vehicles in the speed reduction stage in the adjustment time is D 2 And S is the distance that the vehicle X requesting lane change needs to travel when meeting the safe lane change condition.
From the simultaneous solution, the acceleration a required by the lane change vehicle X under the corresponding condition can be obtained x 。
(3) If the lane-changing vehicle insertion formation strategy is to insert the current vehicle formation C tail vehicle C n After that, the vehicle is a tail car, and the control vehicles all adopt the maximum acceleration and deceleration so as to lead the tail car C n The distance between the X-ray head and the vehicle is 2L, namely:
S＝V m t+d 0 -(n+1)L-(n-1)d
wherein a is x To request the acceleration required by the lane change vehicle, a a For maximum longitudinal acceleration limited by road safety and comfort, a s For maximum longitudinal deceleration limited by road safety and comfort, V 0 Is the minimum speed of the vehicle after deceleration, t 1 Time, t, is adjusted for the deceleration phase of the formation of vehicles 2 Adjusting time for acceleration stage of vehicle formation, t is total adjustment time of vehicle formation, D 1 For the (i+1) th vehicle and the following vehicles to reduce the speed in the adjustment timeStage travel distance D 2 The driving distance of the (i+1) th vehicle and the following vehicle in the acceleration stage in the adjustment time is D, the total driving distance of the (i+1) th vehicle and the following vehicle in the adjustment time is S, the driving distance of the vehicle X requesting lane change meeting the safety lane change condition is S, and n is the number of vehicles in the vehicle formation C.
From this simultaneous solution the acceleration a required for the vehicle X in the corresponding situation x . If the lane change vehicle X is requested to accelerate to V m And if the channel changing condition is still not met, waiting at a constant speed until the channel changing safety condition is met, and then changing channels.
The longitudinal control strategy for the movement of the vehicle under the condition that the lane changing vehicle is inserted into different positions of the formation can be obtained.
And 4, performing transverse control on the movement of the vehicle to form a formation after the lane changing vehicle is inserted based on the fact that the lane changing vehicle reaches the longitudinal insertion formation position in the step 3.
(1) The lane change vehicle X carries out the longitudinal control of the vehicle movement according to the step 3 and simultaneously carries out the lateral side control, so that the lane change vehicle X body is tangent with a lane line in the vehicle formation adjustment time, the lane change efficiency is improved on the premise of ensuring the safe lane change distance, and the lateral acceleration a is calculated l The formula is as follows:
wherein l is the lane width, W is the standard body width of the lane change autopilot vehicle, a l For a lateral maximum acceleration limited by road safety and comfort, t is the total adjustment time for the vehicle formation.
(2) After the lane change vehicle X body is tangent with the lane line in the vehicle formation adjustment time, the lane change vehicle X reaches the lane A central axis in the shortest time, namely:
τ＝τ 1 +τ 2
wherein τ 1 To request lane change vehicle lateral control acceleration time τ 2 For transversely controlling the deceleration time of the vehicle requesting lane change, tau is the lane change time of the vehicle requesting lane change, a l For maximum lateral acceleration limited by road safety and comfort, a m For a lateral maximum deceleration limited by road safety and comfort, t is the total adjustment time for the vehicle platoon.
The time τ required for requesting the lane change vehicle X to change lanes is thus solved simultaneously.
Step 5: and (3) carrying out longitudinal control on the vehicle movement of the formation after the vehicle is inserted into the lane change vehicle in the step (4) again so that the vehicle accelerates to reach the maximum speed limit V of the road after decelerating m The distance between the vehicle heads of the vehicle formation after the vehicle is inserted is kept at the minimum safety distance d h The vehicle formation C resumes the initial running state:
(1) If the vehicle X is inserted into the first vehicle and enters the vehicle formation to form the head vehicle, the vehicle X is only controlled longitudinally so that the vehicle formation maintains the same head distance d h ：
t′＝t′ 1 +t′ 2
V m t-(X 1 +X 2 )＝L-d h
Wherein a is a For maximum longitudinal acceleration limited by road safety and comfort, a s For maximum longitudinal deceleration limited by road safety and comfort, V' 0 For the minimum speed of the head car after the speed is reduced, t 'is the total adjustment time of the car formation, and t' 1 Adjusting the time, t ', of the deceleration phase after insertion formation for vehicles' 2 Adjusting the time, X, of the acceleration phase after insertion formation for vehicles 1 Decelerating the driving distance X for the head vehicle of the vehicle formation 2 Accelerating the driving distance for the head car of the vehicle formation.
The combined result can be used to derive the total adjustment time t' for the new vehicle formation.
(2) If the vehicle X is inserted between the vehicles of the original vehicle formation C, the longitudinal control is carried out on the vehicle formation head vehicles and the vehicle X so that the vehicle formation keeps the same head space d h ：
t′＝t′ 1 +t′ 2
V m t′-(X 1 +X 2 )＝2L-2d h
Wherein a is a For maximum longitudinal acceleration limited by road safety and comfort, a s For maximum longitudinal deceleration limited by road safety and comfort, V' 0 Is the headMinimum speed of vehicle after deceleration, X 1 Decelerating the driving distance X for the head vehicle of the vehicle formation 2 Accelerating the driving distance, V ', of the head vehicle for vehicle formation' 0x A is the minimum speed of the vehicle X after deceleration ax For vehicle X acceleration, a sx Is the deceleration of the vehicle X.
The combined operation can obtain the total adjustment time t' of the new vehicle formation and the longitudinal control acceleration and deceleration of the vehicle X.
(3) If the vehicle X is inserted into the last vehicle and enters the vehicle formation to become a tail vehicle, the head vehicle of the vehicle formation is longitudinally controlled so that the vehicle formation maintains the same head distance d h ：
t′＝t′ 1 +t′ 2
V m t-(X 1 +X 2 )＝L d -d h -L
Wherein a is a For maximum longitudinal acceleration limited by road safety and comfort, a s For maximum longitudinal deceleration limited by road safety and comfort, V' 0 X is the minimum speed of the head car after the head car is decelerated 1 Decelerating the driving distance X for the head vehicle of the vehicle formation 2 Accelerating the driving distance L for the head car of the vehicle formation d The distance between the vehicle X and the vehicle formation C tail car head is the distance between the vehicle X and the vehicle formation C tail car head for requesting lane change.
The combination can thus solve the total adjustment time t' after the vehicle has been inserted into the formation.
Step 6: and (3) repeating the calculation processes of steps 2,3,4 and 5 for the next vehicle requesting to enter the vehicle formation C, determining the insertion queue position and the control strategy of the lane changing vehicle, realizing the insertion of the lane changing vehicle into the vehicle formation and completing the vehicle formation reconstruction.
The above steps describe in detail the implementation of the present invention, but the present invention is not limited to the specific details in the above embodiments. And should not be excluded from the scope of the present invention.
Claims (4)
1. The lane changing method for the vehicles entering the formation in the network automatic driving environment is characterized by comprising the following steps of:
step 1, acquiring environment information of a vehicle formation passing road section through sensing equipment and technology, wherein the environment information of the vehicle formation passing road section comprises lane lines, formation vehicles and motion state data of the vehicles requesting lane change;
step 2, based on the data of the environment information of the traffic road section of the vehicle formation in the step 1, according to the influence of the vehicle decision time on the relative distance, a judgment basis of inserting the lane changing vehicle into different positions of the vehicle formation is given, and the position of inserting the lane changing vehicle into the formation is determined;
step 3, giving a longitudinal control strategy for the movement of the lane changing vehicle based on the lane changing vehicle insertion formation position determined in the step 2, and performing longitudinal control on the movement of the vehicle so that the lane changing vehicle reaches the longitudinal insertion formation position;
step 4, providing a transverse control strategy for the movement of the lane changing vehicle based on the fact that the lane changing vehicle reaches the longitudinal insertion formation position in the step 3, and performing transverse control on the movement of the vehicle to form a formation after the lane changing vehicle is inserted;
step 5: and (3) carrying out longitudinal control on the vehicle movement of the formation after the vehicle is inserted into the lane change vehicle in the step (4) again so that the vehicle accelerates to reach the maximum speed limit V of the road after decelerating m The distance between the vehicle heads of the vehicle formation after the vehicle is inserted is kept at the minimum safety distance d h The vehicle formation C resumes the initial running state;
step 6: repeating the calculation processes of steps 2,3,4 and 5 for the next vehicle requesting to enter the vehicle formation C, determining the insertion queue position and the control strategy of the lane changing vehicle, realizing the insertion of the lane changing vehicle into the vehicle formation and completing the vehicle formation reconstruction;
in the step 2, the implementation steps of determining the insertion formation position of the lane change vehicle are as follows:
(1) First, it is determined whether or not the vehicle X satisfies the condition of becoming the vehicle formation C head vehicle, that is:
d＝(V m -V x )·Δt+d 0
d 0 ＝x 1 -x x
wherein d is the vehicle X requesting lane change and the current vehicle formation C head vehicle C 1 Longitudinal relative distance along lane line, V m Is the maximum speed limit of the road, V x For requesting lane change vehicle X running speed, deltat is decision time, d 0 Forming C-head vehicle C for current vehicle 1 Along lane line heading coordinate x 1 X coordinate X of vehicle with requested lane change x Difference, a a The longitudinal maximum acceleration limited by road safety and comfort is L, which is the standard vehicle length of an automatic driving vehicle;
(2) If the vehicle C cannot meet the requirement, judging whether the vehicle X meets the requirement of inserting the two vehicles C before the vehicle formation i-1 And C i The vehicles C in the current vehicle formation C are obtained i Conditions for front vehicle:
wherein d h The minimum safety distance of the head space of the vehicles in the vehicle formation C is calculated, i is a positive integer variable from 1 to n-1, and n is the number of the vehicles in the vehicle formation C;
(3) If the above-mentioned judgment condition cannot be satisfied until i=n-1, a policy is adopted that the vehicle X is inserted into the current vehicle formation C to become a tail car:
wherein a is a For maximum longitudinal acceleration limited by road safety and comfort, L is the standard vehicle length of the autonomous vehicle, d h The minimum safety distance of the head space of the vehicles in the vehicle formation C;
the step 5 is realized as follows:
(1) If the vehicle X is inserted into the first vehicle and becomes the head vehicle, the total adjustment time t' of the vehicle formation is calculated by the following calculation formula:
t′＝t′ 1 +t′ 2
V m t'-(X 1 +X 2 )＝L-d h
wherein a is a For maximum longitudinal acceleration limited by road safety and comfort, a s For maximum longitudinal deceleration limited by road safety and comfort, V' 0 For the minimum speed of the head car after the speed is reduced, t 'is the total adjustment time of the car formation, and t' 1 Adjusting the time, t ', of the deceleration phase after insertion formation for vehicles' 2 Adjusting the time, X, of the acceleration phase after insertion formation for vehicles 1 Decelerating the driving distance X for the head vehicle of the vehicle formation 2 Accelerating the driving distance of the head vehicle for the vehicle formation;
(2) If the vehicle X is inserted between the vehicles in the original vehicle formation C, calculating the total formation adjustment time t' after the vehicle is inserted and the longitudinal control acceleration and deceleration of the vehicle X by using the following calculation formula:
t′＝t′ 1 +t′ 2
V m t′-(X 1 +X 2 )＝2L-2d h
wherein a is a For maximum longitudinal acceleration limited by road safety and comfort, a s For maximum longitudinal deceleration limited by road safety and comfort, V' 0 X is the minimum speed of the head car after the head car is decelerated 1 Decelerating the driving distance X for the head vehicle of the vehicle formation 2 Accelerating the driving distance, V ', of the head vehicle for vehicle formation' 0x A is the minimum speed of the vehicle X after deceleration ax For vehicle X acceleration, a sx Deceleration of the vehicle X;
(3) If the vehicle X is inserted into the current vehicle formation C and then becomes a tail car, the following calculation formula is used to calculate the total adjustment time t' of the vehicle formation:
t＝t′ 1 +t′ 2
V m t'-(X 1 +X 2 )＝L d -d h -L
wherein a is a For maximum longitudinal acceleration limited by road safety and comfort, a s For maximum longitudinal deceleration limited by road safety and comfort, V' 0 The minimum speed of the head car after the head car is decelerated is t' is the total adjustment time of the car formation, X 1 Decelerating the driving distance X for the head vehicle of the vehicle formation 2 Accelerating the driving distance L for the head car of the vehicle formation d The distance between the vehicle X and the vehicle formation C tail car head is the distance between the vehicle X and the vehicle formation C tail car head for requesting lane change.
2. The method according to claim 1, characterized in that: in the step 1, environmental information of a vehicle formation passing road section is obtained, including the movement status data of a lane line, formation vehicles and vehicles requesting lane change, so as to determine the lane width l, and the maximum speed limit V of the current road m Vehicle X running speed V requesting lane change x Current vehicle formation C-head vehicle C 1 Along lane line heading coordinate x 1 X coordinate X of vehicle with requested lane change x Difference d of 0 。
3. The method according to claim 1, characterized in that: the step 3 is realized as follows:
(1) When the vehicle X is in front of the current vehicle formation C and becomes a head vehicle, the acceleration required for requesting a lane change vehicle is calculated using the following formula:
S＝V m t+2L-d
(2) When vehicle X is inserted into the vehicle formation ith vehicle and (i+1) th vehicle C i And C i+1 The acceleration required by the vehicle requesting lane change is calculated by the following formula:
D＝D 1 +D 2
t＝t 1 +t 2
V m t-(D 1 +D 2 )＝3L
S＝V x t-2L+n(L+d)+d
(3) When the current vehicle formation C is inserted and becomes a tail car, the acceleration required by the vehicle requesting lane change is calculated by the following formula:
S＝V m t+d 0 -(n+1)L-(n-1)d
wherein a is x To request the acceleration required by the lane change vehicle, a a For maximum longitudinal acceleration limited by road safety and comfort, a s For maximum longitudinal deceleration limited by road safety and comfort, V 0 Is the minimum speed of the vehicle after deceleration, t 1 Time, t, is adjusted for the deceleration phase of the formation of vehicles 2 Adjusting time for acceleration stage of vehicle formation, t is total adjustment time of vehicle formation, D 1 In the adjustment time for the (i+1) th vehicle and the following vehiclesDistance travelled in deceleration stage D 2 The driving distance of the (i+1) th vehicle and the following vehicle in the acceleration stage in the adjustment time is D, the total driving distance of the (i+1) th vehicle and the following vehicle in the adjustment time is S, the driving distance of the vehicle X requesting lane change meeting the safety lane change condition is S, and n is the number of vehicles in the vehicle formation C.
4. The method according to claim 1, characterized in that: the step 4 is realized as follows:
(1) The lane change vehicle X carries out the longitudinal control of the vehicle movement according to the step 3 and simultaneously carries out the lateral side control, so that the vehicle body of the lane change vehicle X is tangent with a lane line in the vehicle formation adjustment time, and the lateral acceleration a of the vehicle requiring lane change is calculated l The vehicle controls acceleration in the longitudinal direction while controlling the lateral direction with the following calculation formula:
wherein l is the lane width, W is the standard body width of the lane change autopilot vehicle, a l For a lateral maximum acceleration limited by road safety and comfort, t is the total adjustment time of the vehicle formation;
(2) After the lane change vehicle X body is tangent with the lane line in the vehicle formation adjustment time, enabling the lane change vehicle X to reach the lane A central axis in the shortest time, wherein the vehicle lane change time is as follows:
τ＝τ 1 +τ 2
wherein τ 1 To request lane change vehicle lateral control acceleration time τ 2 For transversely controlling the deceleration time of the vehicle requesting lane change, τ is the lane change of the vehicle requesting lane changeTime, a l For maximum lateral acceleration limited by road safety and comfort, a m For a lateral maximum deceleration limited by road safety and comfort, t is the total adjustment time for the vehicle platoon.
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