CN115662188A - Obstacle avoidance system for vehicles running in queue - Google Patents
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Abstract
The invention discloses an obstacle avoidance system of a queue running vehicle, which is divided into four modules in order to solve the problem of avoiding obstacles in the queue running process: the system comprises a vehicle classification module, an information acquisition module, an obstacle avoidance condition judgment module and an obstacle avoidance execution module; the vehicle classification module classifies the queue vehicles into four types; the information acquisition module acquires information of each vehicle in the queue, acquires obstacle information and road traffic information, and transmits the acquired vehicle information and environmental information according to a specific rule; the obstacle avoidance condition judging module judges whether three obstacle avoidance conditions are met or not according to the obstacle information; and the obstacle avoidance executing module executes different obstacle avoidance schemes according to different obstacle avoidance conditions.
Description
Technical Field
The invention relates to the field of queue driving, in particular to an obstacle avoidance system of a queue driving vehicle.
Background
The queue travel refers to a case where vehicles travel while following a leading vehicle, and the queue travel vehicles transmit and receive various kinds of travel information to control the speed of the vehicles and the inter-vehicle interval between the vehicles through vehicle-to-vehicle communication, thereby allowing the vehicles to maintain a certain distance between the vehicles. The queue running has great commercial value on the commercial vehicles, and the queue running test of the commercial vehicles is continuously developed in various countries.
When a vehicle running in a queue encounters an obstacle in the running process, in order to improve the obstacle avoidance capability of the vehicle running in the queue and ensure the safety of the queue, surrounding vehicles and pedestrians, an obstacle avoidance method for the vehicle running in the queue needs to be provided urgently, so that the vehicle running in the queue avoids the surrounding obstacle, and safe and reliable queue running is realized.
Disclosure of Invention
The embodiment of the invention provides an obstacle avoidance system for vehicles running in a queue, which can reasonably avoid obstacles when the vehicles running in the queue meet obstacle avoidance conditions, and improve the safety and reliability of running in the queue.
In order to achieve the above purpose, the invention provides the following technical scheme:
a queue running vehicle obstacle avoidance system is divided into four modules, namely a vehicle classification module, an information acquisition module, an obstacle avoidance condition judgment module and an obstacle avoidance execution module;
the vehicle classification module classifies the vehicles into four types of A, B, C and D, wherein the type A vehicle is the vehicle at the forefront of the queue and is mainly responsible for acquiring road traffic information and planning a queue traveling route, the type B vehicle is the vehicle at the rearmost of the queue and is mainly responsible for acquiring the road traffic information, the type C vehicle is the vehicle positioned between the type A vehicle and the type B vehicle and is responsible for following and acquiring the road traffic information, and the type D vehicle is the vehicle which is separated from the queue and independently travels; when the position of the queue of the vehicle changes in the driving process, different vehicle types can be switched according to the position;
the information acquisition module is mainly used for acquiring information of each vehicle in the queue, acquiring barrier information and road traffic information, and transmitting the acquired vehicle information and the acquired environment information according to a specific rule; the transmission rules of the vehicle information and the environment information comprise that a type B vehicle and a type C vehicle acquire the environment information, the self vehicle information transmits the acquired environment information to the type A vehicle, the type A vehicle comprehensively acquires the vehicle information and the environment information to determine a queue driving state and a current queue traffic state, the type A vehicle judges an obstacle avoidance condition and determines an obstacle avoidance scheme when detecting an obstacle, and the type A vehicle sends obstacle avoidance operation information to the type B vehicle and the type C vehicle before the queue executes the obstacle avoidance scheme; when a vehicle is separated from the queue, the separated vehicle is disconnected from the queue vehicle, meanwhile, the vehicle is switched to a D type vehicle, and the original queue is reclassified according to the position of the queue vehicle; when D-type vehicles join the queue, a queue entering request can be sent to A-type vehicles in the queue, the vehicles can join the queue after the request passes, and the types of the vehicles are switched according to the position of the queue; when the queues are combined, the queue at the forefront is regarded as a main queue, the other queues are regarded as sub-queues, the A type vehicles of the sub-queues send enqueue requests to the A type vehicles of the main queue, the requests are added into the main queue through the rear sub-queues, and the types of the vehicles are switched according to the positions of the merged vehicles and the queues.
Obstacle avoidance condition judgment module includes: the method comprises the following steps that a region from the head of a type A vehicle to the tail of a type B vehicle is called a queue region, an obstacle with the moving speed lower than the running speed of a queue running vehicle is regarded as a relatively low-speed obstacle, a current lane of which the queue does not start obstacle avoidance is regarded as a main lane, a static or relatively low-speed obstacle existing in the main lane is regarded as a main lane obstacle, obstacles on two lanes at two sides are regarded as side lane obstacles, and when the front main lane obstacle is detected, an obstacle avoidance condition judgment module is accessed to perform corresponding obstacle avoidance operation according to the different obstacle avoidance conditions; the method comprises the following three obstacle avoidance conditions, wherein the first obstacle avoidance condition is that a main lane obstacle exists in the front, at least one of lanes on two sides has no side lane obstacle in a preset range, and when only one lane exists, one side without lanes is regarded as a continuous and static side lane obstacle; the second obstacle avoidance condition is that a main lane obstacle exists in the front, and moving side lane obstacles exist in lanes on two sides in a preset range; if the conditions are not met, determining as a third obstacle avoidance condition; the preset range is a bounded area which takes the head part of the type A vehicle as a starting point and extends towards the driving direction of the type A vehicle, and the length of the preset range is half of the length of the queue area;
keep away barrier execution module includes: after obtaining the information of the main lane obstacle, setting two obstacle avoidance distances which are respectively a first set distance L1 and a second set distance L2, wherein the first set distance L1 is the distance between the queue running vehicle and the main lane obstacle when the queue running vehicle starts changing lanes, the second set distance L2 is the distance between the queue running vehicle and the main lane obstacle when the queue running vehicle returns to the main lane, and the obstacle avoidance distance changes in a certain relation with the vehicle condition and the road condition;
setting three obstacle avoidance schemes according to different satisfied obstacle avoidance conditions, executing the first obstacle avoidance scheme when the first obstacle avoidance condition is satisfied, wherein the first obstacle avoidance scheme is a total queue obstacle avoidance scheme, namely, taking the whole queue as a whole to avoid obstacles, and executing different total queue sub-obstacle avoidance schemes according to obstacle information of a main lane, and the first obstacle avoidance scheme specifically comprises three types of total queue sub-obstacle avoidance schemes; when a second obstacle avoidance condition is met, executing a second obstacle avoidance scheme, wherein the scheme is a queue-by-queue obstacle avoidance scheme, namely different queues are divided according to the specific information of obstacles on the side lanes, and the queues are combined into the same queue after obstacle avoidance is finished; when a third obstacle avoidance condition is met, executing a third obstacle avoidance scheme, namely adopting a method of reducing driving force or braking to reduce the speed of the vehicle, keeping a safe distance between the vehicles running in the queue and the obstacle of the main lane, simultaneously judging the obstacle avoidance condition, executing the first obstacle avoidance scheme when the first obstacle avoidance condition is met, executing the second obstacle avoidance scheme when the second obstacle avoidance condition is met, and according to the design, the first obstacle avoidance condition and the second obstacle avoidance condition cannot be met simultaneously; and when the first or second obstacle avoidance conditions are met, dividing the obstacle avoidance schemes into different sub-obstacle avoidance schemes according to the road and obstacle conditions.
The total queue obstacle avoidance scheme comprises the following steps: the type A vehicle changes the lane to the target lane at a first set speed at a first set distance L1, all the vehicles in the following queues follow the track of the type A vehicle, and the vehicle changes the lane to the target lane at the first set speed at the first set distance L1;
after the vehicle arrives at the target lane, different main queue sub-obstacle avoidance schemes are executed according to the length of the obstacle of the main lane and the speed requirements of the queue running vehicles, when the speed limit of the main lane meets the speed requirements of the queue running vehicles and the speed limit of the target lane does not meet the speed requirements of the queue running vehicles, a first main queue sub-obstacle avoidance scheme is executed, namely after the type A vehicles cross the obstacle, the type A vehicles return to the main lane at a second set speed at a second set distance L2, all the subsequent queue running vehicles follow the track of the type A vehicles and return to the main lane at the second set distance L2; when the speed limit of the main lane and the speed limit of the target lane both meet the requirement of the queue for driving, and the barrier length of the main lane exceeds the total length of the queue, executing a second main queue obstacle avoidance scheme, namely the type A vehicles continue to drive on the target lane, and the whole queue is switched to the target lane; when the speed limits of the main lane and the target lane both meet the requirement of queue driving and the length of a barrier of the main lane does not exceed the total length of the queue, executing a third total queue obstacle avoidance scheme, namely determining whether to return to the main lane according to the vehicle density of the target lane and the main lane in the environment monitoring range of the type A vehicles, setting the region from the head of the type A vehicles to the tail of the type B vehicles as a queue region, dividing the region from the front of the type A vehicles to the main lane and the target lane into three regions with the same length as the queue region, respectively forming a first region, a second region and a third region from near to far, numbering the vehicles in each region from 1, respectively called as number 1, number 2 and number N, wherein N is equal to the number of the vehicles in the region; calculating the vehicle density of the three areas and multiplying the vehicle density by corresponding coefficients respectively to obtain the comprehensive vehicle density of the main lane and the target lane, returning to the main lane when the comprehensive vehicle density of the main lane is lower than that of the target lane, not returning to the main lane when the comprehensive vehicle density of the target lane is lower than that of the main lane, wherein the comprehensive vehicle density formula is as follows,
ρ v ＝f 1 ·ρ 1 +f 2 ·ρ 2 +f 3 ·ρ 3
in the formula, ρ v Is the comprehensive vehicle density of the lane, f is the vehicle density coefficient, dimensionless value, the vehicle density coefficients of different areas are different, f 1 ＝1，f 2 ＝1.2，f 3 ＝0.9，ρ 1 Is the vehicle density, rho, in the area one 2 Is the vehicle density, rho, in region two 3 Is the vehicle density in zone three; the vehicle density calculation formula is as follows,
where ρ is the vehicle density in the region, l i Is the length of the ith vehicle in the area, L is the length of the queue area, m j Is a length coefficient, a dimensionless value, derived from vehicle lengthDetermining the degree; when the length of the vehicle is not more than 5 m, m j =1; when the length of the vehicle is more than 5 m and not more than 10 m, m j =0.9; when the length of the vehicle is more than 10 meters and not more than 15 meters, m is j =0.85; when the length of the vehicle is more than 15 meters, m j ＝0.8。
The sub-queue obstacle avoidance scheme comprises the following steps: dividing the queue area into a front area, a middle area and a rear area which are equal in length, respectively calculating the vehicle density of the main lane queue and the vehicle density of the front area, the middle area and the rear area of the two side lanes according to a vehicle density calculation formula, marking different states according to different vehicle densities of each area of the two side lanes, marking a crowded state when the vehicle density of the area exceeds the vehicle density of the queue, marking a normal state when the vehicle density of the area is less than the vehicle density of the queue and is more than one third of the vehicle density of the queue, and marking a smooth state when the vehicle density of the area is less than one third of the vehicle density of the queue;
when the area state is crowded, the lane change to the lanes on the two sides of the corresponding area can not be performed; when the area state is normal, changing lanes to lanes on two sides of the area in sequence; when the area state is smooth, the lane can be changed in a queue according to the distance and the position of the moving barriers of the lanes on the two sides; different sub-queue modes can be selected according to the state combination of different areas.
When the number of the areas in the unblocked state in the three areas is not less than 2, splitting the current queue according to the distance and the position of the barriers of the side lanes, newly classifying vehicles in each split queue after the splitting, then changing lanes to the lanes on the two sides, and selecting whether the queues dispersed to the lanes on the two sides are merged with the front queue according to the real-time road traffic condition;
in addition to the above, when the area in the normal state or the clear state is not less than 2 and the front area is not in the crowded state among the three areas, the type a vehicles are separated from the current queue at a distance of 50 meters from the first set distance, the type a vehicles are switched to type D vehicles and autonomously determine an obstacle avoidance route, the first vehicle in the original queue is switched to the type a vehicles and continues to run, the type a vehicles in the original queue are separated from the original queue to type D vehicles when reaching 50 meters from the first set distance, and whether to form a queue with the front vehicle is determined according to the current road traffic condition, if the queue is formed, the front vehicle is followed and the vehicles are classified according to the vehicle classification module, if the queue is not formed, the obstacle avoidance route is autonomously determined, and the vehicles in the subsequent original queue perform obstacle avoidance according to the above method;
when the three area states do not meet the first two conditions, the queue can not pass through lane changing and obstacle avoidance, braking or deceleration measures are adopted to keep the safe distance between the queue and the main lane obstacle, and obstacle avoidance operation is carried out when the two conditions are met;
after the vehicles in the three condition queues successfully avoid the obstacle, the vehicles return to the main lane when reaching the second obstacle avoidance distance L2, form a new queue according to the vehicle configuration and the front-back sequence, and are classified by the vehicle classification module.
The first set distance and the second set distance include: the first set distance L1 is the distance between the queue running vehicle and the obstacle of the main lane when the queue running vehicle starts changing lanes, and the calculation formula is as follows,
in the formula, v 1 At a first set speed, t 1 Time taken for changing lane for type A vehicle, phi 1 The yaw angle when changing lanes for type A vehicles, v 0 The speed of the main lane obstacle is a maximum braking deceleration obtained according to the braking force of a type A vehicle brake, delta is a safe distance coefficient, is free of dimensional value and is influenced by road conditions, and when the road conditions meet the requirement of the maximum braking deceleration a, the minimum value of delta is 1;
the second set distance L2 is the distance between the queue vehicle and the obstacle of the main lane when the queue vehicle returns to the main lane, and the calculation formula is as follows,
in the formula, v 2 At a second set speed, t 2 Time taken for changing lane for type A vehicle, phi 2 Is the yaw angle when the type A vehicle changes lanes.
The obstacle avoidance method for the vehicles running in the queue provided by the embodiment of the invention has the following advantages or beneficial effects: according to the method, the queue vehicles are classified, the implementation of the obstacle avoidance scheme is facilitated, the influence of the obstacle characteristics and the road traffic state is considered in the process of selecting the obstacle avoidance scheme, the obstacle speed and the queue vehicle performance factors are considered in the process of obstacle avoidance, the safety of the queue running vehicles in the process of obstacle avoidance is improved, and the execution of the obstacle avoidance scheme is also guaranteed.
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In the drawings, like reference numerals refer to the same or similar parts or elements throughout the several views unless otherwise specified. The figures are not necessarily to scale. The invention will be further described with reference to the following examples and drawings, in which:
FIG. 1 is a schematic diagram of region division according to the present invention.
FIG. 2 is a schematic diagram of the setting distance according to the present invention.
FIG. 3 is a schematic flow chart of the system of the present invention.
Fig. 4 is a flowchart of an obstacle avoidance determining module and an obstacle avoidance executing module according to the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is further described in detail with reference to the following examples. It should be understood that the following specific examples are illustrative only and are not intended to limit the invention.
Referring to fig. 1, the obstacle avoidance system for vehicles running in a queue comprises a vehicle classification module, an information acquisition module, an obstacle avoidance condition judgment module and an obstacle avoidance execution module;
the vehicle classification module classifies the vehicles into four types of A, B, C and D, wherein the type A vehicle is the vehicle at the forefront of the queue and is mainly responsible for acquiring road traffic information and planning a queue travel route, the type B vehicle is the vehicle at the rearmost of the queue and is mainly responsible for acquiring the road traffic information, the type C vehicle is the vehicle positioned between the type A vehicle and the type B vehicle and is responsible for following and acquiring the road traffic information, and the type D vehicle is the vehicle which is separated from the queue and independently runs; when the queue position changes during the running process of the vehicle, different vehicle types can be switched according to the position.
The information acquisition module is mainly used for acquiring information of each vehicle in the queue, acquiring obstacle information and road traffic information, and transmitting the acquired vehicle information and environment information in the following modes: the method comprises the steps that environment information is collected by a type B vehicle and a type C vehicle, the collected environment information is transmitted to the type A vehicle by the vehicle information of the type B vehicle and the vehicle information of the type C vehicle, the type A vehicle comprehensively collects the collected vehicle information and the environment information to determine a queue driving state and a current queue traffic state, obstacle avoidance condition judgment and obstacle avoidance scheme determination are carried out when the type A vehicle detects an obstacle, and before the queue executes the obstacle avoidance scheme, the type A vehicle sends obstacle avoidance operation information to the type B vehicle and the type C vehicle; when a vehicle is separated from the queue, the separated vehicle is disconnected from the queue vehicle, meanwhile, the separated vehicle is switched to a D type vehicle, and the original queue is reclassified according to the position of the queue vehicle; when a D-type vehicle joins the queue, a queuing request can be sent to the A-type vehicle of the queue, the vehicle joins the queue after the request passes through, and the vehicle type is switched according to the position of the queue; when the queues are combined, the queue at the forefront is regarded as a main queue, the other queues are regarded as sub-queues, A type vehicles of the sub-queues send enqueue requests to A type vehicles of the main queue, the requests are added into the main queue through the rear sub-queues, and the types of the vehicles are switched according to the positions of the merged vehicles.
Obstacle avoidance condition judgment module includes: the method comprises the steps that the area from the head of a type A vehicle to the tail of a type B vehicle is called a queue area, an obstacle with the moving speed smaller than the running speed of a queue running vehicle is regarded as a relatively low-speed obstacle, the current lane of which the queue does not start obstacle avoidance is regarded as a main lane, the static or relatively low-speed obstacle existing in the main lane is regarded as a main lane obstacle, the obstacles on two side lanes are regarded as side lane obstacles, when the front main lane obstacle is detected, the obstacle avoidance condition judgment module is accessed, and corresponding obstacle avoidance operation is carried out according to the different obstacle avoidance conditions; the method comprises the following three obstacle avoidance conditions, wherein the first obstacle avoidance condition is that a main lane obstacle exists in the front, at least one of lanes on two sides has no side lane obstacle in a preset range, and when only one lane exists, one side without lanes is regarded as a continuous and static side lane obstacle; the second obstacle avoidance condition is that a main lane obstacle exists in the front, and moving side lane obstacles exist in lanes on two sides in a preset range; if the conditions are not met, the obstacle avoidance system is regarded as a third obstacle avoidance condition; the preset range is a bounded area which takes the head part of the type A vehicle as a starting point and extends towards the driving direction of the type A vehicle, and the length of the preset range is half of the length of the queue area;
keep away barrier execution module includes: setting three obstacle avoidance schemes according to different satisfied obstacle avoidance conditions, executing the first obstacle avoidance scheme when the first obstacle avoidance condition is satisfied, wherein the first obstacle avoidance scheme is a total queue obstacle avoidance scheme, namely, avoiding obstacles by taking the whole queue as a whole, and executing different total queue sub-obstacle avoidance schemes according to obstacle information of a main lane, and specifically comprises three types of total queue sub-obstacle avoidance schemes; when a second obstacle avoidance condition is met, executing a second obstacle avoidance scheme, wherein the scheme is a queue-by-queue obstacle avoidance scheme, namely different queues are divided according to the specific information of obstacles on the side lanes, and the queues are combined into the same queue after obstacle avoidance is finished; when a third obstacle avoidance condition is met, executing a third obstacle avoidance scheme, namely adopting a method of reducing driving force or braking to reduce the speed of the vehicle, keeping a safe distance between the vehicles running in the queue and the obstacle of the main lane, simultaneously judging the obstacle avoidance condition, executing a first obstacle avoidance scheme when the first obstacle avoidance condition is met, executing a second obstacle avoidance scheme when the second obstacle avoidance condition is met, and according to design, the first obstacle avoidance condition and the second obstacle avoidance condition cannot be met simultaneously; and when the first or second obstacle avoidance conditions are met, dividing the obstacle avoidance schemes into different sub-obstacle avoidance schemes according to the conditions of the road and the obstacle according to each obstacle avoidance scheme.
Referring to fig. 2, the queuing area is an area from the head of the type a vehicle to the tail of the type B vehicle, and is divided into three areas with the same length as the queuing area on a main road in the front of the type a vehicle and a target lane, wherein the three areas are respectively a first area, a second area and a third area from near to far, the target lane is any one of two lanes, and the queuing area is divided into three areas with the same length on the two lanes.
Referring to fig. 3, after obtaining obstacle information of a main lane, a type a vehicle sets two obstacle avoidance distances, namely a first set distance L1 and a second set distance L2, wherein the first set distance L1 is a distance between the vehicle in the queue and the obstacle of the main lane when the vehicle in the queue starts to change lanes, the second set distance L2 is a distance between the vehicle in the queue and the obstacle of the main lane when the vehicle in the queue returns to the main lane, and the obstacle avoidance distance changes in a certain relation with the vehicle condition and the road condition; the first set distance L1 is calculated as follows,
in the formula, v 1 Is a first set speed, t 1 Time taken for changing lane for type A vehicle, phi 1 Is the yaw angle, v, of type A vehicles during lane change 0 The speed of the main lane obstacle is a maximum braking deceleration obtained according to the braking force of the A type vehicle brake, delta is a safe distance coefficient, is a dimensionless value and is influenced by road conditions, and when the road conditions meet the requirement of the maximum braking deceleration a, the minimum value of the delta is 1;
the second set distance L2 is calculated as follows,
in the formula, v 2 At a second set speed, t 2 Time taken for changing lane for type A vehicle, phi 2 Is the yaw angle of the type A vehicle when changing lanes.
Referring to fig. 4, the total queue obstacle avoidance scheme includes: changing the lane of the type A vehicle to a target lane at a first set speed at a first set distance L1, and changing the lane of all subsequent vehicles in the queue to the target lane at the first set speed at the first set distance L1 after following the track of the type A vehicle; after the vehicle arrives at the target lane, different main queue sub-obstacle avoidance schemes are executed according to the length of the obstacle of the main lane and the queue driving requirements, when the speed limit of the main lane meets the speed requirements of the queue driving vehicles and the speed limit of the target lane does not meet the speed requirements of the queue driving vehicles, a first main queue sub-obstacle avoidance scheme is executed, namely after the type A vehicles cross the obstacle, the type A vehicles return to the main lane at a second set speed at a second set distance L2, all the subsequent queue driving vehicles follow the track of the type A vehicles, and return to the main lane at the second set distance L2; when the speed limit of the main lane and the speed limit of the target lane both meet the requirement of the queue for driving, and the barrier length of the main lane exceeds the total length of the queue, executing a second main queue obstacle avoidance scheme, namely the type A vehicles continue to drive on the target lane, and the whole queue is switched to the target lane; when the speed limit of the main lane and the speed limit of the target lane both meet the running requirement of the queue, and the length of the obstacle of the main lane does not exceed the total length of the queue, executing a third total queue obstacle avoidance scheme, namely determining whether to return to the main lane according to the vehicle density of the target lane and the main lane in the environment monitoring range of the type A vehicles, respectively numbering the vehicles in the first area, the second area and the third area from 1, respectively as the number 1, the number 2 and the number N until the number N, wherein N is equal to the number of the vehicles in the areas, calculating the vehicle density of the three areas and respectively multiplying the vehicle density by corresponding coefficients to obtain the comprehensive vehicle density of the main lane and the target lane, returning to the main lane when the comprehensive vehicle density of the main lane is lower than that of the target lane, not returning to the main lane when the comprehensive vehicle density of the target lane is lower than that of the main lane, wherein the comprehensive vehicle density formula is as follows,
ρ v ＝f 1 ·ρ 1 +f 2 ·ρ 2 +f 3 ·ρ 3
in the formula, ρ v Is the comprehensive vehicle density of the lane, f is the vehicle density coefficient, and has no dimension value, and the vehicle density coefficients of different areas are different, f 1 ＝1，f 2 ＝1.2，f 3 ＝0.9，ρ 1 Is the vehicle density, rho, in the area one 2 Is the vehicle density, rho, in region two 3 Is the vehicle density in zone three; the vehicle density calculation formula is as follows,
where ρ is the vehicle density in the region, l i Is the length of the ith vehicle in the area, L is the length of the queue area, m j Is a length coefficient, a dimensionless value, determined by the vehicle length; when the length of the vehicle is not more than 5 m, m j =1; when the length of the vehicle is more than 5 m and not more than 10 m, m j =0.9; when the length of the vehicle is more than 10 meters and not more than 15 meters, m is j =0.85; when the length of the vehicle is more than 15 meters, m j ＝0.8。
The sub-queue obstacle avoidance scheme comprises the following steps: respectively calculating the vehicle density of the main lane queue and the vehicle densities of the front, middle and rear areas of the lanes on two sides according to a vehicle density calculation formula, marking different states according to different vehicle densities of each area of the lanes on two sides, marking a crowded state when the vehicle density of the area exceeds the vehicle density of the queue, marking a normal state when the vehicle density of the area is less than the vehicle density of the queue and is greater than one third of the vehicle density of the queue, and marking a smooth state when the vehicle density of the area is less than one third of the vehicle density of the queue; when the area state is crowded, the lane change to the lanes on the two sides of the corresponding area can not be performed; when the area state is normal, the lane change can be sequentially carried out on the lanes on the two sides of the area; when the area state is smooth, the lane can be changed in a queue according to the distance and the position of the moving barriers of the lanes on the two sides; different sub-queue modes can be selected according to the state combination of different areas.
The combination of the states according to different areas can select different sub-queue modes, including: when the number of the areas in the unblocked state in the three areas is not less than 2, splitting the current queue according to the distance and the position of the barriers of the side lanes, newly classifying vehicles in each split queue after the splitting, then changing lanes to the lanes on the two sides, and selecting whether the queues dispersed to the lanes on the two sides are merged with the front queue according to the real-time road traffic condition; in addition to the above, when the area in the normal state or the clear state is not less than 2 and the front area is not in the crowded state among the three areas, the type a vehicles are separated from the current queue at a distance of 50 meters from the first set distance, the type a vehicles are switched to type D vehicles and autonomously determine an obstacle avoidance route, the first vehicle in the original queue is switched to the type a vehicles and continues to run, the type a vehicles in the original queue are separated from the original queue to type D vehicles when reaching 50 meters from the first set distance, and whether to form a queue with the front vehicle is determined according to the current road traffic condition, if the queue is formed, the front vehicle is followed and the vehicles are classified according to the vehicle classification module, if the queue is not formed, the obstacle avoidance route is autonomously determined, and the vehicles in the subsequent original queue perform obstacle avoidance according to the above method; when the three area states do not meet the first two conditions, the queues cannot pass lane changing and obstacle avoidance, braking or deceleration measures are adopted to keep the queues and the main lane obstacles at a safe distance, and obstacle avoidance operation is carried out when the two conditions are met; after the vehicles in the three condition queues successfully avoid the obstacle, the vehicles return to the main lane when reaching the second obstacle avoidance distance L2, form a new queue according to the vehicle configuration and the front-back sequence, and are classified by the vehicle classification module.
While embodiments of the invention have been described above, it is not intended to be limited to the details shown, described and illustrated herein, but is to be accorded the widest scope consistent with the principles and novel features herein disclosed, and to such extent that such modifications are readily available to those skilled in the art, and it is not intended to be limited to the details shown and described herein without departing from the general concept as defined by the appended claims and their equivalents.
Claims (6)
1. An obstacle avoidance system for a vehicle traveling in a formation, comprising:
this obstacle avoidance system can be divided into four modules: the system comprises a vehicle classification module, an information acquisition module, an obstacle avoidance condition judgment module and an obstacle avoidance execution module;
the vehicle classification module classifies the vehicles into four types of A, B, C and D, wherein the type A vehicle is the vehicle at the forefront of the queue and is mainly responsible for acquiring road traffic information and planning a queue traveling route, the type B vehicle is the vehicle at the rearmost of the queue and is mainly responsible for acquiring the road traffic information, the type C vehicle is the vehicle positioned between the type A vehicle and the type B vehicle and is responsible for following and acquiring the road traffic information, and the type D vehicle is the vehicle which is separated from the queue and independently travels; when the position of the queue of the vehicle changes in the driving process, different vehicle types can be switched according to the position;
the information acquisition module is mainly used for acquiring information of each vehicle in the queue, acquiring barrier information and road traffic information, and transmitting the acquired vehicle information and the acquired environment information according to a specific rule;
obstacle avoidance condition judgment module includes:
the method comprises the steps that the area from the head of a type A vehicle to the tail of a type B vehicle is called a queue area, an obstacle with the moving speed smaller than the running speed of a queue running vehicle is regarded as a relatively low-speed obstacle, the current lane of which the queue does not start obstacle avoidance is regarded as a main lane, the static or relatively low-speed obstacle existing in the main lane is regarded as a main lane obstacle, the obstacles on two side lanes are regarded as side lane obstacles, when the front main lane obstacle is detected, the obstacle avoidance condition judgment module is accessed, and corresponding obstacle avoidance operation is carried out according to the different obstacle avoidance conditions; the method comprises the following three obstacle avoidance conditions, wherein the first obstacle avoidance condition is that a main lane obstacle exists in the front, at least one of lanes on two sides has no side lane obstacle in a preset range, and when only one lane exists, one side without lanes is regarded as a continuous and static side lane obstacle; the second obstacle avoidance condition is that a main lane obstacle exists in the front, and moving side lane obstacles exist in lanes on two sides in a preset range; if the conditions are not met, the obstacle avoidance system is regarded as a third obstacle avoidance condition; the preset range is a bounded area which takes the head part of the type A vehicle as a starting point and extends towards the driving direction of the type A vehicle, and the length of the preset range is half of the length of the queue area;
keep away barrier execution module includes:
after obtaining the information of the main lane obstacle, setting two obstacle avoidance distances which are respectively a first set distance L1 and a second set distance L2, wherein the first set distance L1 is the distance between the queue running vehicle and the main lane obstacle when the queue running vehicle starts changing lanes, the second set distance L2 is the distance between the queue running vehicle and the main lane obstacle when the queue running vehicle returns to the main lane, and the obstacle avoidance distance changes in a certain relation with the vehicle condition and the road condition;
setting three obstacle avoidance schemes according to different satisfied obstacle avoidance conditions, executing the first obstacle avoidance scheme when the first obstacle avoidance condition is satisfied, wherein the first obstacle avoidance scheme is a total queue obstacle avoidance scheme, namely, avoiding obstacles by taking the whole queue as a whole, and executing different total queue sub-obstacle avoidance schemes according to obstacle information of a main lane, and specifically comprises three types of total queue sub-obstacle avoidance schemes; when a second obstacle avoidance condition is met, executing a second obstacle avoidance scheme, wherein the scheme is a sub-queue obstacle avoidance scheme, namely different sub-queues are divided according to specific information of obstacles on a side lane, and the sub-queues are combined into a same queue after obstacle avoidance is finished; when a third obstacle avoidance condition is met, executing a third obstacle avoidance scheme, namely adopting a method of reducing driving force or braking to reduce the speed of the vehicle, keeping a safe distance between the vehicles running in the queue and the obstacle of the main lane, simultaneously judging the obstacle avoidance condition, executing a first obstacle avoidance scheme when the first obstacle avoidance condition is met, executing a second obstacle avoidance scheme when the second obstacle avoidance condition is met, and according to design, the first obstacle avoidance condition and the second obstacle avoidance condition cannot be met simultaneously; and when the first or second obstacle avoidance conditions are met, dividing the obstacle avoidance schemes into different sub-obstacle avoidance schemes according to the conditions of the road and the obstacle according to each obstacle avoidance scheme.
2. The obstacle avoidance system for vehicles running on a queue according to claim 1, wherein the transmitting the acquired vehicle information and the environmental information according to a specific rule comprises:
the method comprises the following steps that a type-B vehicle and a type-C vehicle acquire environmental information and transmit self vehicle information and the acquired environmental information to the type-A vehicle, the type-A vehicle comprehensively acquires the vehicle information and the environmental information to determine a queue driving state and a current queue traffic state, an AA vehicle judges obstacle avoidance conditions and determines an obstacle avoidance scheme when detecting an obstacle, and before the queue executes the obstacle avoidance scheme, the type-A vehicle sends obstacle avoidance operation information to the type-B vehicle and the type-C vehicle; when a vehicle is separated from the queue, the separated vehicle is disconnected from the queue vehicle, meanwhile, the separated vehicle is switched to a D type vehicle, and the original queue is reclassified according to the position of the queue vehicle; when a D-type vehicle joins the queue, a queuing request can be sent to the A-type vehicle of the queue, the vehicle joins the queue after the request passes through, and the vehicle type is switched according to the position of the queue; when the queues are combined, the queue at the forefront is regarded as a main queue, the other queues are regarded as sub-queues, A type vehicles of the sub-queues send enqueue requests to A type vehicles of the main queue, the requests are added into the main queue through the rear sub-queues, and the types of the vehicles are switched according to the positions of the merged vehicles.
3. The obstacle avoidance system for vehicles running on a train as claimed in claim 1, wherein the general train obstacle avoidance scheme comprises:
changing the lane of the type A vehicle to a target lane at a first set speed at a first set distance L1, and changing the lane of all subsequent vehicles in the queue to the target lane at the first set speed at the first set distance L1 after following the track of the type A vehicle;
after the vehicle arrives at the target lane, different main queue sub-obstacle avoidance schemes are executed according to the length of the obstacle of the main lane and the speed requirements of the queue running vehicles, when the speed limit of the main lane meets the speed requirements of the queue running vehicles and the speed limit of the target lane does not meet the speed requirements of the queue running vehicles, a first main queue sub-obstacle avoidance scheme is executed, namely after the type A vehicles cross the obstacle, the type A vehicles return to the main lane at a second set speed at a second set distance L2, all the subsequent queue running vehicles follow the track of the type A vehicles and return to the main lane at the second set distance L2; when the speed limit of the main lane and the speed limit of the target lane both meet the requirement of the queue for driving, and the barrier length of the main lane exceeds the total length of the queue, executing a second total queue obstacle avoidance scheme, namely, the type A vehicles continue to drive on the target lane, and the whole queue is switched to the target lane; when the speed limits of the main lane and the target lane both meet the requirement of queue driving and the length of a barrier of the main lane does not exceed the total length of the queue, executing a third total queue obstacle avoidance scheme, namely determining whether to return to the main lane according to the vehicle density of the target lane and the main lane in the environment monitoring range of the type A vehicles, setting the region from the head of the type A vehicles to the tail of the type B vehicles as a queue region, dividing the region from the front of the type A vehicles to the main lane and the target lane into three regions with the same length as the queue region, respectively forming a first region, a second region and a third region from near to far, numbering the vehicles in each region from 1, respectively called as number 1, number 2 and number N, wherein N is equal to the number of the vehicles in the region; calculating the vehicle density of the three areas and multiplying the vehicle density by corresponding coefficients respectively to obtain the comprehensive vehicle density of the main lane and the target lane, returning to the main lane when the comprehensive vehicle density of the main lane is lower than that of the target lane, not returning to the main lane when the comprehensive vehicle density of the target lane is lower than that of the main lane, wherein the comprehensive vehicle density formula is as follows,
ρ v ＝f 1 ·ρ 1 +f 2 ·ρ 2 + f 3 ·ρ 3
in the formula, ρ v Is the comprehensive vehicle density of the lane, f is the vehicle density coefficient, and has no dimension value, and the vehicle density coefficients of different areas are different, f 1 ＝1，f 2 ＝1.2，f 3 ＝0.9，ρ 1 Is the vehicle density, rho, in region one 2 Is the vehicle density, rho, in region two 3 Is vehicle density in zone three; the vehicle density calculation formula is as follows,
where ρ is the vehicle density in the region, l i Is the length of the ith vehicle in the area, L is the length of the queue area, m j Is a length coefficient, a dimensionless value, determined by the vehicle length; when the length of the vehicle is not more than 5 m, m j =1; when the length of the vehicle is more than 5 m and not more than 10 m, m j =0.9; when the length of the vehicle is more than 10 meters and not more than 15 meters, m is j =0.85; when the length of the vehicle is more than 15 meters, m j ＝0.8。
4. The obstacle avoidance system of the vehicles running on a train as claimed in claim 1, wherein the sub-train obstacle avoidance scheme comprises:
dividing the queue area into three equal-length areas, namely a front area, a middle area and a rear area, respectively calculating the vehicle density of the main lane queue and the vehicle density of the front area, the middle area and the rear area of the lanes on two sides according to a vehicle density calculation formula, marking different states according to different vehicle densities of each area of the lanes on two sides, marking a crowded state when the vehicle density of the area exceeds the vehicle density of the queue, marking a normal state when the vehicle density of the area is less than the vehicle density of the queue and is more than one third of the vehicle density of the queue, and marking a smooth state when the vehicle density of the area is less than one third of the vehicle density of the queue;
when the area state is crowded, the lane change to the lanes on the two sides of the corresponding area can not be performed; when the area state is normal, changing lanes to lanes on two sides of the area in sequence; when the area state is smooth, the lane can be changed in a queue according to the distance and the position of the moving barriers of the lanes on the two sides; different queue splitting modes can be selected according to the state combinations of different areas.
5. The obstacle avoidance system of the vehicles running in a queue according to claim 4, wherein different queue division modes can be selected according to the state combination of different areas, and the method comprises the following steps:
when the number of the areas in the unblocked state in the three areas is not less than 2, splitting the current queue according to the distance and the position of the barriers of the side lanes, newly classifying vehicles in each split queue after the splitting, then changing lanes to the lanes on the two sides, and selecting whether the queues dispersed to the lanes on the two sides are merged with the front queue according to the real-time road traffic condition;
in addition to the above, when the area in the normal state or the clear state is not less than 2 and the front area is not in the crowded state among the three areas, the type a vehicles are separated from the current queue at a distance of 50 meters from the first set distance, the type a vehicles are switched to type D vehicles and autonomously determine an obstacle avoidance route, the first vehicle in the original queue is switched to the type a vehicles and continues to run, the type a vehicles in the original queue are separated from the original queue to type D vehicles when reaching 50 meters from the first set distance, and whether to form a queue with the front vehicle is determined according to the current road traffic condition, if the queue is formed, the front vehicle is followed and the vehicles are classified according to the vehicle classification module, if the queue is not formed, the obstacle avoidance route is autonomously determined, and the vehicles in the subsequent original queue perform obstacle avoidance according to the above method;
when the three area states do not meet the first two conditions, the queues cannot pass lane changing and obstacle avoidance, braking or deceleration measures are adopted to keep the queues and the main lane obstacles at a safe distance, and obstacle avoidance operation is carried out when the two conditions are met;
after the vehicles in the three condition queues successfully avoid the obstacle, the vehicles return to the main lane when reaching the second obstacle avoidance distance L2, form a new queue according to the vehicle configuration and the front-back sequence, and are classified by the vehicle classification module.
6. The obstacle avoidance system for vehicles running on a train according to claim 1, wherein the first set distance and the second set distance comprise:
the first set distance L1 is the distance between the queue running vehicle and the obstacle of the main lane when the queue running vehicle starts changing lanes, and the calculation formula is as follows,
in the formula, v 1 At a first set speed, t 1 Time taken for changing lane for type A vehicle, phi 1 The yaw angle when changing lanes for type A vehicles, v 0 The speed of the main lane obstacle is a maximum braking deceleration obtained according to the braking force of the A type vehicle brake, delta is a safe distance coefficient, is a dimensionless value and is influenced by road conditions, and when the road conditions meet the requirement of the maximum braking deceleration a, the minimum value of the delta is 1;
the second set distance L2 is the distance between the queue vehicle and the obstacle of the main lane when the queue vehicle returns to the main lane, and the calculation formula is as follows,
in the formula, v 2 At a second set speed, t 2 Time taken for changing lane for type A vehicle, phi 2 Is the yaw angle of the type A vehicle when changing lanes.
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