CN116311863B - Intersection connection road section vehicle formation control method under automatic driving environment - Google Patents
Intersection connection road section vehicle formation control method under automatic driving environment Download PDFInfo
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- CN116311863B CN116311863B CN202211515827.7A CN202211515827A CN116311863B CN 116311863 B CN116311863 B CN 116311863B CN 202211515827 A CN202211515827 A CN 202211515827A CN 116311863 B CN116311863 B CN 116311863B
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/20—Monitoring the location of vehicles belonging to a group, e.g. fleet of vehicles, countable or determined number of vehicles
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/09—Arrangements for giving variable traffic instructions
- G08G1/0962—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages
- G08G1/0967—Systems involving transmission of highway information, e.g. weather, speed limits
- G08G1/096708—Systems involving transmission of highway information, e.g. weather, speed limits where the received information might be used to generate an automatic action on the vehicle control
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/09—Arrangements for giving variable traffic instructions
- G08G1/0962—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages
- G08G1/0967—Systems involving transmission of highway information, e.g. weather, speed limits
- G08G1/096708—Systems involving transmission of highway information, e.g. weather, speed limits where the received information might be used to generate an automatic action on the vehicle control
- G08G1/096725—Systems involving transmission of highway information, e.g. weather, speed limits where the received information might be used to generate an automatic action on the vehicle control where the received information generates an automatic action on the vehicle control
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/10—Internal combustion engine [ICE] based vehicles
- Y02T10/40—Engine management systems
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Abstract
The invention relates to a vehicle formation control method for a junction connection road section in an automatic driving environment, which is characterized in that each vehicle is numbered according to the sequence of entering the vehicles into two lanes of the connection road section, a lane head vehicle carries out queue longitudinal control on the vehicles which are numbered, a lane changing vehicle sends a lane changing request to a target lane head vehicle, the target lane head vehicle judges the insertion position of the lane changing vehicle according to the current state information of all vehicles and decision strategies and sends information to the lane changing vehicle and the original lane head vehicle, the lane head vehicle carries out first queue number change and queue longitudinal control, the lane head vehicle plans the expected track of the lane changing vehicle according to a Bezier curve, the lane head vehicle carries out second queue number change, and the steps are repeated until all vehicles finish the queue longitudinal control in the target lane or reach the upper limit of iteration times. The method effectively solves the problem that unreasonable formation of vehicles at the connecting road sections can cause congestion at adjacent intersections, and improves traffic efficiency.
Description
Technical Field
The disclosure belongs to the field of cooperative control of networked automatic driving vehicles, and particularly relates to a vehicle formation control method for an intersection connection road section in an automatic driving environment.
Background
Along with popularization and application of technologies such as the Internet of things, big data and artificial intelligence in the traffic field, related technologies of intelligent traffic systems are continuously developed, and intelligent vehicle-road cooperative systems with networking, intellectualization, cooperative and other characteristics become important means for solving the current road traffic safety, improving the traffic system passing efficiency and meeting the individual demands of people. The improvement of the efficiency of the vehicle formation serving as an important technical hot spot and a front-edge subject in the vehicle-road cooperative system can improve the flexibility and the passing efficiency of the vehicles in the road network to a great extent and reduce the emission of pollution.
The traditional formation control method is mainly focused on expressways and urban intersection scenes, and the intersection connecting road sections are also used as typical traffic scenes in urban structured roads, so that the urban road traffic capacity is greatly affected. The irrational formation of vehicles at the connection section may cause congestion at adjacent intersections and even cause serious accidents. In addition, the existing vehicle formation method researches single formation behaviors such as formation, formation maintenance, formation transformation and the like, organic combination of different formation behaviors is less considered, and effective connection of vehicle formation at an intersection and a connecting road section is difficult to realize.
Disclosure of Invention
The present disclosure is proposed based on the above-mentioned needs of the prior art, and the technical problem to be solved by the present disclosure is to provide a control method for vehicle formation on a junction connection road section in an automatic driving environment, which effectively solves the problem that the unreasonable vehicle formation on the connection road section may cause congestion at an adjacent junction, and improves the traffic efficiency.
In order to solve the above problems, the technical solution provided by the present disclosure includes:
The method for controlling the formation of vehicles on the junction connection road section in the automatic driving environment is characterized by comprising the following steps:
s1, numbering each vehicle according to the sequence of the vehicles entering two lanes of a connecting road section;
S2, the head-end vehicle of the lane carries out queue longitudinal control on the numbered vehicles;
S3, the lane change vehicle sends a lane change request to a target lane head vehicle, the target lane head vehicle judges the insertion position of the lane change vehicle according to the current state information of all vehicles and a decision strategy, and sends information to the lane change vehicle and an original lane head vehicle, the original lane is the lane where the lane change vehicle is positioned before lane change, the sent information comprises the insertion position information of the lane change vehicle,
The head-end vehicle of the lane carries out first time queue number change and queue longitudinal control, wherein the first time queue number change comprises that the original lane queue number is unchanged, and the target lane queue number is renumbered, comprising that the number of the vehicle after changing the lane is increased;
s4, planning an expected track of the lane change vehicle according to a Bezier curve, and transversely changing lanes of the lane change vehicle according to the expected track;
the head vehicles of the lane carry out a second queue number change, wherein the second queue number change comprises the reduction of the original lane queue number, and the rest vehicles are renumbered; the number of the target lane queue is unchanged;
S5, repeating the steps S2-S4 until all vehicles finish the queue longitudinal control in the target lane or reach the upper limit of the iteration times.
The method solves the problems that two vehicle queues in a connecting road section are orderly changed into two lines of orderly vehicle queues which run at expected speed and expected inter-vehicle distance from unordered state and are distributed on a target lane.
Preferably, the queue longitudinal control includes: s21, dividing two adjacent vehicles in each motorcade into a group of piloted following motorcades, wherein the following vehicles in the former group are taken as the piloted vehicles of the latter group; s22, each vehicle behind the head vehicle is used as a following vehicle of the front vehicle and a pilot vehicle of the rear vehicle to carry out queue coordination control, so that a desired stable vehicle team is formed; s23, longitudinally controlling each vehicle in the queue through a PID controller, wherein the longitudinally controlling comprises controlling the displacement, the speed and the acceleration of the vehicle.
Preferably, the target lane head vehicle judges the insertion position of the lane change vehicle according to the current state information of all vehicles and a decision strategy, including: taking the vehicle gap position closest to the lane change vehicle in the target lane vehicle team as an insertion position according to the actual position of the lane change vehicle; by selecting the vehicle gap position nearest to the lane changing vehicle as the insertion position, the lane changing efficiency can be improved, and the queuing waiting time can be saved.
Preferably, the lane-changing vehicle laterally changes lanes according to the desired track, including: the lane changing vehicle is controlled to transversely change lanes along the expected track through a PID controller, the input quantity of the PID controller comprises an ideal transverse position obtained through lane changing vehicle track planning, and the output quantity of the PID controller comprises an actual transverse position of the lane changing vehicle; and obtaining the steering wheel angle control quantity by carrying out proportional, integral and derivative algorithms on the difference value between the ideal transverse position and the actual transverse position.
Compared with the prior art, the method and the device for controlling the vehicles to reasonably form the queues at the junction connecting sections, and the vehicles are shunted and formed into ordered queues before entering the junction by taking the vehicle target lane as a guide, so that the method and the device have important significance for improving the passing efficiency of the junction connecting sections and ensuring the traffic safety of the connecting sections.
Drawings
In order to more clearly illustrate the embodiments of the present description or the technical solutions in the prior art, the drawings that are required in the embodiments or the description of the prior art will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments described in the embodiments of the present description, and other drawings may be obtained according to these drawings for a person having ordinary skill in the art.
Fig. 1 is a flowchart of a method for controlling formation of vehicles on a junction connection road section in an automatic driving environment according to the present disclosure;
FIG. 2 is a schematic vehicle numbering plan;
Fig. 3 is a graph showing a track change and five control point distribution diagrams.
Detailed Description
For the purpose of making the objects, technical solutions and advantages of the embodiments of the present application more apparent, the technical solutions of the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present application, and it is apparent that the described embodiments are some embodiments of the present application, but not all embodiments of the present application. All other embodiments, which can be made by those skilled in the art based on the embodiments of the application without making any inventive effort, are intended to be within the scope of the application.
In describing the embodiments of the present disclosure, it should be noted that, unless explicitly stated and limited otherwise, the term "connected" should be construed broadly, for example, it may be a fixed connection, a detachable connection, or an integral connection, a mechanical connection, an electrical connection, a direct connection, or an indirect connection via an intermediary. The specific meaning of the terms in this disclosure will be understood by those of ordinary skill in the art as the case may be.
The specific scene is that a vehicle cluster enters a unidirectional double-lane from an exit channel of an intersection, how a vehicle team is changed into two rows of ordered vehicle teams which travel at expected speed and expected inter-vehicle distance and are distributed on a target lane through formation control from an unordered state in which the speed, the inter-vehicle distance and the target lane are randomly distributed, and the problems of controlling the inter-vehicle distance and changing the vehicle to the target lane in the formation process are mainly solved.
For the purpose of facilitating an understanding of the embodiments of the present application, reference will now be made to the following description of specific embodiments, taken in conjunction with the accompanying drawings, which are not intended to limit the embodiments of the application.
The embodiment provides a vehicle formation control method for an intersection connection road section in an automatic driving environment, as shown in fig. 1.
The method for controlling the formation of vehicles at the intersection connection road section in the automatic driving environment comprises the following steps:
S1, numbering each vehicle according to the sequence of the vehicles entering the two lanes of the connecting road section.
And acquiring vehicle parameter information of the connecting road section entering from the exit road of the last intersection, wherein the vehicle parameter information comprises the initial position, the speed and the lane where each vehicle is located. The automatic driving vehicle clusters sequentially enter the connecting road sections at the exit sections of the intersections, and the vehicles are longitudinally distributed along the lane lines due to different time and speed of exiting the intersections, so that the front-rear position relationship exists, each vehicle is marked according to the sequence of entering the roads, and the states are output and stored at the moment. The schematic vehicle numbering diagram is shown in fig. 2, all vehicles are distributed on the L1 and L2 lanes, after numbering, the No. 2 vehicles, the No. 4 vehicles and the No. 6 vehicles form an unordered vehicle team on the L1 lane at a certain speed and a certain inter-vehicle distance, and the No. 1 vehicles, the No. 3 vehicles and the No. 5 vehicles form an unordered vehicle team on the L2 lane at a certain speed and a certain inter-vehicle distance.
S2, the head-of-lane vehicle performs queue longitudinal control on the numbered vehicles.
And controlling all vehicles on the same lane to form a queue through a PID controller so as to realize longitudinal control of the queue. And controlling parameters such as displacement, speed, acceleration and the like of each vehicle in the motorcade according to the control targets of the queue, wherein the parameters directly act on the distance and stability of the motorcade. The vehicle control target includes: all vehicles keep the same speed, and adjacent vehicles keep the same expected distance, through the process, two unordered vehicle queues in S1 are subjected to longitudinal queue control, and finally form ordered vehicle queues which run at expected distance and speed.
The specific implementation steps of S2 are as follows:
S21, dividing two adjacent vehicles in each motorcade into a group of piloted following motorcades, wherein the following vehicles in the former group are taken as the piloted vehicles of the latter group.
S22, controlling the vehicle speed of the head car of the motorcade to travel at a desired vehicle speed. Starting from a first group of piloted following motorcades, controlling the speed of each following vehicle, and simultaneously adjusting the speed difference between the following vehicle and the piloted vehicles in the same group and the distance between the following vehicles and the piloted vehicles in the same group to form a desired motorcade.
S23, longitudinally controlling each vehicle in the queue through a PID controller, wherein the longitudinal control comprises the displacement, the speed and the acceleration of the vehicle.
S3, the lane change vehicle sends a lane change request to a target lane head vehicle, the target lane head vehicle judges the insertion position of the lane change vehicle according to the current state information of all vehicles and a decision strategy, and sends information to the lane change vehicle and the original lane head vehicle, wherein the sent information comprises the insertion position information; the head-end vehicle of the lane carries out the first time of queue number change and carries out the queue longitudinal control, the first time of queue number change is that the original lane queue number is unchanged, and the target lane queue number is that the lane change vehicle is increased to be renumbered.
Marking target lanes of all vehicles in the queue, and sequentially carrying out lane change judgment on the current vehicle according to the number sequence of the vehicles. The specific implementation steps are as follows:
S31, the lane changing vehicle sends a lane changing request. The lane changing vehicle sends a lane changing request to the head vehicle of the target lane, requests to join the target lane queue, and after receiving the lane changing request, the head vehicle judges the insertion position of the vehicle according to the current state information of all vehicles and the decision strategy, returns the information to the lane changing vehicle and simultaneously sends the information to the head vehicle of the original lane.
S32 selects the insertion position. And selecting a vehicle gap nearest to the lane change vehicle from the target lane vehicle team to insert according to the actual position of the lane change vehicle, and simultaneously, distributing a new queue number for the lane change vehicle. Particularly, if the lane change vehicle is positioned in front of the target lane queuing head vehicle, namely, the longitudinal position of the lane change vehicle is larger than that of the target lane queuing head vehicle, the lane change vehicle is directly changed to the head vehicle in front of the head vehicle as the head vehicle of the target lane queuing, for example, the No. 1 vehicle of the L 2 lane can be changed to the No. 2 vehicle of the L 1 lane to become the queuing head vehicle; if the lane change vehicle is positioned behind the tail car of the target lane queue, namely, the longitudinal position of the lane change vehicle is smaller than the tail car of the target lane queue, the lane change vehicle is directly changed to the tail car behind the tail car as the tail car of the target lane queue, and the lane change vehicle is changed from the No. 6 car of the L 1 lane to the No. 5 car of the L 2 lane to become the queue tail car.
S33, longitudinal vehicle distance adjustment. The head vehicles of the target lane are added to the lane change vehicles on the basis of the vehicle numbers of the own lane to carry out renumbering, the serial numbers of the original lane are unchanged, the longitudinal control is carried out on each vehicle according to the new serial numbers by the serial lines, the longitudinal vehicle distance and the vehicle speed are adjusted through the PID controller so that the vehicle distance between two adjacent vehicles in the serial lines reaches the expected distance, meanwhile, the vehicles in the same lane can drive at the same expected vehicle speed, the acceleration control quantity of each vehicle is output until the longitudinal movement of the serial lines is restored to the stable state again, and the lane change preparation is carried out.
S4, planning an expected track of the lane change vehicle according to a Bezier curve, and transversely changing lanes of the lane change vehicle according to the expected track; the head car of the lane carries out the second time queue number change, the second time queue number change is that the original lane number reduces the lane changing car to carry out renumbering on the basis of the first time queue number change, and the target lane number is unchanged on the basis of the first time queue number change.
And controlling the motion state change of the least vehicle to select the lane change control behavior of the target vehicle, and executing the lane change behavior to form a new queue. The specific implementation steps are as follows:
s41, adopting Bezier curves to conduct lane change track planning, and determining expected tracks. The position and shape of the four-order bezier curve are determined by the distribution of five control points, so that the positions of the five control points P 0,P1,P2,P3,P4 need to be determined, the lane change track and the distribution of the five control points are as shown in fig. 3, a coordinate system is established by taking P 0 as a coordinate origin, the longitudinal running direction of the vehicle is the positive direction of the X axis, and the lane change transverse offset direction of the vehicle is the positive direction of the Y axis. The coordinates of P i are set as (x i,yi),P0 and P 4 are respectively the initial position and the final position of the lane change track of the vehicle, the final longitudinal position is positioned at the midpoint of the connecting line of the mass centers of the front and rear vehicles at the insertion position, the coordinate value of the transverse position is equal to the width of the lane, P 0P1 and P 3P4 are always tangent to the Bezier curve, the transverse position of P 2 is on the lane boundary, the positions of the five control points can be determined only by determining the longitudinal position coordinates x 1,x2,x3 of three control points of P 1,P2,P3, and three parameters x 1,x2,x3 can be obtained by performing curve fitting on the actual lane change track data of the vehicle, so as to determine the Bezier curve.
S42, track changing track tracking. Under the control of a PID controller, a target lane-changing vehicle carries out horizontal lane-changing along with an expected track, the input quantity of the PID controller comprises an ideal horizontal position calculated by track planning, the output quantity comprises an actual horizontal position of the vehicle, and proportional, integral and differential algorithms are carried out on the difference value between the ideal horizontal position and the actual horizontal position to obtain steering wheel corner control quantity until lane-changing is completed, so that a new queue is formed.
S43, adjusting the queue number. The original lane queue number reduces lane change vehicles to renumber based on the queue number before lane change of the lane change vehicles, and the target lane number increases lane change vehicles to renumber based on the queue number before lane change of the lane change vehicles.
S5, after forming a new queue, carrying out S2-S4 again, and ending the algorithm when all vehicles are positioned on the target lane and form two rows of ordered stable queues with equal speed and equal vehicle spacing or the upper limit of the iteration times is reached.
The foregoing description of the embodiments has been provided for the purpose of illustrating the general principles of the application, and is not meant to limit the scope of the application, but to limit the application to the particular embodiments, and any modifications, equivalents, improvements, etc. that fall within the spirit and principles of the application are intended to be included within the scope of the application.
Claims (3)
1. A method for controlling formation of vehicles on a junction link in an automatic driving environment, comprising:
s1, numbering each vehicle according to the sequence of the vehicles entering two lanes of a connecting road section;
S2, the head-of-line vehicle of the lane carries out queue longitudinal control on the numbered vehicles, and the head-of-line vehicle comprises the following components: s21, dividing two adjacent vehicles in each motorcade into a group of piloted following motorcades, wherein the following vehicles in the former group are used as piloted vehicles of the latter group; s22, each vehicle behind the head vehicle is used as a following vehicle of the front vehicle and a pilot vehicle of the rear vehicle to carry out queue coordination control, so that a desired stable vehicle team is formed; s23, longitudinally controlling each vehicle in the queue through a PID controller, wherein the longitudinally controlling comprises controlling the displacement, the speed and the acceleration of the vehicle;
S3, the lane change vehicle sends a lane change request to a target lane head vehicle, the target lane head vehicle judges the insertion position of the lane change vehicle according to the current state information of all vehicles and a decision strategy, and sends information to the lane change vehicle and an original lane head vehicle, the original lane is the lane where the lane change vehicle is positioned before lane change, the sent information comprises the insertion position information of the lane change vehicle,
The head-end vehicle of the lane carries out first time queue number change and queue longitudinal control, wherein the first time queue number change comprises that the original lane queue number is unchanged, and the target lane queue number is renumbered, comprising that the number of the vehicle after changing the lane is increased;
s4, planning an expected track of the lane change vehicle according to a Bezier curve, and transversely changing lanes of the lane change vehicle according to the expected track;
the head vehicles of the lane carry out a second queue number change, wherein the second queue number change comprises the reduction of the original lane queue number, and the rest vehicles are renumbered; the number of the target lane queue is unchanged;
S5, repeating the steps S2-S4 until all vehicles finish the queue longitudinal control in the target lane or reach the upper limit of the iteration times.
2. The method for controlling formation of vehicles on intersection connection road segments in an automatic driving environment according to claim 1, wherein the target lane-header vehicle judges the insertion position of the lane-changing vehicle according to the current all-vehicle state information and the decision strategy, comprising:
and taking the vehicle gap position closest to the lane change vehicle in the target lane vehicle team as an insertion position according to the actual position of the lane change vehicle.
3. The method for controlling formation of vehicles on intersection links in an automatic driving environment according to claim 1, wherein the lane-changing vehicle laterally changes lanes according to the desired trajectory, comprising:
The lane changing vehicle is controlled to transversely change lanes along the expected track through the PID controller, the input quantity of the PID controller comprises an ideal transverse position obtained through the expected track planning of the lane changing vehicle, and the output quantity of the PID controller comprises an actual transverse position of the lane changing vehicle;
and obtaining the steering wheel angle control quantity by carrying out proportional, integral and derivative algorithms on the difference value between the ideal transverse position and the actual transverse position.
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