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A Method for Realizing Cooperative Adaptive Cruise Control Convoy Teaming and Separation

An adaptive cruise and cooperative technology, applied in the field of cooperative driving and traffic management, can solve the problems of low vehicle traffic efficiency, traffic safety cannot be guaranteed, and vehicle distance cannot be accurately controlled, so as to improve traffic efficiency and road traffic capacity, shorten the headway, and reduce the effect of traffic energy consumption

Active Publication Date: 2021-06-11
吴鼎新
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

However, the traditional method of controlling the acceleration and deceleration of the entire convoy to realize the teaming and separation of the convoy, ordinary drivers need to pass the time to judge the traffic flow when they want to join the convoy, which will cause the driver to lose the best time to join the convoy, making the vehicle The road traffic efficiency is low, and the distance between vehicles cannot be precisely controlled. There is no limit to the length of the new convoy to be formed, and there is no limit to the length of the team. The critical distance for team formation, the critical distance for leaving the team, etc., forming and leaving the team at will will cause a great problem of traffic energy consumption, and traffic safety cannot be guaranteed

Method used

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  • A Method for Realizing Cooperative Adaptive Cruise Control Convoy Teaming and Separation
  • A Method for Realizing Cooperative Adaptive Cruise Control Convoy Teaming and Separation
  • A Method for Realizing Cooperative Adaptive Cruise Control Convoy Teaming and Separation

Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0133] A single vehicle joins the convoy, by default it joins the tail of the convoy and all vehicles drive in one lane, see attached Figure 4 :

[0134] Suppose there are 10 vehicles in the driving fleet, and the distance between two adjacent vehicles is a safe distance D s =50 meters, then L 原 =10×4.5+(10-1)×50=900 meters, L 组 = L 原 +80+4.5=984.5 meters, the minimum distance for the proposed team.

[0135] Only when the length L of the proposed fleet is satisfied at the same time 组 No more than 1000 meters and the distance L between the rear vehicle of the convoy and the vehicle to be added a A single vehicle can only join a moving convoy within a distance of no more than 200 metres.

[0136] L 组 =984.5m<1000m, satisfying that the length of the proposed convoy should not exceed 1000m.

[0137] 1) L a = 60 meters, the vehicles to be joined can realize car-following and join the convoy.

[0138] 2) L a = 120 meters, the vehicle to be joined can accelerate to catch ...

Embodiment 2

[0141] A single vehicle joins the convoy. By default, the vehicle to be added is that the driving convoy is located in the adjacent lane and joins the middle of the driving convoy. See the attached Figure 9 :

[0142] When a single vehicle joins the middle of the driving fleet, the vehicle to be added must be in the adjacent lane first, and through the communication equipment between the vehicles, the joining vehicle sends a request to join the fleet, and the driving fleet responds after receiving the request to join the fleet , For example, there are currently 4 vehicles in the fleet, which are respectively No. 1, No. 2, No. 3, and No. 4 cars. The vehicle to be added is No. 5, and No. 5 car requests to join No. 2 and No. 3 cars Firstly, it is judged whether the length of the proposed convoy after joining exceeds the critical distance that allows the vehicle to accelerate to achieve car-following, which is D m , the length of the proposed convoy L 组 =168+80+4.5=252.5 meters...

Embodiment 3

[0146] N fleets plan to form a new fleet in the same lane, N≥2, N is a positive integer, see attached Figure 5 :

[0147] When multiple teams form a team, it is assumed that there are 4 teams to form a team, and the original team lengths are L 1 , L 2 , L 3 , L 4 , and each convoy has 4 vehicles, the length of the proposed convoy is L 组 =168×4+80×3=912 meters. Note: The length of the original fleet is 168 meters = 4.5×4+50×3 meters.

[0148] Only when the length of the proposed convoy does not exceed 1000 meters and the distance L between the rear car of the previous convoy and the leading car of the subsequent convoy is satisfied X In the case of no more than 200 meters, two teams can form a new team.

[0149] L 组 =912m<1000m, satisfying that the length of the proposed convoy should not exceed 1000m.

[0150] Suppose L X1 =90, L X2 =100, L X3 =120, all 4 teams are within the allowable range of car-following, L X1 ≤200, L X2 ≤200, L X3 ≤200, the four teams can ...

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Abstract

The present invention relates to a method for realizing cooperative self-adaptive cruise control fleet formation and separation, comprising the following steps: step 1) defining relevant critical distances, safety distances and upper limit lengths of formation, etc.; Send the status to other vehicles and receive the information of joining or leaving the fleet sent by the surrounding driving vehicles; step 3) detect and identify the distance of the vehicle and the surrounding environment of the vehicle; step 4) the control system analyzes the information received by each vehicle pair according to its own rules , and feed back the execution result to the communication system, and the communication system releases the execution information to each vehicle. The present invention formulates several self-determined rules for fleet formation and separation, including a single vehicle joining a fleet, a fleet forming a fleet, a single vehicle leaving a fleet, and a fleet being separated into multiple fleets, so that cooperative adaptive cruise control fleets can be realized teaming and separation.

Description

technical field [0001] The invention relates to the fields of traffic management and cooperative driving, in particular to a method for realizing cooperative adaptive cruise control team formation and separation. Background technique [0002] The deployment of cooperative adaptive cruise control (CACC) vehicles on the actual road will cause road vehicles to mix, while the deployment of CACC vehicles with different proportions will have different impacts on traffic flow parameters such as road capacity and headway. . Moreover, CACC vehicles cannot conduct large-scale field tests in a short period of time. [0003] Compared with ordinary vehicles, CACC vehicles have obvious advantages in terms of average delay, speed dispersion and road traffic capacity. Based on the Internet of Vehicles technology, the CACC system can realize cooperative queuing control and more precise gap control through vehicle-to-vehicle communication, thereby shortening the distance between vehicles, r...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G08G1/00
CPCG08G1/22
Inventor 吴鼎新胡忠峰吴家玲张晴滕子惠张星
Owner 吴鼎新
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