Hierarchical speed planning method for intelligent networked vehicles based on continuous signal light information
A technology of speed planning and intelligent network, which is applied in the field of vehicle engineering, can solve problems such as dynamic traffic information such as waiting vehicles at intersections, etc., and achieve the effect of simple implementation
Active Publication Date: 2021-10-26
JILIN UNIV
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However, the existing speed planning research is often only aimed at the typical working condition of passing a single intersection. Since this strategy does not consider dynamic traffic information such as waiting vehicles at the intersection, it is only suitable for simple road conditions and smooth road conditions.
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[0020] The specific implementation manners of the present invention will be described in detail below in conjunction with the technical solutions and accompanying drawings.
[0021] Such as figure 1 As shown, a hierarchical speed planning method for intelligent networked vehicles based on continuous signal light information, collects road traffic information through V2X technology, including road speed limit, continuous multi-intersection signal light timing and other information; According to the vehicle longitudinal dynamics model, the global driving task planning is carried out according to the collected traffic information; the lower layer controller is based on the driving task information such as the arrival speed and time of each intersection obtained by the upper layer, and according to the optimal control target, there is a dynamics The equations are solved for the optimal control rate, thereby realizing the global velocity planning of the vehicle.
[0022] Steps of ...
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The invention discloses a layered speed planning method for intelligent networked vehicles based on continuous signal light information, which obtains the timing information of traffic lights at continuous intersections ahead and the distance information between the current vehicle position and each intersection in real time through V2X networked technology; establishes a method based on The longitudinal dynamics model of the vehicle in the distance domain; according to the driver's expected average driving speed and road speed limit information, the vehicle's passable area is pre-determined; Under the premise of obtaining the driving task information such as the speed and time of arrival at each intersection; according to the driving task information, the speed planning of each road segment is constructed as an optimal control problem, using the maximum value principle, and through the display of the control rate Derivation, solving the optimal control amount for a given vehicle, realizing vehicle speed planning, and realizing the efficient and economical passage of intelligent networked vehicles through the multi-intersection traffic network without stopping.
Description
technical field [0001] The invention belongs to the technical field of vehicle engineering, and relates to a continuous multi-intersection traffic control method for intelligent networked vehicles based on a scrolling time domain optimization framework, in particular to a layered speed planning method for intelligent networked vehicles based on continuous signal light information. Background technique [0002] With the vigorous development of smart cities and intelligent transportation technologies, the application of intelligent network technology in automobile energy-saving control can increase the energy-saving potential of automobiles by 15%-20%. However, how to realize the full use of big data information in the energy-saving control of automobiles has become the key to energy-saving and emission reduction. For this reason, establishing the relationship between time-varying traffic information and vehicle driving has become the only way. [0003] The research shows that...
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IPC IPC(8): G08G1/0967G08G1/01H04W4/40H04L29/08
CPCG08G1/0125G08G1/0967H04L67/12H04W4/40
Inventor 董世营刘奇芳陈虹高炳钊王萍
Owner JILIN UNIV