Cooperative control method of intelligent network connection vehicles in interleaving area

Abstract

The invention discloses a cooperative control method for intelligent network connection vehicles in an interleaving area. The method comprises the following steps: firstly, detecting various information required by the vehicles through an information detection module; information is transmitted through the communication module; then the lane changing behavior of the vehicle is determined through a decision module according to a set lane changing model; the lane changing model comprises a free lane changing mode and a forced lane changing mode, the free lane changing mode mainly considers acceleration benefits of a vehicle and a plurality of rear vehicles, and the forced lane changing mode mainly considers the safety of the vehicle; and finally, the vehicle control module controls the vehicle to complete the lane changing action. Compared with the prior art, the method has the advantages that the comity coefficient of the vehicle is increased when the lane changing acceleration income of the vehicle and the multiple rear vehicles is calculated, so that the requirements of the vehicle can be met while the overall income is considered when the intelligent network connection vehicle runs in the interleaving area.

Description

Technical Field

[0001] The present invention belongs to the field of intelligent transportation technology, and specifically relates to a collaborative control method for intelligent networked vehicles in an interweaving area. Background Art

[0002] Intelligent connected vehicles are cars that have environmental perception, intelligent decision-making and automatic control, or can interact with external information and even collaborative control functions.

[0003] A weaving area is defined as a section of a highway where two or more traffic streams traveling in the same general direction intersect without the aid of traffic control devices (other than direction signs) along a long section of highway. A weaving area occurs when a diverging section is followed by a merging section, or when a single-lane off-ramp is followed by a single-lane on-ramp and the two are connected by a continuous auxiliary lane.

[0004] When intelligent connected vehicles are not fully popularized, there will be a long period of mixed driving of intelligent connected vehicles and manually driven vehicles (hereinafter referred to as mixed traffic flow). In a mixed traffic flow environment, due to the randomness of manually driven vehicles and the immature technology of intelligent connected vehicles, the decision-making behavior of intelligent connected vehicles is very important. As a key traffic conversion node in the road system, the lane-changing and weaving phenomenon of traffic flow in the weaving area can easily cause traffic disorder and traffic congestion. Unlike other road infrastructure, the traffic flow operation characteristics in the weaving area are affected by the interaction of three traffic flows: main line flow, ramp entry flow and main line exit flow. Different flow combinations produce different types of operation characteristics; at this time, the control strategy of intelligent connected vehicles is more complex. Summary of the invention

[0005] Purpose of the invention: The present invention provides a collaborative control method for intelligent connected vehicles in an interweaving area, which increases the courtesy coefficient of the vehicle and can meet the needs of the vehicle itself while considering the overall benefit.

[0006] Technical solution: A collaborative control method of an intelligent networked vehicle in a weaving area according to the present invention comprises the following steps:

[0007] (1) Collect information about intelligent connected vehicles and human-driven vehicles, road information, and environmental information;

[0008] (2) Information transmission between intelligent connected vehicles, between intelligent connected vehicles and roadside intelligent entities, and between intelligent connected vehicles and cloud platforms is achieved through communication modules;

[0009] (3) Before all vehicles enter the weaving area, the cloud platform evaluates the traffic density of each lane and ramp and makes a decision to select which lane the vehicle will enter the weaving area from;

[0010] (4) After the intelligent connected vehicle enters the weaving area, the vehicle acceleration is calculated based on the intelligent driver model (IDM) vehicle following model, and the multi-vehicle cooperative lane changing model (MOBIL) based on minimizing the overall braking caused by lane changing is used to make corresponding calculations and make decisions on the lane changing behavior of the intelligent connected vehicle.

[0011] Furthermore, the vehicle information collected in step (1) includes the vehicle's speed, acceleration, horizontal coordinate, vertical coordinate, vehicle length, and vehicle width.

[0012] Furthermore, the road information collected in step (1) includes the lane ID of the vehicle and the traffic density of each lane.

[0013] Furthermore, the environmental information collected in step (1) is traffic control information in the weaving area.

[0014] Furthermore, the implementation process of step (3) is as follows:

[0015] If the vehicle needs to leave the main line, it will change to the right lane in advance and enter the weaving area from the right lane; if the vehicle does not need to leave the main line, the cloud platform will determine the traffic density of the main line and the ramp. When the traffic density of the main line is less than the critical density of the main line and the traffic density of the ramp is greater than the critical density of the ramp, the vehicle will change to the left lane in advance and enter the weaving area from the left lane to reduce the impact on other vehicles in the weaving area. If the traffic density does not meet the above conditions, the vehicle will not change lanes and will directly enter the weaving area from the original lane.

[0016] Furthermore, the process of calculating the vehicle acceleration based on the IDM vehicle following model in step (4) is as follows:

[0017] Construct vehicle information matrix:

[0018]

[0019] Where: n is the vehicle number; V is the vehicle speed; α is the vehicle acceleration; h is the vehicle horizontal coordinate; z is the vehicle vertical coordinate; l is the vehicle length; b is the vehicle width; I is the lane ID where the vehicle is located; k is the traffic density of the lane where the vehicle is located; d is the traffic control information of the lane where the vehicle is located;

[0020] Calculate the acceleration of intelligent connected vehicles based on the IDM vehicle following model:

[0021]

[0022]

[0023] Where: α cis the acceleration of the vehicle; α is the maximum acceleration of the vehicle; V is the current speed of the vehicle; V0 is the expected speed of the vehicle; δ is the acceleration index; ΔV is the speed difference between the vehicle and the front vehicle; S is the distance between the vehicle and the front vehicle; S * (V, ΔV) is the expected following distance; S0 is the minimum vehicle distance; T is the safe headway; β is the comfortable deceleration.

[0024] Furthermore, the implementation process of constructing the vehicle lane-changing model in step (4) is as follows:

[0025] When a smart connected vehicle needs to change lanes while driving in a weaving area, the smart connected vehicle will calculate the acceleration gain after the lane change. If the threshold is reached, the smart connected vehicle will change to the target lane:

[0026]

[0027] Where: Y is the vehicle lane change benefit; is the vehicle acceleration after lane change; α c is the acceleration of the vehicle before changing lanes; p is the courtesy coefficient; e is the number of vehicles within the communication range of the current lane; is the acceleration of the vehicle following the i-th vehicle in the target lane after lane change; α ni is the acceleration of the vehicle following the i-th vehicle in the target lane before lane change; i is the acceleration gain weight of the following vehicle in the target lane; f is the number of vehicles within the vehicle communication range of the target lane; is the acceleration of the vehicle following the i-th vehicle in the original lane after lane change; α oi is the acceleration of the vehicle following the i-th vehicle in the original lane before changing lanes; μ i is the acceleration benefit weight of the vehicle following the i-th vehicle in the original lane; ΔA is the lane change benefit threshold;

[0028] If the threshold is not reached, the intelligent connected vehicle continues to drive and calculates the acceleration gain after the lane change until the intelligent connected vehicle enters the mandatory lane change area;

[0029] In the mandatory lane change zone, the lane change logic of the intelligent connected vehicle will switch to mandatory lane change, and the acceleration gain after the lane change will no longer be calculated. The safety of the vehicle's lane change will only be determined by the following formula:

[0030]

[0031] Where: S f is the distance between the vehicle and the front vehicle after the vehicle stabilizes after changing lanes; x f v is the longitudinal distance between the ego vehicle and the vehicle in front of the target lane before lane change; c is the vehicle speed; t l is the time taken by the vehicle to reach the desired speed after changing lanes; t cis the time taken by the vehicle to change lanes; α c is the vehicle acceleration; v f is the speed of the vehicle ahead in the target lane; X f is the minimum vehicle distance; S r is the distance between the vehicle and the following vehicle after the vehicle stabilizes after changing lanes; x r is the longitudinal distance between the vehicle and the vehicle behind in the target lane before lane change; v r is the speed of the vehicle behind in the target lane;

[0032] When both of the above two inequalities are satisfied, the vehicle's safety is deemed to have reached the threshold; if the vehicle's safety has reached the safety threshold, the vehicle will switch to the target lane; if the safety threshold has not been reached, it will be determined whether the vehicle behind the target lane is an intelligent connected vehicle;

[0033] If the vehicle behind the target lane is an intelligent connected vehicle, the vehicle behind the target lane will slow down to assist the intelligent connected vehicle in changing lanes;

[0034] If the vehicle behind the target lane is a human-driven vehicle, the vehicle will slow down and continue to determine whether it is safe to change lanes and look for the right time to change lanes.

[0035] Furthermore, the courtesy coefficient p is:

[0036]

[0037] Among them: ω1 is the first weight; x1 is the distance between the vehicle and the ramp exit; ω2 is the second weight; x2 is the distance between the vehicle and the nearest large vehicle after changing lanes; x3 is the distance between the vehicle and the nearest large vehicle before changing lanes.

[0038] Furthermore, the acceleration gain weight of the i-th following vehicle in the target lane is:

[0039]

[0040] Where: x 4i is the distance between the i-th following vehicle and the ego vehicle in the target lane.

[0041] Furthermore, the acceleration gain weight of the i-th vehicle following the original lane is:

[0042]

[0043] Where: x 5i is the distance between the i-th following vehicle and the vehicle in the original lane.

[0044] Compared with the prior art, the present invention has the following beneficial effects: the present invention increases the courtesy coefficient of the vehicle when calculating the acceleration benefits of the own vehicle and multiple rear vehicles; the introduction of the courtesy coefficient enables the system to more humanely consider the impact on the rear vehicles when making decisions on acceleration, deceleration or maintaining speed, avoid unnecessary acceleration and deceleration, and leave more sufficient reaction time and safety space for the rear vehicles; the present invention enables the intelligent connected vehicles to consider the overall benefits while meeting the needs of the own vehicle when driving in the weaving area. BRIEF DESCRIPTION OF THE DRAWINGS

[0045] Figure 1 is a flow chart of the present invention;

[0046] Figure 2 Schematic diagram of a lane changing scenario in an interweaving area according to an embodiment of the present invention. DETAILED DESCRIPTION

[0047] The present invention will be further described in detail below in conjunction with the accompanying drawings.

[0048] like Figure 1 As shown, the present invention proposes a collaborative control method for intelligent connected vehicles in a weaving area, comprising the following steps:

[0049] Step S1: Collect information about intelligent connected vehicles and human-driven vehicles, road information, and environmental information.

[0050] The collected vehicle information includes: vehicle speed, acceleration, horizontal coordinate, vertical coordinate, vehicle length, and vehicle width; the collected road information includes: vehicle lane ID and traffic density of each lane; the collected environmental information includes: traffic control information in the interweaving area.

[0051] Step S2: Through the communication module, realize the communication between intelligent connected vehicles, between intelligent connected vehicles and roadside intelligent entities, and between intelligent connected vehicles and cloud platforms, and transmit the information collected in step S1.

[0052] Step S3, the decision module operates to make a decision based on the information obtained in steps S1 and S2 and a multi-vehicle cooperative courtesy lane changing model based on minimizing overall braking induced by lane change (MOBIL), and determines the lane changing behavior of the vehicle;

[0053] Step S3.1: Before all vehicles enter the weaving area, the cloud platform evaluates the traffic density of each lane and ramp and makes a decision to select which lane the vehicle enters the weaving area from;

[0054] by Figure 2Taking the interweaving area shown in the figure as an example, if the vehicle needs to leave the main line, it will change to the right lane in advance and enter the interweaving area from the right lane; if the vehicle does not need to leave the main line, the cloud platform will determine the traffic density of the main line and the ramp. When the traffic density of the main line is less than the critical density of the main line and the traffic density of the ramp is greater than the critical density of the ramp, the vehicle will change to the left lane in advance and enter the interweaving area from the left lane to reduce the impact on other vehicles in the interweaving area. If the traffic density does not meet the above conditions, the vehicle will not change lanes and directly enter the interweaving area from the original lane. The decision result is conveyed to all vehicles in the interweaving area through the variable information board.

[0055] Step S3.2: After the intelligent connected vehicle enters the weaving area, the on-board CPU performs corresponding calculations according to the IDM vehicle following model and the MOBIL-based multi-vehicle cooperative courtesy lane changing model to make decisions on the lane changing behavior of the intelligent connected vehicle.

[0056] Construct vehicle information matrix:

[0057]

[0058] Wherein: n is the vehicle number; V is the vehicle speed; α is the vehicle acceleration; h is the vehicle horizontal coordinate (perpendicular to the road direction); z is the vehicle vertical coordinate (along the road direction); l is the vehicle length; b is the vehicle width; I is the lane ID where the vehicle is located; k is the traffic density of the lane where the vehicle is located; d is the traffic control information of the lane where the vehicle is located.

[0059] The acceleration of the intelligent connected vehicle is calculated according to the vehicle following model of the intelligent driving model (IDM). The formula is as follows:

[0060]

[0061] Where: α c is the acceleration of the vehicle; α is the maximum acceleration of the vehicle; V is the current speed of the vehicle; V0 is the expected speed of the vehicle; δ is the acceleration index; ΔV is the speed difference between the vehicle and the front vehicle; S is the distance between the vehicle and the front vehicle; S * (V, ΔV) is the expected following distance; S0 is the minimum vehicle distance; T is the safe headway; β is the comfortable deceleration.

[0062] A multi-vehicle cooperative lane-changing model based on MOBIL is constructed, and the contents are as follows:

[0063] When a smart connected vehicle needs to change lanes while driving in an interweaving area, the smart connected vehicle will calculate the acceleration gain after the lane change. If the threshold is reached, the vehicle will change to the target lane.

[0064]

[0065] Where: Y is the vehicle lane change benefit; is the vehicle acceleration after lane change; α c is the acceleration of the vehicle before changing lanes; e is the number of vehicles in the communication range of the current lane, which is 200 meters; is the acceleration of the vehicle following the i-th vehicle in the target lane after lane change; α ni is the acceleration of the vehicle following the i-th vehicle in the target lane before lane change; i is the acceleration gain weight of the following vehicle in the target lane; f is the number of vehicles in the vehicle communication range of the target lane, which is 200 meters; is the acceleration of the vehicle following the i-th vehicle in the original lane after lane change; α oi is the acceleration of the vehicle following the i-th vehicle in the original lane before changing lanes; μ i is the acceleration benefit weight of the vehicle following the i-th vehicle in the original lane; ΔA is the lane change benefit threshold; p is the courtesy coefficient, which is:

[0066]

[0067] Among them: ω1 is the first weight; x1 is the distance from the vehicle to the ramp exit; ω2 is the second weight; x2 is the distance from the vehicle to the nearest large vehicle after changing lanes; x3 is the distance from the vehicle to the nearest large vehicle before changing lanes; vehicles with a length greater than 6 meters are defined as large vehicles.

[0068]

[0069] Where: x 4i is the distance between the i-th vehicle and the ego vehicle in the target lane; x 5i is the distance between the i-th following vehicle and the vehicle in the original lane.

[0070] If the threshold is not reached, the intelligent connected vehicle continues to drive and calculates the acceleration gain after changing lanes until the intelligent connected vehicle enters the compulsory lane changing area; the 50-meter area before the exit ramp is set as the compulsory lane changing area.

[0071] In the mandatory lane change zone, the lane change logic of the intelligent connected vehicle will switch to mandatory lane change, and the acceleration gain after the lane change will no longer be calculated. The safety of the vehicle's lane change will only be determined by the following formula:

[0072]

[0073]

[0074] Where: S f is the distance between the vehicle and the front vehicle after the vehicle stabilizes after changing lanes; x f v is the longitudinal distance between the ego vehicle and the vehicle in front of the target lane before lane change; c is the vehicle speed; tl is the time taken by the vehicle to reach the desired speed after changing lanes; t c is the time taken by the vehicle to change lanes; α c is the vehicle acceleration; v f is the speed of the vehicle ahead in the target lane; X f is the minimum vehicle distance; S r is the distance between the vehicle and the following vehicle after the vehicle stabilizes after changing lanes; x r is the longitudinal distance between the vehicle and the vehicle behind in the target lane before lane change; v r is the speed of the vehicle behind in the target lane.

[0075] When both inequalities are satisfied, the safety of the intelligent connected vehicle is deemed to have reached the threshold; if the safety of the intelligent connected vehicle has reached the safety threshold, the intelligent connected vehicle will switch to the target lane; if the safety threshold is not reached, it will be determined whether the vehicle behind the target lane is an intelligent connected vehicle.

[0076] If the vehicle behind the target lane is an intelligent connected vehicle, the vehicle behind the target lane will slow down to assist the vehicle (intelligent connected vehicle) to change lanes.

[0077] If the vehicle behind the target lane is a human-driven vehicle, the vehicle will slow down and continue to determine whether it is safe to change lanes and look for the right time to change lanes.

[0078] The above embodiments are only for illustrating the technical concept and features of the present invention, and their purpose is to enable people familiar with the technology to understand the content of the present invention and implement it accordingly, and they cannot be used to limit the protection scope of the present invention. Any equivalent transformation or modification made according to the spirit of the present invention should be included in the protection scope of the present invention.

Claims

1. A method for cooperative control of intelligent connected vehicles in a weaving area, characterized in that: The following steps are involved: (1) Collect information about intelligent connected vehicles and human-driven vehicles, road information, and environmental information; (2) Information transmission between intelligent connected vehicles, between intelligent connected vehicles and roadside intelligent entities, and between intelligent connected vehicles and cloud platforms is achieved through communication modules; (3) Before all vehicles enter the weaving area, the cloud platform evaluates the traffic density of each lane and ramp and makes a decision to select which lane the vehicle will enter the weaving area from; (4) After the intelligent connected vehicle enters the weaving area, the vehicle acceleration is calculated based on the intelligent driver model (IDM) vehicle following model, and the multi-vehicle cooperative lane changing model (MOBIL) based on minimizing the overall braking caused by lane changing is used to make corresponding calculations and make decisions on the lane changing behavior of the intelligent connected vehicle.

2. The method for cooperative control of intelligent connected vehicles in a weaving area according to claim 1, characterized in that: The vehicle information collected in step (1) includes the vehicle's speed, acceleration, horizontal coordinate, vertical coordinate, vehicle length, and vehicle width.

3. The method for cooperative control of intelligent connected vehicles in a weaving area according to claim 1, characterized in that: The road information collected in step (1) includes the lane ID of the vehicle and the traffic density of each lane.

4. The method for cooperative control of intelligent connected vehicles in a weaving area according to claim 1, characterized in that: The environmental information collected in step (1) is traffic control information in the weaving area.

5. The method for cooperative control of intelligent connected vehicles in a weaving area according to claim 1, characterized in that: The implementation process of step (3) is as follows: If the vehicle needs to leave the main line, it will change to the right lane in advance and enter the weaving area from the right lane; if the vehicle does not need to leave the main line, the cloud platform will determine the traffic density of the main line and the ramp. When the traffic density of the main line is less than the critical density of the main line and the traffic density of the ramp is greater than the critical density of the ramp, the vehicle will change to the left lane in advance and enter the weaving area from the left lane to reduce the impact on other vehicles in the weaving area. If the traffic density does not meet the above conditions, the vehicle will not change lanes and will directly enter the weaving area from the original lane.

6. The method for cooperative control of intelligent connected vehicles in a weaving area according to claim 1, characterized in that: The process of calculating the vehicle acceleration based on the IDM vehicle following model in step (4) is as follows: Construct vehicle information matrix: Where: n is the vehicle number; V is the vehicle speed; α is the vehicle acceleration; h is the vehicle horizontal coordinate; z is the vehicle vertical coordinate; l is the vehicle length; b is the vehicle width; I is the lane ID where the vehicle is located; k is the traffic density of the lane where the vehicle is located; d is the traffic control information of the lane where the vehicle is located; Calculate the acceleration of intelligent connected vehicles based on the IDM vehicle following model: Where: α c is the acceleration of the vehicle; α is the maximum acceleration of the vehicle; V is the current speed of the vehicle; V0 is the expected speed of the vehicle; δ is the acceleration index; ΔV is the speed difference between the vehicle and the front vehicle; S is the distance between the vehicle and the front vehicle; S * (V, ΔV) is the expected following distance; S0 is the minimum vehicle distance; T is the safe headway; β is the comfortable deceleration.

7. The method for cooperative control of intelligent connected vehicles in a weaving area according to claim 1, characterized in that: The implementation process of constructing the vehicle lane-changing model in step (4) is as follows: When a smart connected vehicle needs to change lanes while driving in a weaving area, the smart connected vehicle will calculate the acceleration gain after the lane change. If the threshold is reached, the smart connected vehicle will change to the target lane: Where: Y is the vehicle lane change benefit; is the vehicle acceleration after lane change; α c is the acceleration of the vehicle before changing lanes; p is the courtesy coefficient; e is the number of vehicles within the communication range of the current lane; is the acceleration of the vehicle following the i-th vehicle in the target lane after lane change; α ni is the acceleration of the vehicle following the i-th vehicle in the target lane before lane change; i is the acceleration gain weight of the following vehicle in the target lane; f is the number of vehicles within the vehicle communication range of the target lane; is the acceleration of the vehicle following the i-th vehicle in the original lane after lane change; α oi is the acceleration of the vehicle following the i-th vehicle in the original lane before changing lanes; μ i is the acceleration benefit weight of the vehicle following the i-th vehicle in the original lane; ΔA is the lane change benefit threshold; If the threshold is not reached, the intelligent connected vehicle continues to drive and calculates the acceleration gain after the lane change until the intelligent connected vehicle enters the mandatory lane change area; In the mandatory lane change zone, the lane change logic of the intelligent connected vehicle will switch to mandatory lane change, and the acceleration gain after the lane change will no longer be calculated. The safety of the vehicle's lane change will only be determined by the following formula: Where: S f is the distance between the vehicle and the front vehicle after the vehicle stabilizes after changing lanes; x f v is the longitudinal distance between the ego vehicle and the vehicle in front of the target lane before lane change; c is the vehicle speed; t l is the time taken by the vehicle to reach the desired speed after changing lanes; t c is the time taken by the vehicle to change lanes; α c is the vehicle acceleration; v f is the speed of the vehicle ahead in the target lane; X f is the minimum vehicle distance; S r is the distance between the vehicle and the following vehicle after the vehicle stabilizes after changing lanes; x r is the longitudinal distance between the vehicle and the vehicle behind in the target lane before lane change; v r is the speed of the vehicle behind in the target lane; When both of the above two inequalities are satisfied, the vehicle's safety is deemed to have reached the threshold; if the vehicle's safety has reached the safety threshold, the vehicle will switch to the target lane; if the safety threshold has not been reached, it will be determined whether the vehicle behind the target lane is an intelligent connected vehicle; If the vehicle behind the target lane is an intelligent connected vehicle, the vehicle behind the target lane will slow down to assist the intelligent connected vehicle in changing lanes; If the vehicle behind the target lane is a human-driven vehicle, the vehicle will slow down and continue to determine whether it is safe to change lanes and look for the right time to change lanes.

8. The method for cooperative control of intelligent connected vehicles in a weaving area according to claim 7, characterized in that: The courtesy coefficient p is: Among them: ω1 is the first weight; x1 is the distance between the vehicle and the ramp exit; ω2 is the second weight; x2 is the distance between the vehicle and the nearest large vehicle after changing lanes; x3 is the distance between the vehicle and the nearest large vehicle before changing lanes.

9. The method for cooperative control of intelligent connected vehicles in a weaving area according to claim 7, characterized in that: The acceleration benefit weight of the following vehicle in the target lane is: Where: x 4i is the distance between the i-th following vehicle and the ego vehicle in the target lane.

10. The method for cooperative control of intelligent connected vehicles in a weaving area according to claim 7, characterized in that: The acceleration benefit weight of the vehicle following the i-th vehicle in the original lane is: Where: x 5i is the distance between the i-th following vehicle and the vehicle in the original lane.

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