A control method for multiple vehicles converging into a CAV special lane in a networked environment

Abstract

The application discloses a kind of control methods of multiple vehicles into CAV special lane under network environment, comprising:1, calculate influence interval and judge whether the headway of adjacent target CAV car of second lane is less than influence interval;2, obtain the speed of adjacent target CAV car at initial time, calculate the speed of adjacent target CAV car at lane-changing stable time;3, calculate the speed index of CAV car into special lane;4, calculate the headway of adjacent target CAV car and its preceding vehicle at initial time and lane-changing stable time respectively;5, calculate the safety index of CAV car into special lane;6, calculate the comprehensive index of CAV car into special lane;7, take the maximum comprehensive index strategy, output lane-changing decision.The application can provide optimal merging decision through information interaction between network vehicles and network vehicles under network environment when multiple adjacent CAV cars simultaneously issue merging demand into special lane, thereby improving the efficiency of CAV car merging into special lane and improving road traffic capacity.

Description

TECHNICAL FIELD

[0001] The application belongs to the field of connected vehicle traffic control, and particularly relates to a control method for multi-vehicle merging into a CAV special lane under a connected environment. BACKGROUND

[0002] Under the connected environment, real-time interconnection and interworking can be realized between vehicles, between vehicles and infrastructure, and between vehicles and networks, which provides a basis for the control of multi-vehicle merging into a CAV special lane. In particular, in a multi-lane road environment, the merging behavior of CAVs has an important influence on the stability and passing efficiency of traffic flow.

[0003] Traditional vehicle merging methods usually rely on the judgment and operation of drivers, and are difficult to adapt to instantaneous changes in traffic flow and are easily affected by human factors such as reaction time and driving habits, resulting in fluctuations and congestion of traffic flow. SUMMARY

[0004] The present application proposes a control method for multi-vehicle merging into a CAV special lane under a connected environment, which is expected to effectively improve the efficiency of CAV merging into a special lane, improve road capacity, and also improve road safety, while taking into account safety and comfort, further promoting the overall development of intelligent transportation systems.

[0005] To achieve the above-mentioned application purposes, the present application adopts the following technical solutions:

[0006] The control method for multi-vehicle merging into a CAV special lane under a connected environment is characterized in that it is applied to a one-way three-lane road, and the three lanes are respectively denoted as a first lane, a second lane and a third lane from inside to outside; the first lane is a CAV special lane, and the other lanes are ordinary lanes; only CAVs are allowed to drive on the CAV special lane, and the ordinary lanes do not limit the types of vehicles; the control method comprises the following steps:

[0007] Step 1: collecting vehicle information on the three lanes at time t using roadside intelligent transportation equipment, including vehicle speed, acceleration and vehicle headway;

[0008] Let the CAV front vehicle on the second lane be denoted as i-1, and the CAV rear vehicle be denoted as i; the front vehicle of the CAV front vehicle i-1 on the second lane be denoted as i-2, the front vehicle of the CAV front vehicle i-1 on the first lane be denoted as j-1, and the rear vehicle of the CAV rear vehicle i on the first lane be denoted as j;

[0009] Step 2: when the CAV front vehicle i-1 and the CAV rear vehicle i have a demand to merge into the CAV special lane at time t, the influence distance between the two adjacent CAVs is calculated using formula (1) whether the distance between the CAV rear vehicle i and the CAV front vehicle i-1 at time t is less than the safety headway distance If yes, step 3 is executed; otherwise, step 9 is executed.

[0010] (1)

[0011] In formula (1), is the maximum speed of the CAV vehicle, is the time for the CAV vehicle to change lanes, is the speed of the CAV rear vehicle i at time t, is the safety headway distance, is the safety stopping distance, is the length of the CAV vehicle.

[0012] Step 3, the lane changing strategy of the CAV vehicle is recorded as , wherein, is variable speed lane changing, is constant speed lane changing, is no lane changing; the lane changing strategy is calculated the speed of the CAV rear vehicle i and the CAV front vehicle i-1 at the lane changing stable time .

[0013] Step 4, any one of the CAV vehicles of the CAV rear vehicle i and the CAV front vehicle i-1 is recorded as m, and the speed index of the CAV vehicle m at the lane changing stable time is calculated by using formula (19) .

[0014] (19)

[0015] In formula (19), is the speed of the vehicle m at the lane changing stable time, is the speed of the vehicle m at time t. Step 5, the headway distance between the CAV front vehicle i-1 and the vehicle i-2 at time t is calculated by using formula (20)

[0016] , and the headway distance between the CAV rear vehicle i and the CAV front vehicle i-1 is calculated.

[0017] (20)

[0018] In formula (20), is the headway distance between the CAV front vehicle i-1 and the vehicle i-2 at time t.

[0019] ​​​​The headway between the preceding vehicle i-1 and the preceding vehicle at the lane change stabilization time CAV is calculated using equation (21). The headway between the CAV following the car and the car in front. ;

[0020] (twenty one)

[0021] In equation (21), The distance between the front of the CAV i-1 and the front of the vehicle in front at the moment of lane change stabilization; The distance between the front of the following vehicle i and the vehicle in front of it at the moment of lane change stabilization;

[0022] Step 6: Calculate the lane-changing strategy using equation (22). Safety indicators for CAV vehicles m ;

[0023] (twenty two)

[0024] In equation (22), Lane changing strategy for stable lane changing moments The time distance between the vehicle m and the front of the vehicle in front. Let t be the headway between vehicle m and the vehicle in front of it.

[0025] Step 7: Calculate the lane-changing strategy using equation (23). Comprehensive index of CAV vehicle m ;

[0026] (twenty three)

[0027] In equation (23), The weighting coefficient for the speed index, The weighting coefficients for safety indicators;

[0028] Step 8: Calculate lane-changing strategy Comprehensive indicators of vehicle i after CAV Separate with lane-changing strategies Comprehensive indicators of the CAV preceding vehicle i-1 The sum of all the indicators, and select the sum of the largest comprehensive indicators. Perform lane change control on CAV rear vehicle i and CAV front vehicle i-1;

[0029] Step 9, Assign to ,judge If the condition is met, the control flow ends; otherwise, return to step 1 and execute sequentially. Indicates the control end time. It is the update interval.

[0030] The control method for multiple vehicles merging into a CAV lane in a network environment according to the present application is also characterized in that the step 3 comprises:

[0031] Step 3.1, when the CAV front vehicle i-1 does not change lanes, calculating the speed of the CAV rear vehicle i at the lane-changing stable time and the speed of the CAV front vehicle i-1 at the lane-changing stable time ;

[0032] Step 3.2, when the CAV front vehicle i-1 changes lanes at a constant speed, calculating the speed of the CAV rear vehicle i at the lane-changing stable time and the speed of the CAV front vehicle i-1 at the lane-changing stable time ;

[0033] Step 3.3, when the CAV front vehicle i-1 changes lanes at a variable speed, calculating the speed of the CAV rear vehicle i at the lane-changing stable time and the speed of the CAV front vehicle i-1 at the lane-changing stable time .

[0034] Further, step 3.1 comprises:

[0035] Step 3.1.1, calculating the speed of the CAV front vehicle i-1 at the lane-changing stable time using formula (2);

[0036] (2)

[0037] In formula (2), is the speed of the CAV front vehicle i-1 at time t, is the following acceleration of the CAV front vehicle i-1 following the front vehicle i-2 at time t;

[0038] Step 3.1.2, calculating the speed of the CAV rear vehicle i at the lane-changing stable time ;

[0039] If the headway between the CAV rear vehicle i and the CAV vehicle j-1 at time t is greater than the front safe lane-changing distance between the CAV rear vehicle i and the CAV vehicle j-1 at time t , and the headway between the CAV rear vehicle i and the CAV vehicle j at time t is greater than the rear safe lane-changing distance between the CAV rear vehicle i and the CAV vehicle j at time t ​​​​​​​​then the following is calculated using equation (3) ;

[0040] (3)

[0041] In equation (3), is the following vehicle i's following acceleration when following the preceding vehicle i-1 of the CAV at time t, is the following vehicle i's following acceleration when following the preceding vehicle i-1 of the CAV at time t;

[0042] If and then the following is calculated using equation (4) ;

[0043] (4)

[0044] In equation (4), is the speed of the CAV vehicle j-1 at time t, is the acceleration of the CAV vehicle j-1 at time t;

[0045] If and then the following is calculated using equation (5) ;

[0046] (5)

[0047] In equation (5), is the speed of the CAV vehicle j at time t, is the acceleration of the CAV vehicle j at time t;

[0048] If and then the following is calculated using equation (6) ;

[0049] (6)

[0050] Further, step 3.2 comprises:

[0051] Step 3.2.1, calculating the speed of the preceding vehicle i-1 of the CAV at the lane-changing stable time using equation (7) ;

[0052] (7)

[0053] ​​​​​​Step 3.2.2, calculate the speed of CAV rear vehicle i at the lane-changing stable time ;

[0054] If the headway between CAV rear vehicle i and CAV front vehicle i-1 which has changed lane successfully at time t is greater than the front safety lane-changing distance between CAV rear vehicle i and CAV front vehicle i-1 which has changed lane successfully at time t , and > , then calculate using formula (8);

[0055] (8)

[0056] In formula (8), is the car-following acceleration of CAV rear vehicle i when following CAV front vehicle i-1 which has changed lane successfully at time t, is the car-following acceleration of CAV rear vehicle i when following vehicle i-2 at time t;

[0057] If < and > , then calculate using formula (9);

[0058] (9)

[0059] If > and < , then calculate using formula (10);

[0060] (10)

[0061] If < and < , then calculate using formula (11);

[0062] (11).

[0063] Further, step 3.3 includes:

[0064] Step 3.3.1, calculate the speed of CAV front vehicle i-1 at the lane-changing stable time ;

[0065] ​​If at time t, the distance between the front ends of CAV vehicle i-1 and CAV vehicle j-1 The safe lane-changing distance between CAV vehicle i-1 and CAV vehicle j-1 at time t is greater than t. And at time t, the distance between the front ends of CAV i-1 and CAV j The safe lane-changing distance between CAV vehicle i-1 and CAV vehicle j at time t is greater than t. Then use equation (12) to calculate ;

[0066] (12)

[0067] In equation (12), Let be the following acceleration of vehicle i-1 in front of vehicle CAV at time t when following vehicle j-1 in front of vehicle CAV;

[0068] like < and > Then, use equation (13) to calculate ;

[0069] (13)

[0070] like > and < Then use equation (14) to calculate ;

[0071] (14)

[0072] Step 3.3.2: Calculate the CAV of the following vehicle i at the lane-changing stabilization time. speed ;

[0073] like > and > Then, use equation (15) to calculate ;

[0074] (15)

[0075] like < and > Then, use equation (16) to calculate ;

[0076] (16)

[0077] in formula (16), is the acceleration of the CAV front vehicle i-1 that has successfully changed lanes at time t;

[0078] if > and , then the acceleration of the CAV front vehicle i-1 that has successfully changed lanes at time t is calculated using formula (17) ;

[0079] (17)

[0080] if and , then the acceleration of the CAV front vehicle i-1 that has successfully changed lanes at time t is calculated using formula (18) ;

[0081] (18).

[0082] Further, the lane changing control in step 8 includes:

[0083] if , then the control strategy output is: the CAV rear vehicle i changes lanes at a variable speed, and the CAV front vehicle i-1 changes lanes at a variable speed;

[0084] if , then the control strategy output is: the CAV rear vehicle i changes lanes at a variable speed, and the CAV front vehicle i-1 changes lanes at a constant speed;

[0085] if , then the control strategy output is: the CAV rear vehicle i changes lanes at a variable speed, and the CAV front vehicle i-1 does not change lanes;

[0086] if , then the control strategy output is: the CAV rear vehicle i changes lanes at a constant speed, and the CAV front vehicle i-1 changes lanes at a variable speed;

[0087] if , then the control strategy output is: the CAV rear vehicle i changes lanes at a constant speed, and the CAV front vehicle i-1 changes lanes at a constant speed;

[0088] if , then the control strategy output is: the CAV rear vehicle i changes lanes at a constant speed, and the CAV front vehicle i-1 does not change lanes;

[0089] if , then the control strategy output is: the CAV rear vehicle i does not change lanes, and the CAV front vehicle i-1 changes lanes at a variable speed;

[0090] if , then the control strategy output is: the CAV rear vehicle i does not change lanes, and the CAV front vehicle i-1 changes lanes at a constant speed; ​​​

[0091] If , the output control strategy is: CAV rear vehicle i does not change lanes, and CAV front vehicle i-1 does not change lanes.

[0092] The electronic device comprises a memory and a processor, wherein the memory is configured to store a program supporting the processor to execute the control method, and the processor is configured to execute the program stored in the memory.

[0093] The computer readable storage medium stores a computer program, wherein the computer program is configured to execute the steps of the control method when executed by a processor.

[0094] Compared with the prior art, the beneficial technical effects of the present application are embodied in:

[0095] 1. The prior art mainly aims at single vehicle lane changing or merging decision, and lacks the ability of cooperative control for multiple vehicles merging into the special lane. The present application can realize multi-vehicle cooperative decision by comprehensively considering the merging requirements of multiple CAVs, avoid traffic flow instability caused by multiple vehicles merging at the same time, and significantly improve the merging efficiency and road capacity.

[0096] 2. The present application makes full use of the real-time information interaction capability in the network environment, dynamically calculates the influence distance, speed index and safety index by real-time acquisition of vehicle speed, acceleration, vehicle headway and other data, and makes cooperative decision, which can quickly respond to the instantaneous changes of traffic flow, and provide real-time and accurate optimal merging decision by finding the maximum comprehensive index strategy, thereby effectively improving the efficiency of CAV merging into the special lane, optimizing the operation efficiency of traffic flow, and significantly improving the dynamic adaptability of the system and the road capacity.

[0097] 3. The present application optimizes the decision of CAV merging into the special lane, reduces the traffic congestion and delay caused by merging behavior, and improves the overall traffic efficiency of the road. Especially in the high-density traffic flow environment, the control method of the present application can significantly relieve the traffic pressure and improve the operation efficiency of the road network. BRIEF DESCRIPTION OF DRAWINGS

[0098] Figure 1 is the overall flowchart of the present application;

[0099] Figure 2 is the decision method flowchart of the present application;

[0100] Figure 3 is the scene schematic diagram of the present application. DETAILED DESCRIPTION

[0101] In this example, a control method for multiple vehicles merging into a CAV dedicated lane in a connected environment is applied to a three-lane one-way traffic system. The three lanes are designated as lane one, lane two, and lane three from the inside out. Lane one is designated as the CAV dedicated lane, and the other lanes are regular lanes. Only CAV vehicles are allowed to travel in the CAV dedicated lane, while there are no restrictions on vehicle type in the regular lanes. Figure 1 As shown, the control method includes the following steps:

[0102] Step 1: Use roadside intelligent transportation equipment to collect vehicle information for the three lanes at time t, including: vehicle speed, acceleration, and headway.

[0103] like Figure 3 As shown, let i-1 be the CAV in front of two adjacent CAVs in the second lane and i be the CAV behind them; let i-2 be the CAV in front of i-1 in the second lane and j-1 be the CAV in front of i-1 in the first lane and j be the CAV behind i in the first lane.

[0104] Step 2, as follows Figure 2 As shown, when both the CAV preceding vehicle i-1 and the CAV following vehicle i have a need to merge into the CAV dedicated lane at time t, the influence distance between two adjacent CAV vehicles is calculated using equation (1). And determine the headway between vehicle i behind CAV and vehicle i-1 in front of CAV at time t. Whether it is smaller than the spacing If yes, proceed to step 3; otherwise, the two vehicles will not affect each other and no control is required, proceed to step 9.

[0105] (1)

[0106] In equation (1), The maximum speed of the CAV vehicle. The time for the CAV to change lanes Let be the speed of vehicle i behind CAV at time t. For safe headway, For safe parking distance, This refers to the length of the CAV vehicle.

[0107] Step 3: Record the lane-changing strategy of the CAV car as , ,in, For changing speeds and lanes, To change lanes at a constant speed, To avoid lane changes; calculate lane-changing strategies. At the moment of lane change stabilization, the following vehicle i and the preceding vehicle i-1 in the CAV are... speed;

[0108] Step 3.1, as shown in (A) part of Figure 3 , when the CAV front vehicle i-1 does not change lanes, the speed of the CAV rear vehicle i at the lane-changing stable time is calculated and the speed of the CAV front vehicle i-1 at the lane-changing stable time is calculated ; if and , the CAV front vehicle i-1 can only choose the non-lane-changing strategy.

[0109] Step 3.1.1, the speed of the CAV front vehicle i-1 at the lane-changing stable time is calculated by using formula (2), at this time the CAV front vehicle i-1 does not change lanes and follows its front vehicle i-2;

[0110] (2) In formula (2),

[0111] is the speed of the CAV front vehicle i-1 at time t, is the following acceleration of the CAV front vehicle i-1 following its front vehicle i-2 at time t. Step 3.1.2, the speed of the CAV rear vehicle i at the lane-changing stable time

[0112] is calculated ; If the headway between the CAV rear vehicle i and the CAV vehicle j-1 at time t

[0113] is greater than the front safe lane-changing distance between the CAV rear vehicle i and the CAV vehicle j-1 at time t , and the headway between the CAV rear vehicle i and the CAV vehicle j at time t is greater than the rear safe lane-changing distance between the CAV rear vehicle i and the CAV vehicle j at time t , it means that the CAV rear vehicle i meets the front and rear safe lane-changing distances and , then is calculated by using formula (3) ;

[0114] (3)

[0115] In formula (3), is the following acceleration of the CAV rear vehicle i following the CAV vehicle j-1 at time t, is the following acceleration of the CAV rear vehicle i following the CAV front vehicle i-1 at time t;

[0116] if <​​ and , indicates that CAV rear vehicle i does not meet the front safe lane-changing distance , then calculate using formula (4)

[0117] (4)

[0118] In formula (4), is the speed of CAV vehicle j-1 at time t, is the acceleration of CAV vehicle j-1 at time t.

[0119] If and , indicates that CAV rear vehicle i does not meet the rear safe lane-changing distance , then calculate using formula (5)

[0120] (5)

[0121] In formula (5), is the speed of CAV vehicle j at time t, is the acceleration of CAV vehicle j at time t.

[0122] If and , indicates that CAV rear vehicle i does not meet the front safe lane-changing distance and the rear safe lane-changing distance , then calculate using formula (6)

[0123] (6)

[0124] Step 3.2, as shown in part (B) of Figure 3 , when CAV front vehicle i-1 uniformly changes lanes, calculate the speed of CAV rear vehicle i at lane-changing stable time and the speed of CAV front vehicle i-1 at lane-changing stable time .

[0125] Step 3.2.1, calculate the speed of CAV front vehicle i-1 at lane-changing stable time using formula (7), at this time CAV front vehicle i-1 uniformly changes lanes, the speed at lane-changing stable time is the same as the speed at time t;

[0126] ​​​​​​​​ (7)

[0127] Step 3.2.2, calculating the speed of CAV rear vehicle i at the lane-changing stable time ;

[0128] If the headway between CAV rear vehicle i and CAV front vehicle i-1 which has successfully changed lane at time t is greater than the front safety lane-changing distance between CAV rear vehicle i and CAV front vehicle i-1 which has successfully changed lane at time t, and , it indicates that CAV rear vehicle i meets the front and rear safety lane-changing distance and , then the speed of CAV rear vehicle i at the lane-changing stable time is calculated by formula (8) ;

[0129] (8)

[0130] In formula (8), is the car-following acceleration of CAV rear vehicle i following CAV front vehicle i-1 which has successfully changed lane at time t, is the car-following acceleration of CAV rear vehicle i following vehicle i-2 at time t.

[0131] If and , it indicates that CAV rear vehicle i does not meet the front safety lane-changing distance , then the speed of CAV rear vehicle i at the lane-changing stable time is calculated by formula (9) ;

[0132] (9)

[0133] If and , it indicates that CAV rear vehicle i does not meet the rear safety lane-changing distance , then the speed of CAV rear vehicle i at the lane-changing stable time is calculated by formula (10) ;

[0134] (10)

[0135] If and , it indicates that CAV rear vehicle i does not meet the front safety lane-changing distance and the rear safety lane-changing distance , then the speed of CAV rear vehicle i at the lane-changing stable time is calculated by formula (11) ;​​​​​​​​​​

[0136] (11)

[0137] Step 3.3, as shown in part (C) of Figure 3 , when the CAV front vehicle i-1 changes lanes, the speed of the CAV rear vehicle i at the lane change stability time is calculated as the speed of the CAV front vehicle i-1 at the lane change stability time . .

[0138] Step 3.3.1, the speed of the CAV front vehicle i-1 at the lane change stability time is calculated as ;

[0139] If the headway distance between the CAV front vehicle i-1 and the CAV vehicle j-1 at time t is greater than the front safe lane change distance between the CAV front vehicle i-1 and the CAV vehicle j-1 at time t , and the headway distance between the CAV front vehicle i-1 and the CAV vehicle j at time t is greater than the rear safe lane change distance between the CAV front vehicle i-1 and the CAV vehicle j at time t , indicating that the CAV front vehicle i-1 meets the front and rear safe lane change distances and , then the speed of the CAV front vehicle i-1 at the lane change stability time is calculated using equation (12)

[0140] (12)

[0141] In equation (12), is the car following acceleration of the CAV front vehicle i-1 following the CAV vehicle j-1 at time t.

[0142] If < and > , indicating that the CAV front vehicle i-1 does not meet the front safe lane change distance , then the speed of the CAV front vehicle i-1 at the lane change stability time is calculated using equation (13)

[0143] (13)

[0144] If > and < , indicating that the CAV front vehicle i-1 does not meet the rear safe lane change distance , then the speed of the CAV front vehicle i-1 at the lane change stability time is calculated using equation (14)

[0145] (14)

[0146] If If the CAV front vehicle i-1 only has the no-lane-changing strategy in step 3.1.

[0147] Step 3.3.2, calculate the speed of the CAV rear vehicle i at the lane-changing stable time

[0148] If , which means that the CAV rear vehicle i meets the front and rear safety lane-changing distance , then calculate using formula (15);

[0149] (15)

[0150] If , which means that the CAV rear vehicle i does not meet the front safety lane-changing distance , then calculate using formula (16);

[0151] (16)

[0152] In formula (16), is the acceleration of the CAV front vehicle i-1 that has successfully changed lanes at time t.

[0153] If , which means that the CAV rear vehicle i does not meet the rear safety lane-changing distance , then calculate using formula (17);

[0154] (17)

[0155] If , which means that the CAV rear vehicle i does not meet the front safety lane-changing distance and the rear safety lane-changing distance , then calculate​​​​​​​​​​​​​​​​​​ ;

[0156] (18)

[0157] Step 4, as shown in Figure 2 , record any one CAV vehicle in CAV rear vehicle i and CAV front vehicle i-1 as m, and calculate the lane-changing strategy of the CAV vehicle m at time t using formula (19) ;

[0158] (19)

[0159] In formula (19), is the lane-changing strategy at the lane-changing stable time is the speed of vehicle m at time t, is the speed of vehicle m at time t.

[0160] Step 5, calculate the time headway of CAV front vehicle i-1 and vehicle i-2 at time t using formula (20) and the time headway of CAV rear vehicle i and CAV front vehicle i-1 ;

[0161] (20)

[0162] In formula (20), is the time headway of CAV front vehicle i-1 and vehicle i-2 at time t;

[0163] Calculate the time headway of CAV front vehicle i-1 and its front vehicle at the lane-changing stable time using formula (21) and the time headway of CAV rear vehicle i and its front vehicle ;

[0164] (21)

[0165] In formula (21), is the time headway of CAV front vehicle i-1 and its front vehicle at the lane-changing stable time; is the time headway of CAV rear vehicle i and its front vehicle at the lane-changing stable time.

[0166] Step 6, calculate the safety index of CAV vehicle m using formula (22) ;

[0167] (22)

[0168] In formula (22), is the lane-changing strategy at the lane-changing stable time ​​The headway of the m-th vehicle at time t, The headway of the m-th vehicle at time t.

[0169] Step 7, calculate the lane-changing strategy by using formula (23) The comprehensive index of the m-th CAV vehicle ;

[0170] (23)

[0171] In formula (23), is the weight coefficient of the speed index, is the weight coefficient of the safety index.

[0172] Step 8, as shown in formula (24), calculate the lane-changing strategy Figure 2 The comprehensive index of the i-th CAV rear vehicle The comprehensive index of the i-1-th CAV front vehicle respectively, and select the maximum comprehensive index sum from them Control the lane-changing of the CAV rear vehicle i and the CAV front vehicle i-1: If , the output control strategy is: the CAV rear vehicle i changes speed to change lanes, and the CAV front vehicle i-1 changes speed to change lanes;

[0173] If , the output control strategy is: the CAV rear vehicle i changes speed to change lanes, and the CAV front vehicle i-1 changes speed to change lanes;

[0174] If , the output control strategy is: the CAV rear vehicle i changes speed to change lanes, and the CAV front vehicle i-1 changes speed to change lanes;

[0175] If , the output control strategy is: the CAV rear vehicle i changes speed to change lanes, and the CAV front vehicle i-1 changes speed to change lanes;

[0176] If , the output control strategy is: the CAV rear vehicle i changes speed to change lanes, and the CAV front vehicle i-1 changes speed to change lanes;

[0177] If , the output control strategy is: the CAV rear vehicle i changes speed to change lanes, and the CAV front vehicle i-1 changes speed to change lanes;

[0178] If , the output control strategy is: the CAV rear vehicle i changes speed to change lanes, and the CAV front vehicle i-1 changes speed to change lanes;

[0179] If , the output control strategy is: the CAV rear vehicle i changes speed to change lanes, and the CAV front vehicle i-1 changes speed to change lanes;

[0180] ​If the output control strategy is: CAV rear vehicle i does not change lanes, CAV front vehicle i-1 changes lanes at a constant speed.

[0181] If , the output control strategy is: CAV rear vehicle i does not change lanes, CAV front vehicle i-1 does not change lanes.

[0182] Step 9, assign to , determine whether is true, if true, end the control process; otherwise, return to step 1 for sequential execution; wherein, represents the control end time, is the update interval.

[0183] In this embodiment, an electronic device includes a memory and a processor, characterized in that the memory is used to store a program supporting the processor to execute the control method of claim 1, and the processor is configured to execute the program stored in the memory.

[0184] In this embodiment, a computer readable storage medium, the computer readable storage medium has a computer program stored thereon, characterized in that the computer program is executed by the processor to perform the steps of the control method of claim 1.

Claims

1. A control method for multiple vehicles merging into a CAV lane in a connected environment, characterized in that, The application is applied to three-lane one-way traffic, three lanes are respectively recorded as first lane, second lane and third lane from inside to outside; the first lane is CAV lane, and other lanes are common lanes; only CAVs are allowed to run on the CAV lane, and the common lanes do not limit the types of running vehicles; The control method comprises the following steps: Step 1: collecting vehicle information of three lanes at time t by using roadside intelligent traffic equipment, including vehicle speed, acceleration and vehicle headway; Let the CAV front vehicle of the two adjacent CAVs on the second lane be i-1, and the CAV rear vehicle be i; the front vehicle of the CAV front vehicle i-1 on the second lane be i-2, the front vehicle of the CAV front vehicle i-1 on the first lane be j-1, and the rear vehicle of the CAV rear vehicle i on the first lane be j; Step 2, when both CAV front vehicle i-1 and CAV rear vehicle i have the need to merge into the CAV-only lane at time t, the influence distance between the two adjacent CAV vehicles is calculated by using formula (1) ; and it is judged whether the headway between CAV rear vehicle i and CAV front vehicle i-1 at time t is less than the influence distance , if yes, step 3 is executed; otherwise, step 9 is executed . (1) in formula (1), is the maximum speed of the CAV vehicle, is the time for the CAV vehicle to change lanes, is the speed of the CAV vehicle i at time t, is the safe headway, is the safe stopping distance, is the length of the CAV vehicle; Step 3: Record the lane-changing strategy of the CAV car as , ,in, For changing speeds and lanes, To change lanes at a constant speed, To avoid lane changes; calculate lane-changing strategies. After exiting the CAV, car i stabilizes during lane change. speed When the CAV ahead i-1 stabilizes during a lane change speed ; Step 4, any one of the CAV vehicles in CAV rear i and CAV front i-1 is recorded as m, and the lane changing strategy is calculated by using formula (19) Speed index of lower CAV vehicle m ; (19) In formula (19), lane-changing strategy at a lane-changing stable time the speed of the lower vehicle m at time t, the speed of the vehicle m at time t Step 5, calculate the time headway of CAV front vehicle i-1 and vehicle i-2 at time t using formula (20) and the time headway of CAV rear vehicle i and CAV front vehicle i-1 ; (20) In formula (20), is the headway between the CAV front vehicle i-1 and the vehicle i-2 at time t; is the speed of the CAV front vehicle i-1 at time t; The car head time distance of CAV front vehicle i-1 and its front vehicle at the lane changing stable time is calculated by using formula (21) and the car head time distance of CAV rear vehicle i and its front vehicle ; (21) In formula (21), is the headway between the CAV i-1 and its preceding vehicle at the lane-changing stabilization time; is the headway between the CAV i and its preceding vehicle at the lane-changing stabilization time; Step 6, calculate the lane change strategy using formula (22) Safety index of the lower CAV vehicle m ; (22) In formula (22), Lane changing strategy at lane changing stable time The headway of the mth vehicle and its front vehicle at time t, The headway of the mth vehicle and its front vehicle at time t, Step 7, calculate the lane change strategy using formula (23) Overall indicator for the lower CAV vehicle m ; (23) In formula (23), a weight coefficient of the speed index, a weight coefficient of the safety index; Step 8, calculating lane-changing strategy the comprehensive index of the CAV rear vehicle i respectively, and selecting the maximum comprehensive index sum from them the comprehensive index of the CAV front vehicle i-1 the sum of the comprehensive indexes of the CAV rear vehicle i and the CAV front vehicle i-1 lane-changing control is performed on the CAV rear vehicle i and the CAV front vehicle i-1; Step 9, set to , determine if it is true, if true, end the control flow; otherwise, return to step 1 for sequential execution; wherein represents the control end time, is the update interval.

2. The method of claim 1, wherein, The step 3 comprises: Step 3.1, when CAV front vehicle i-1 does not change lane, calculate the speed of CAV rear vehicle i at the lane-changing stable time and the speed of CAV front vehicle i-1 at the no-lane-changing stable time ;​​ Step 3.2, when CAV front vehicle i-1 changes lane at a constant speed, calculate the speed of CAV rear vehicle i at the lane-changing stable time of CAV front vehicle i-1 at the lane-changing stable time of CAV front vehicle i-1 at the lane-changing stable time ;​ Step 3.3, when CAV front vehicle i-1 changes speed and lane, calculate the speed of CAV rear vehicle i at the lane-changing stable time .​​​ 3. The method of claim 2, wherein the method further comprises: Step 3.1 comprises: Step 3.1.

1. Calculate the speed of the CAV front vehicle i-1 at the moment of stable without lane change using formula (2) ;​ (2) In formula (2), is the speed of the CAV front vehicle i-1 at time t, is the car-following acceleration of the CAV front vehicle i-1 when following its front vehicle i-2 at time t. Step 3.1.

2. Calculate the speed of CAV rear car i at the lane change stabilization time ;​ If the headway between CAV rear vehicle i and CAV vehicle j-1 at time t is greater than the front safety lane-changing distance between CAV rear vehicle i and CAV vehicle j-1 at time t , and the headway between CAV rear vehicle i and CAV vehicle j at time t is greater than the rear safety lane-changing distance between CAV rear vehicle i and CAV vehicle j at time t , then the distance between CAV rear vehicle i and CAV vehicle j at time t is calculated using formula (3) ; (3) In formula (3), is the following CAV i's following acceleration when following the preceding CAV i-1 at time t, is the following CAV i's following acceleration when following the preceding CAV i-1 at time t, If and then calculate using equation (4) ;​​ (4) In formula (4), is the speed of the CAV vehicle j-1 at time t, is the acceleration of the CAV vehicle j-1 at time t. If > and < then calculate using equation (5) (5) In formula (5), is the speed of the CAV vehicle j at time t, is the acceleration of the CAV vehicle j at time t. If and then calculate using equation (6) ;​​ (6)。 4. The method of claim 3, wherein, Step 3.2 comprises: Step 3.2.

1. Calculate the speed of the CAV front vehicle i-1 at the lane change stabilization moment using formula (7) ;​ (7) Step 3.2.

2. Calculate the speed of CAV rear vehicle i at the lane change stabilization moment ;​ If the headway between the CAV rear vehicle i and the CAV front vehicle i-1 which has successfully changed lanes at time t is greater than the front safety lane-changing distance between the CAV rear vehicle i and the CAV front vehicle i-1 which has successfully changed lanes at time t , and , and > , then the formula (8) is used to calculate ; (8) In formula (8), is the following acceleration of the CAV i when the CAV i-1 changes lanes successfully at time t, is the following acceleration of the CAV i when the vehicle i-2 is followed at time t. If and then calculate using equation (9)​​ (9) If > and < then calculate using equation (10) (10) If and then calculate using equation (11) ;​​ (11)。 5. The method of claim 4, wherein, Step 3.3 comprises: Step 3.3.1, calculating the speed of the CAV front vehicle i-1 at the lane change stabilization moment ;​ If the headway between the CAV front vehicle i-1 and the CAV vehicle j-1 at time t is greater than the front safety lane-changing headway between the CAV front vehicle i-1 and the CAV vehicle j-1 at time t , and the headway between the CAV front vehicle i-1 and the CAV vehicle j at time t is greater than the rear safety lane-changing headway between the CAV front vehicle i-1 and the CAV vehicle j at time t , then the value of is calculated using equation (12) ; (12) In formula (12), is the car-following acceleration of the CAV i-1 following the CAV j-1 at time t. If and then calculate using equation (13)​​ (13) If > and < then calculate using equation (14); (14) Step 3.3.2, calculating the speed of CAV rear car i at the lane change stabilization moment ;​ If > and > then calculate using equation (15) (15) If and then calculate using equation (16)​​ (16) In formula (16), is the acceleration of the CAV front vehicle i-1 that has successfully changed lanes at time t. If > and < then calculate using equation (17) (17) If and then calculate using equation (18) ;​​ (18)。 6. The method of claim 5, wherein, The lane changing control in the step 8 comprises: If , the output control strategy is: CAV rear vehicle i changes gear and changes lane, and CAV front vehicle i-1 changes gear and changes lane; If , the output control strategy is: CAV rear vehicle i changes gear and changes lane, and CAV front vehicle i-1 changes lane at a constant speed. If , the output control strategy is: CAV rear vehicle i changes gear and changes lane, and CAV front vehicle i-1 does not change lane; If , the output control strategy is: CAV rear vehicle i uniform speed lane changing, CAV front vehicle i-1 variable speed lane changing; If , the output control strategy is: CAV rear vehicle i uniform speed lane changing, CAV front vehicle i-1 uniform speed lane changing; If , the output control strategy is: CAV rear vehicle i uniform speed lane changing, CAV front vehicle i-1 does not change lane; If , the output control strategy is: CAV rear vehicle i does not change lanes, and CAV front vehicle i-1 changes lanes by shifting gears. If , the output control strategy is: CAV rear vehicle i does not change lanes, and CAV front vehicle i-1 changes lanes at a constant speed. If then the output control strategy is: CAV rear vehicle i does not change lanes, CAV front vehicle i-1 does not change lanes.

7. An electronic device comprising a memory and a processor, characterized in that The memory is used for storing a program supporting the processor to execute the control method of any one of claims 1-6, and the processor is configured to execute the program stored in the memory.

8. A computer-readable storage medium having stored thereon a computer program, characterized in that The computer program is executed by the processor to execute the steps of the control method of any one of claims 1-6.

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