Ramp Merging Cooperative Control Method, Device and Electronic Equipment Based on Vehicle Platooning

Abstract

The present invention relates to a ramp merging cooperative control method, device, electronic device and computer storage medium based on vehicle platoons. The method includes: dividing the main line and the ramp into regions and determining the length of each region; setting the driving speed of the platoon in each region and the position of the merging point; respectively calculating the first driving time for each vehicle of the first platoon to reach the merging point and the second driving time for each vehicle of the second platoon to reach the merging point; determining the platoon order according to a preset priority principle, and formulating a merging plan based on the determined platoon order, the first driving time and the second driving time, and sending the merging plan to each vehicle of the platoon to control each vehicle to execute the merging plan. The present invention formulates a merging plan for connected and autonomous vehicles based on the driving time of the platoon reaching the merging point, improving the traffic efficiency and safety of the platoon in the ramp merging area.

Description

Technical Field

[0001] The present invention relates to the technical fields of intelligent networking and vehicle-road cooperation, and particularly relates to a ramp merging collaborative control method, device, electronic device and computer storage medium based on vehicle platooning. Background Art

[0002] With the rapid development of intelligent networking and vehicle-road cooperation, connected autonomous vehicles (CAVs) are increasingly applied to real scenarios, including the ramp merging on expressways. Due to the speed differences of vehicles in the ramp merging area, the driving trajectories of main-line vehicles and ramp vehicles conflict, resulting in a reduction in overall efficiency.

[0003] To reduce vehicle driving delays, vehicle platooning is an effective strategy. Compared with the non-platooning state, the time headway between the front ends of platooned vehicles is smaller, the driving states of vehicles are consistent, the traffic flow is more stable, and thus the road traffic capacity is higher. When the main-line platoon and the ramp platoon alternately pass through the merging area, the conflict points can be eliminated. Existing research on vehicle platoons mainly focuses on platoon characteristics, platoon top-level control, etc., while there is less research on applying vehicle platoons in the ramp merging area.

[0004] Therefore, in a pure connected environment, how to improve the traffic efficiency of vehicle platoons in the ramp merging area is a technical problem to be solved urgently. Summary of the Invention

[0005] In view of this, it is necessary to provide a ramp merging collaborative control method, device, electronic device and computer storage medium based on vehicle platooning to improve the traffic efficiency of vehicle platoons in the ramp merging area.

[0006] To achieve the above object, in a first aspect, the present invention provides a ramp merging collaborative control method based on vehicle platooning, including:

[0007] Dividing the main line and the ramp into regions and determining the length of each region;

[0008] Setting the driving speed of the platoon in each region and the merging point position, wherein the platoon includes a first platoon driving on the main line and a second platoon driving on the ramp;

[0009] Calculating the first driving time for each vehicle of the first platoon to reach the merging point based on the length of each region of the main line and the driving speed of the first platoon in each region of the main line;

[0010] Calculating the second driving time for each vehicle of the second platoon to reach the merging point based on the length of each region of the ramp and the driving speed of the second platoon in each region of the ramp;

[0011] Determine the vehicle fleet order according to the preset priority principle, and formulate a merging plan based on the determined vehicle fleet order, the first driving time, and the second driving time;

[0012] Send the merging plan to each vehicle of the vehicle fleet to control each vehicle to execute the merging plan.

[0013] Further, the regional division of the main line and the ramp includes:

[0014] Divide the main line and the ramp into a main line lane-changing area, a main line formation area, a ramp buffer area, a ramp formation area, a merging area, and a merging buffer area.

[0015] Further, the setting of the driving speed of the vehicle fleet in each area includes:

[0016] Set the first initial speed of the first vehicle fleet at the head of the main line lane-changing area, the first driving speed of the first vehicle fleet in the main line lane-changing area and the main line formation area, and the merging speed of the first vehicle fleet at the merging point;

[0017] Set the second initial speed of the second vehicle fleet at the head of the ramp lane-changing area, the second driving speed of the second vehicle fleet in the main line lane-changing area and the main line formation area, and the merging speed of the second vehicle fleet at the merging point. Further, the calculation of the first driving time for each vehicle of the first vehicle fleet to reach the merging point based on the length of each area of the main line and the driving speed of the first vehicle fleet in each area of the main line includes:

[0018] Calculate the second driving time for the leading vehicle of the first vehicle fleet to reach the merging point:

[0019]

[0020] Calculate the third driving time for the following vehicles of the first vehicle fleet to reach the merging point:

[0021]

[0022] Among them, L 1 is the length of the main line lane-changing area, L 2 is the length of the main line formation area, L 4 is the length from the merging point to the end of the main line formation area, V m0 is the initial vehicle speed of the vehicles in the first vehicle fleet, V M is the speed reached by the first vehicle fleet accelerating in the main line lane-changing area, V mi is the speed reached by the following vehicles of the first vehicle fleet accelerating in the main line formation area, V a is the speed reached by the first vehicle fleet decelerating before the merging point, a is the acceleration when the first vehicle fleet is accelerating or decelerating, t bmi is the headway when the following vehicles of the first vehicle fleet initially enter, i is the number of vehicles in the first vehicle fleet, and n has no actual physical meaning.

[0023] Further, calculating the second travel time for each vehicle of the second convoy to reach the merging point based on the length of each area of the ramp and the traveling speed of the second convoy in each area of the ramp respectively includes:

[0024] Calculating the fourth travel time for the leading vehicle of the second convoy to reach the merging point:

[0025]

[0026] Calculating the fifth travel time for the following vehicles of the second convoy to reach the merging point:

[0027]

[0028] Wherein, L 6 is the length of the ramp lane-changing area, L 5 is the length of the ramp formation area, L 4 is the length from the merging point to the end of the main-line formation area, V r0 is the initial vehicle speed of the vehicles in the second convoy, V R is the speed reached by accelerating in the ramp lane-changing area of the second convoy, V rj is the speed reached by accelerating in the ramp formation area of the following vehicles of the second convoy, V a is the speed reached by decelerating before the merging point of the second convoy, a is the acceleration when the second convoy is accelerating or decelerating, t rj is the headway when the following vehicles of the second convoy initially enter, j is the number of vehicles in the first convoy, and n has no actual physical meaning.

[0029] Further, determining the convoy order according to the preset priority principle and formulating a merging plan based on the determined convoy order, the first travel time, and the second travel time includes:

[0030] Setting that the leading vehicle of the second convoy reaches the merging point after the first convoy completely passes through the merging point according to the first convoy priority principle, and determining the time starting point for the vehicles of the first convoy to reach the lane-changing area according to this merging order.

[0031] Further, the main line includes a first lane and a second lane, and a lane-changing decision point is set at the starting point of the first lane. The method further includes:

[0032] If the first vehicle at the lane-changing decision point is not a following vehicle, calculating the time for the third convoy formed by the first vehicle and the first vehicle as the leading vehicle to pass through the merging point respectively;

[0033] And calculating the time for the fourth convoy formed by the second vehicle and the second vehicle as the leading vehicle to pass through the merging point respectively, wherein the second vehicle is the vehicle that reaches the starting point of the ramp when the first vehicle is at the lane-changing decision point;

[0034] If then switch the first vehicle from the first lane to the second lane, or readjust the driving route of the first vehicle, where is the time for the fourth vehicle fleet to pass through the merging point, is the time for the third vehicle fleet to pass through the merging point, t′ D is the time for the second vehicle to pass through the merging point, t h is the safe distance between the front and rear vehicles of each vehicle fleet.

[0035] In a second aspect, the present invention further provides a ramp merging collaborative control device based on vehicle formation, including:

[0036] A region division module, configured to divide the main line and the ramp into regions, and determine the length of each region;

[0037] A setting module, configured to set the driving speed of the vehicle fleet in each region and the merging point position, where the vehicle fleet includes a first vehicle fleet driving on the main line and a second vehicle fleet driving on the ramp;

[0038] A first calculation module, configured to calculate the first driving time for each vehicle of the first vehicle fleet to reach the merging point based on the length of each region of the main line and the driving speed of the first vehicle fleet in each region of the main line;

[0039] A second calculation module, configured to calculate the second driving time for each vehicle of the second vehicle fleet to reach the merging point based on the length of each region of the ramp and the driving speed of the second vehicle fleet in each region of the ramp;

[0040] A scheme formulation module, configured to determine the vehicle fleet order according to a preset priority principle, and formulate a merging scheme based on the determined vehicle fleet order, the first driving time, and the second driving time;

[0041] A control module, configured to send the merging scheme to each vehicle of the vehicle fleet to control each vehicle to execute the merging scheme.

[0042] In a third aspect, the present invention further provides an electronic device, including a memory, a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the computer program, the steps in the above-mentioned ramp merging collaborative control method based on vehicle formation are implemented.

[0043] In a fourth aspect, the present invention further provides a computer storage medium. The computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the steps in the above-mentioned ramp merging collaborative control method based on vehicle formation are implemented.

[0044] The beneficial effects of adopting the above embodiments are:

[0045] The present invention divides the main line and ramp into regions, determines the length of each region and the position of the merging point, makes full use of the in-vehicle computing resources and communication resources of intelligent connected vehicles, and reduces the construction cost of infrastructure computing and communication; and formulates a merging plan by simulating and calculating the estimated driving time of each vehicle in each convoy to reach the merging point, improving the safety and traffic efficiency of the connected convoys when merging on the ramp. BRIEF DESCRIPTION OF THE DRAWINGS

[0046] Figure 1 It is a schematic flowchart of an embodiment of the ramp merging cooperative control method based on vehicle formation provided by the present invention;

[0047] Figure 2 It is a schematic diagram of a region division provided by an embodiment of the present invention;

[0048] Figure 3 It is a schematic diagram of vehicle following provided by an embodiment of the present invention;

[0049] Figure 4 It is another schematic diagram of vehicle following provided by an embodiment of the present invention;

[0050] Figure 5 It is a schematic structural diagram of an embodiment of the ramp merging cooperative control device based on vehicle formation provided by the present invention;

[0051] Figure 6 It is a schematic structural diagram of an embodiment of an electronic device provided by the present invention. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0052] The following will specifically describe the preferred embodiments of the present invention in conjunction with the accompanying drawings, where the accompanying drawings form a part of this application and are used together with the embodiments of the present invention to explain the principles of the present invention, rather than to limit the scope of the present invention.

[0053] In the description of the present invention, the terms "first" and "second" are only used for descriptive purposes and cannot be construed as indicating or implying relative importance or implicitly specifying the quantity of the indicated technical features. Thus, the features defined with "first" and "second" may explicitly or implicitly include at least one of these features. In addition, the meaning of "plurality" is two or more, unless otherwise specifically defined. Referring to "embodiment" in this article means that the specific features, structures or characteristics described in conjunction with the embodiment may be included in at least one embodiment of the present invention. The appearance of this phrase in various positions in the specification does not necessarily refer to the same embodiment, nor is it an independent or alternative embodiment mutually exclusive with other embodiments. Those skilled in the art will explicitly and implicitly understand that the embodiments described herein can be combined with other embodiments.

[0054] The present invention provides a ramp merging collaborative control method, device, electronic device and computer storage medium based on vehicle platooning. Vehicle-road communication is realized by a connected autonomous vehicle equipped with a vehicle-road communication unit. Then, the vehicle-road communication unit can transmit vehicle driving information, such as speed, position, acceleration, etc., to the roadside communication unit. Next, the roadside communication unit transmits the information to the control center. The control center calculates the merging time sequence based on the driving information of the main-line vehicles and the ramp vehicles, formulates a merging plan, and finally transmits it back to the connected autonomous vehicle for execution. The following will respectively elaborate on specific embodiments in detail:

[0055] Please refer to Figure 1 , Figure 1 which is a schematic flowchart of an embodiment of the ramp merging collaborative control method based on vehicle platooning provided by the present invention. A specific embodiment of the present invention discloses a ramp merging collaborative control method based on vehicle platooning, including:

[0056] Step S101: Divide the main line and the ramp into regions, and determine the length of each region;

[0057] Step S102: Set the driving speed of the platoon in each region and the merging point position, where the platoon includes a first platoon driving on the main line and a second platoon driving on the ramp;

[0058] Step S103: Calculate the first driving time for each vehicle of the first platoon to reach the merging point based on the length of each region of the main line and the driving speed of the first platoon in each region of the main line;

[0059] Step S104: Calculate the second driving time for each vehicle of the second platoon to reach the merging point based on the length of each region of the ramp and the driving speed of the second platoon in each region of the ramp;

[0060] Step S105: Determine the platoon order according to the preset priority principle, and formulate a merging plan based on the determined platoon order, the first driving time and the second driving time;

[0061] Step S106: Send the merging plan to each vehicle of the platoon to control each vehicle to execute the merging plan.

[0062] First of all, it should be noted that the present invention is mainly applied in the control center. Before using the control center to control the driving states of various vehicles, the following assumptions are made: that is, all vehicles in the present invention are connected autonomous vehicles, and the main-line and ramp traffic flows are both medium-density traffic flows. In the merging area, main-line vehicles are prohibited from changing lanes, and ramp vehicles can only change lanes to Lane 1 and the lane closest to the ramp for driving. The leading vehicle of each vehicle fleet is responsible for controlling the driving state of the fleet, and the remaining vehicles are only responsible for following the leading vehicle. The initial speeds of the main-line traffic flow are the same, and the initial speeds of the ramp traffic flow are also the same. The arrival of vehicles follows a binomial distribution or a random distribution. Lane changes are instantaneous lane changes, and the delay time generated during vehicle lane changes is ignored.

[0063] The present invention divides the main line and the ramp into regions, and determines the length of each region and the position of the merging point, making full use of the in-vehicle computing resources and communication resources of intelligent connected vehicles, and reducing the construction costs for infrastructure computing and communication; and formulates a merging plan by simulating and calculating the estimated driving time of each vehicle in each vehicle fleet to reach the merging point, improving the safety and traffic efficiency of connected vehicle fleets during ramp merging.

[0064] In an embodiment of the present invention, the dividing the main line and the ramp into regions includes:

[0065] Dividing the main line and the ramp into a main-line lane-changing area, a main-line formation area, a ramp buffer area, a ramp formation area, a merging area, and a merging buffer area.

[0066] Please refer to Figure 2 , Figure 2 which is a schematic diagram of area division provided for an embodiment of the present invention. Among them, L 1 is the length of the main-line lane-changing area, L 2 is the length of the main-line formation area, L 3 is the length of the merging area, L 4 is the length from the merging point to the end of the main-line formation area, that is, the length of the merging buffer area, L 6 is the length of the ramp lane-changing area, L 5 is the length of the ramp formation area. It can be understood that the division of the above regions and the determination of the merging point position can be divided by those skilled in the art themselves, or can be accurately divided by the control center according to big data analysis, and the specific length of each of the above regions can be measured by the roadside unit and uploaded to the control center.

[0067] In an embodiment of the present invention, the setting the driving speed of the vehicle fleet in each region includes:

[0068] Setting the first initial speed of the first vehicle fleet at the head of the main-line lane-changing area, the first driving speed of the first vehicle fleet in the main-line lane-changing area and the main-line formation area, and the merging speed of the first vehicle fleet at the merging point;

[0069] Set the second initial speed of the second vehicle fleet at the head of the ramp lane-changing area, the second driving speed of the second vehicle fleet in the main-line lane-changing area and the main-line formation area, and the merging speed of the second vehicle fleet at the merging point.

[0070] Calculate the first driving time for each vehicle of the first vehicle fleet to reach the merging point based on the length of each area of the main line and the driving speed of the first vehicle fleet in each area of the main line, including:

[0071] Calculate the second driving time for the leading vehicle of the first vehicle fleet to reach the merging point:

[0072]

[0073] Calculate the third driving time for the following vehicles of the first vehicle fleet to reach the merging point:

[0074]

[0075] Among them, L 1 is the length of the main-line lane-changing area, L 2 is the length of the main-line formation area, L 4 is the length from the merging point to the end of the main-line formation area, V m0 is the initial vehicle speed of the vehicles in the first vehicle fleet, V M is the speed reached by accelerating in the main-line lane-changing area of the first vehicle fleet, V mi is the speed reached by accelerating in the main-line formation area of the following vehicles of the first vehicle fleet, V a is the speed reached by decelerating before the merging point of the first vehicle fleet, a is the acceleration when the first vehicle fleet is accelerating or decelerating, t bmi is the headway when the following vehicles of the first vehicle fleet initially enter, i is the number of vehicles in the first vehicle fleet, and n has no actual physical meaning.

[0076] It can be understood that the calculation process of the merging time of the leading vehicle of the main line and its vehicle fleet is as follows:

[0077] The main-line vehicles, that is, the first vehicle fleet, need to go through the stages of acceleration - uniform speed - deceleration to make the vehicle speed reach the merging speed as soon as possible. Specifically, the leading vehicle of the first vehicle fleet accelerates in the main-line lane-changing area to V M , in order to provide variable-speed time for the remaining vehicles in the vehicle fleet, the leading vehicle will pass through the remaining section of the main-line lane-changing area and the main-line formation area at a uniform speed, and then decelerate to V 4 in L a , and finally pass through the remaining section of L 4 at a uniform speed. At this time, the driving time for the leading vehicle of the first vehicle fleet to reach the merging point is:

[0078]

[0079] At this time, the following vehicles of the leading vehicle of the first vehicle fleet will also accelerate in the main-line lane-changing area to VM , and then pass through the remaining section of the main-line lane-changing area at a constant speed. When arriving at the main-line platoon area, in order to shorten the inter-vehicle distance of the vehicle fleet, an acceleration-deceleration-constant speed stage will be carried out, so that the vehicle speed is equal to the speed of the leading vehicle again, but the inter-vehicle distance becomes smaller. Assume that the speed is increased to V m1 (where, V m1 ∈V mi , V mi is the speed of the i-th following vehicle behind the leading vehicle, and V M ≤V mi ≤V M1 ). Taking the time when the leading vehicle of the first vehicle fleet enters the main-line lane-changing area as the starting point, the travel time of the first following vehicle behind the leading vehicle of the main-line vehicle fleet to reach the confluence point at this time is:

[0080]

[0081] And there is the following relationship between the leading vehicle of the first vehicle fleet and its first following vehicle in terms of time:

[0082]

[0083] where, t f is the headway within the vehicle fleet, and there is the following relationship in terms of the traveled distance:

[0084]

[0085]

[0086] X m1 =V m0 t bm1 +L 1 +L 2 +L 4 (6)

[0087] where, is the traveled distance of the leading vehicle of the main-line vehicle fleet within , X m1 is the traveled distance of the first vehicle following the leading vehicle in the main-line vehicle fleet within t m1 time.

[0088] Combining equations (1), (2), and (3) gives:

[0089]

[0090] From this, the value of V m1 can be obtained. Similarly, the time for the i-th vehicle behind the leading vehicle of the main-line vehicle fleet to reach the confluence point is:

[0091]

[0092] There is the following relational expression in terms of time between the leading vehicle of the main-line vehicle fleet and the \(i\)th vehicle following it:

[0093]

[0094] Therefore, the travel time \(t\) of each vehicle in the first vehicle fleet reaching the merging point can be obtained mi and the corresponding speed \(V\) in the formation area mi .

[0095] In an embodiment of the present invention, calculating the second travel time of each vehicle in the second vehicle fleet reaching the merging point respectively based on the length of each area of the ramp and the travel speed of the second vehicle fleet in each area of the ramp includes:

[0096] Calculating the fourth travel time of the leading vehicle of the second vehicle fleet reaching the merging point:

[0097]

[0098] Calculating the fifth travel time of the following vehicles of the second vehicle fleet reaching the merging point:

[0099]

[0100] where \(L\) 6 is the length of the ramp lane-changing area, \(L\) 5 is the length of the ramp formation area, \(L\) 4 is the length from the merging point to the end of the main-line formation area, \(V\) r0 is the initial vehicle speed of the vehicles in the second vehicle fleet, \(V\) R is the speed reached by accelerating in the ramp lane-changing area of the second vehicle fleet, \(V\) rj is the speed reached by accelerating in the ramp formation area of the following vehicles of the second vehicle fleet, \(V\) a is the speed reached by decelerating before the merging point of the second vehicle fleet, \(a\) is the acceleration when the second vehicle fleet is accelerating or decelerating, \(t\) rj is the headway when the following vehicles of the second vehicle fleet initially enter, \(j\) is the number of vehicles in the first vehicle fleet, and \(n\) has no actual physical meaning.

[0101] It can be understood that the calculation process of the merging time of the ramp leading vehicle and its vehicle fleet is as follows:

[0102] Among them, for the ramp vehicles, that is, the second vehicle fleet, due to speed limitations, the leading vehicle of the second vehicle fleet will go through the stages of acceleration - uniform speed - acceleration, that is, accelerating to \(V\) 6 in \(L\) R , then passing through the remaining section of \(L\) 6 and the ramp formation area \(L\) 5 at a uniform speed, and then accelerating to the merging speed \(V\) 4 in \(L\) a , and finally in \(L\) 4Drive at a constant speed on the remaining section, change lanes to Lane 1 at the merging point, and complete the merge. At this time, the arrival time of the leading vehicle of the first fleet at the merging point is:

[0103]

[0104] The following vehicle of the leading vehicle of the second fleet will also accelerate at L 6 to the speed of V R , and then drive at a constant speed through L 6 the remaining section. When reaching the formation area, assume that the first following vehicle of the second fleet accelerates to V r1 (where V r1 ∈V ri , V ri is the speed of the i-th following vehicle behind the leading vehicle, and V R ≤V r1 ≤V R1 ). Taking the entry of the leading vehicle of the second fleet into L 6 as the starting time, the driving time of the first following vehicle behind the leading vehicle of the ramp fleet to reach the merging point is:

[0105]

[0106] There is the following relationship between the leading vehicle of the ramp fleet and the first vehicle of its following vehicle in terms of time:

[0107]

[0108] And there is the following relationship in terms of the driving distance:

[0109]

[0110]

[0111] X r1 =V r0 t br1 +L 6 +L 5 +L 4 (15)

[0112] Where, is the driving distance of the leading vehicle of the ramp fleet within , and X r1 is the driving distance of the first vehicle following the leading vehicle in the ramp fleet within the time of t r1 .

[0113] Combine equations (10), (11), and (12):

[0114]

[0115] The value of V can be obtained r1 Similarly, the time for the j-th vehicle behind the leading vehicle of the ramp vehicle platoon to reach the merging point is:

[0116]

[0117] There is the following relational expression in terms of time between the leading vehicle of the second vehicle platoon and the j-th vehicle following it:

[0118]

[0119] Therefore, the travel time t of each vehicle in the second vehicle platoon reaching the merging point can be obtained rj and the corresponding speed V in the formation area rj .

[0120] In an embodiment of the present invention, the determining the vehicle platoon order according to the preset priority principle and formulating a merging plan based on the determined vehicle platoon order, the first travel time, and the second travel time includes:

[0121] Setting that the leading vehicle of the second vehicle platoon reaches the merging point after the first vehicle platoon completely passes through the merging point according to the first vehicle platoon priority principle, and determining the time starting point for the vehicles in the first vehicle platoon to reach the lane-changing area according to this merging order.

[0122] It can be understood that the vehicle platoon order can be determined according to the main-line vehicle priority principle. The first leading vehicle on the ramp will reach the merging point and change to lane 1 after the vehicle platoon composed of the first leading vehicle on the main line completely passes through the merging point. At this time, the time when the first leading vehicle on the main line reaches the lane-changing area is recorded as the time starting point for all vehicles, that is:

[0123]

[0124] where t m1i represents the travel time of the trailing vehicle in the vehicle platoon composed of the first leading vehicle on the main line, represents the travel time of the first leading vehicle on the ramp. After the ramp vehicle platoon merges into the merging area, the main-line vehicle platoon will continue to merge into the merging area.

[0125] In an embodiment of the present invention, the main line includes a first lane and a second lane, and a lane-changing decision point is set at the starting point of the first lane. The method further includes:

[0126] If the first vehicle at the lane-changing decision point is not a following vehicle, calculate the time for the first vehicle and the third vehicle platoon formed with the first vehicle as the leading vehicle to pass through the merging point respectively;

[0127] and calculate the time for the second vehicle and the fourth vehicle platoon formed with the second vehicle as the leading vehicle to pass through the merging point respectively, where the second vehicle is the vehicle that reaches the ramp starting point when the first vehicle is at the lane-changing decision point;

[0128] If the first vehicle changes lanes from the first lane to the second lane or readjusts its driving route, where is the time for the fourth vehicle fleet to pass through the merging point, is the time for the third vehicle fleet to pass through the merging point, t′ D is the time for the second vehicle to pass through the merging point, t h is the safe distance between the front and rear vehicles of each vehicle fleet.

[0129] For example, please refer to Figure 3 , Figure 3 which is a schematic diagram of vehicle following provided by an embodiment of the present invention. When vehicle A at the lane-changing decision point is a following vehicle, it only needs to follow the vehicle in front and does not need to consider lane-changing. Please refer to Figure 4 , Figure 4 which is another schematic diagram of vehicle following provided by an embodiment of the present invention. When vehicle A is not a following vehicle, it will face a lane-changing decision: changing lanes or becoming the head vehicle of a vehicle fleet.

[0130] At this time, for vehicle A, the fastest time to reach the merging point is:

[0131]

[0132] Then the fastest time for vehicle A to form a vehicle fleet to pass through the merging point is:

[0133]

[0134] At this time, for vehicle D on the ramp, the fastest time to pass through the merging point is:

[0135]

[0136] Then the fastest time for vehicle D to form a vehicle fleet to pass through the merging point as the head vehicle is:

[0137]

[0138] If at this time

[0139]

[0140] then vehicle A faces a lane-changing decision,

[0141] when the distance between vehicle B and vehicle C meets the requirement of t s vehicle A immediately performs a lane-changing operation;

[0142] when the distance between vehicle B and vehicle C does not meet the requirement of t sWhen required, to avoid conflicts with Vehicle D and its convoy, Vehicle A will first travel at a constant speed and then go through an acceleration-constant speed-deceleration process. At this time, the time t for Vehicle A to travel at a constant speed in the lane-changing area A1 satisfies the following equation:

[0143]

[0144] From the above equation, it can be obtained that Vehicle A travels at a constant speed V m0 for the time t A1 of constant speed travel.

[0145] When does not satisfy (24), then Vehicle A travels normally without facing lane-changing choices.

[0146] To better implement the ramp merge cooperative control method based on vehicle formation in the embodiments of the present invention, on the basis of the ramp merge cooperative control method based on vehicle formation, correspondingly, please refer to Figure 5 , Figure 5 which is a schematic structural diagram of an embodiment of the ramp merge cooperative control device based on vehicle formation provided by the present invention. The embodiments of the present invention provide a ramp merge cooperative control device 500 based on vehicle formation, including:

[0147] An area division module 501, configured to divide the main line and the ramp into areas and determine the length of each area;

[0148] A setting module 502, configured to set the driving speed and the merge point position of the convoy in each area, where the convoy includes a first convoy traveling on the main line and a second convoy traveling on the ramp;

[0149] A first calculation module 503, configured to calculate the first travel time for each vehicle of the first convoy to reach the merge point respectively based on the length of each area of the main line and the driving speed of the first convoy in each area of the main line;

[0150] A second calculation module 504, configured to calculate the second travel time for each vehicle of the second convoy to reach the merge point respectively based on the length of each area of the ramp and the driving speed of the second convoy in each area of the ramp;

[0151] A scheme formulation module 505, configured to determine the convoy order according to a preset priority principle and formulate a merge scheme based on the determined convoy order, the first travel time, and the second travel time;

[0152] A control module 506, configured to send the merge scheme to each vehicle of the convoy to control each vehicle to execute the merge scheme.

[0153] It should be noted here that: The device 500 provided in the above embodiments can implement the technical solutions described in the above method embodiments. For the specific implementation principles of the above modules or units, reference can be made to the corresponding content in the above method embodiments, which will not be elaborated here.

[0154] Based on the above ramp merging collaborative control method based on vehicle platooning, an embodiment of the present invention further provides an electronic device, including: a processor and a memory, and a computer program stored in the memory and executable on the processor; when the processor executes the computer program, it implements the steps in the ramp merging collaborative control method based on vehicle platooning in the above embodiments.

[0155] Figure 6 The structural schematic diagram of the electronic device 600 suitable for implementing the embodiments of the present invention is shown. The electronic device in the embodiments of the present invention may include, but is not limited to, mobile terminals such as mobile phones, laptop computers, digital broadcast receivers, PDAs (Personal Digital Assistants), PADs (Tablet Computers), PMPs (Portable Multimedia Players), in-vehicle terminals (such as in-vehicle navigation terminals), etc., and fixed terminals such as digital TVs, desktop computers, etc. Figure 6 The electronic device shown is only an example and should not bring any limitations to the functions and usage scopes of the embodiments of the present invention.

[0156] The electronic device includes: a memory and a processor. Here, the processor can be referred to as the processing device 601 below, and the memory may include at least one of the read-only memory (ROM) 602, random access memory (RAM) 603, and storage device 608 below, as specifically shown below:

[0157] As Figure 6 shown, the electronic device 600 may include a processing device (such as a central processing unit, a graphics processing unit, etc.) 601, which can perform various appropriate actions and processes according to the program stored in the read-only memory (ROM) 602 or the program loaded from the storage device 608 into the random access memory (RAM) 603. In the RAM 603, various programs and data required for the operation of the electronic device 600 are also stored. The processing device 601, ROM 602, and RAM 603 are connected to each other through a bus 604. The input / output (I / O) interface 605 is also connected to the bus 604.

[0158] Typically, the following devices can be connected to the I / O interface 605: input devices 606 including, for example, a touch screen, a touchpad, a keyboard, a mouse, a camera, a microphone, an accelerometer, a gyroscope, etc.; output devices 607 including, for example, a liquid crystal display (LCD), a speaker, a vibrator, etc.; storage devices 608 including, for example, magnetic tapes, hard disks, etc.; and a communication device 609. The communication device 609 can allow the electronic device 600 to communicate with other devices wirelessly or wiredly to exchange data. Although Figure 6 the electronic device 600 with various devices is shown, it should be understood that it is not required to implement or have all the shown devices. More or fewer devices can be alternatively implemented or had.

[0159] Specifically, according to an embodiment of the present invention, the process described above with reference to the flowchart can be implemented as a computer software program. For example, an embodiment of the present invention includes a computer program product, which includes a computer program carried on a non-transitory computer-readable medium, and the computer program contains program codes for executing the method shown in the flowchart. In such an embodiment, the computer program can be downloaded and installed from the network through the communication device 609, or installed from the storage device 608, or installed from the ROM 602. When the computer program is executed by the processing device 601, the above functions defined in the method of the embodiment of the present invention are executed.

[0160] Based on the above ramp merging collaborative control method based on vehicle platooning, an embodiment of the present invention also correspondingly provides a computer-readable storage medium, which stores one or more programs, and the one or more programs can be executed by one or more processors to implement the steps in the ramp merging collaborative control method based on vehicle platooning in the above embodiments.

[0161] Those skilled in the art can understand that all or part of the processes of implementing the methods in the above embodiments can be completed by instructing relevant hardware through a computer program, and the program can be stored in a computer-readable storage medium. Among them, the computer-readable storage medium is a magnetic disk, an optical disk, a read-only memory or a random access memory, etc.

[0162] The above is only a preferred specific embodiment of the present invention, but the protection scope of the present invention is not limited thereto. Any changes or substitutions that can be easily thought of by those skilled in the art within the technical scope disclosed by the present invention should be covered by the protection scope of the present invention.

Claims

1. A ramp merging collaborative control method based on vehicle platooning, characterized in that, it includes: Dividing the main line and the ramp into regions and determining the length of each region. The dividing of the main line and the ramp into regions includes: Dividing the main line and the ramp into a main line lane-changing area, a main line platooning area, a ramp buffer area, a ramp platooning area, a merging area and a merging buffer area; Setting the driving speed of the vehicle platoon in each region and the merging point position. Among them, the vehicle platoon includes a first vehicle platoon driving on the main line and a second vehicle platoon driving on the ramp. The setting of the driving speed of the vehicle platoon in each region includes: Setting the first initial speed of the first vehicle platoon at the head of the main line lane-changing area, the first driving speed of the first vehicle platoon in the main line lane-changing area and the main line platooning area, and the merging speed of the first vehicle platoon at the merging point; Setting the second initial speed of the second vehicle platoon at the head of the ramp lane-changing area, the second driving speed of the second vehicle platoon in the main line lane-changing area and the main line platooning area, and the merging speed of the second vehicle platoon at the merging point; Among them, the leading vehicle of the first vehicle platoon reaches the merging speed after an acceleration-constant speed-deceleration stage, the following vehicles of the first vehicle platoon reach the merging speed after an acceleration-deceleration-constant speed stage, and the leading vehicle of the second vehicle platoon reaches the merging speed after an acceleration-constant speed-acceleration stage; Based on the length of each region of the main line and the driving speed of the first vehicle platoon in each region of the main line, respectively calculate the first driving time for each vehicle of the first vehicle platoon to reach the merging point; Based on the length of each region of the ramp and the driving speed of the second vehicle platoon in each region of the ramp, respectively calculate the second driving time for each vehicle of the second vehicle platoon to reach the merging point; Determine the vehicle platoon order according to the preset priority principle, and formulate a merging plan based on the determined vehicle platoon order, the first driving time and the second driving time. The determining the vehicle platoon order according to the preset priority principle and formulating a merging plan based on the determined vehicle platoon order, the first driving time and the second driving time includes: Set the leading vehicle of the second vehicle platoon to reach the merging point after the first vehicle platoon completely passes through the merging point according to the first vehicle platoon priority principle, and determine the time starting point for the vehicles of the first vehicle platoon to reach the lane-changing area according to this vehicle platoon order; Send the merging plan to each vehicle of the vehicle platoon to control each vehicle to execute the merging plan; The main line includes a first lane and a second lane. A lane-changing decision point is set at the starting point of the first lane. The method further includes: If the first vehicle at the lane-changing decision point is not a following vehicle, respectively calculate the time for the first vehicle and the third vehicle platoon formed with the first vehicle as the leading vehicle to pass through the merging point; And respectively calculate the time for the second vehicle and the fourth vehicle platoon formed with the second vehicle as the leading vehicle to pass through the merging point, where the second vehicle is the vehicle that reaches the starting point of the ramp when the first vehicle is at the lane-changing decision point; If , the first vehicle changes lanes from the first lane to the second lane or readjusts its driving route, where is the time for the fourth vehicle fleet to pass through the merging point, is the time for the third vehicle fleet to pass through the merging point, is the time for the second vehicle to pass through the merging point, is the safe distance between the front and rear vehicles of each vehicle fleet.

2. The ramp merging collaborative control method based on vehicle platooning according to claim 1, characterized in that, The calculating the first driving time for each vehicle of the first vehicle platoon to reach the merging point based on the length of each region of the main line and the driving speed of the first vehicle platoon in each region of the main line includes: Calculating the second driving time for the leading vehicle of the first vehicle platoon to reach the merging point: Calculate the third driving time for the following vehicles of the first vehicle fleet to reach the merging point: Among them, is the length of the main-line lane-changing area, is the length of the main-line platooning area, is the length from the merging point to the end of the main-line platooning area, is the initial vehicle speed of the first vehicle fleet, is the speed reached by the first vehicle fleet after accelerating in the main-line lane-changing area, is the speed reached by the following vehicles of the first vehicle fleet after accelerating in the main-line platooning area, is the speed reached by the first vehicle fleet after decelerating before the merging point, is the acceleration of the first vehicle fleet during acceleration or deceleration, is the headway when the following vehicles of the first vehicle fleet initially enter, is the number of vehicles in the first vehicle fleet, has no actual physical meaning.

3. The ramp merging collaborative control method based on vehicle formation according to claim 1, characterized in that calculating the second driving time for each vehicle of the second vehicle fleet to reach the merging point based on the length of each area of the ramp and the driving speed of the second vehicle fleet in each area of the ramp, including: Calculate the fourth driving time for the leading vehicle of the second vehicle fleet to reach the merging point: Calculate the fifth driving time for the following vehicles of the second vehicle fleet to reach the merging point: Among them, is the length of the ramp lane-changing area, is the length of the ramp formation area, is the length from the confluence point to the end of the main-line formation area, is the initial vehicle speed of the second vehicle platoon, is the speed that the second vehicle platoon accelerates to in the ramp lane-changing area, is the speed that the following vehicles of the second vehicle platoon accelerate to in the ramp formation area, is the speed that the second vehicle platoon decelerates to before the confluence point, is the acceleration of the second vehicle platoon when accelerating or decelerating, is the headway when the following vehicles of the second vehicle platoon initially enter, is the number of vehicles in the first vehicle platoon, has no actual physical meaning.

4. A ramp merging collaborative control device based on vehicle formation, characterized in that including: An area division module for dividing the main line and the ramp into areas and determining the length of each area. The division of the main line and the ramp into areas includes: Dividing the main line and the ramp into a main line lane-changing area, a main line formation area, a ramp buffer area, a ramp formation area, a merging area, and a merging buffer area; A setting module for setting the driving speed of the vehicle fleet in each area and the position of the merging point. Among them, the vehicle fleet includes the first vehicle fleet driving on the main line and the second vehicle fleet driving on the ramp. Setting the driving speed of the vehicle fleet in each area includes: Setting the first initial speed of the first vehicle fleet at the head of the main line lane-changing area, the first driving speed of the first vehicle fleet in the main line lane-changing area and the main line formation area, and the merging speed of the first vehicle fleet at the merging point; Setting the second initial speed of the second vehicle fleet at the head of the ramp lane-changing area, the second driving speed of the second vehicle fleet in the main line lane-changing area and the main line formation area, and the merging speed of the second vehicle fleet at the merging point; Among them, the leading vehicle of the first vehicle fleet reaches the merging speed after an acceleration-constant speed-deceleration stage, the following vehicle of the first vehicle fleet reaches the merging speed after an acceleration-deceleration-constant speed stage, and the leading vehicle of the second vehicle fleet reaches the merging speed after an acceleration-constant speed-acceleration stage; A first calculation module for calculating the first driving time for each vehicle of the first vehicle fleet to reach the merging point based on the length of each area of the main line and the driving speed of the first vehicle fleet in each area of the main line; A second calculation module for calculating the second driving time for each vehicle of the second vehicle fleet to reach the merging point based on the length of each area of the ramp and the driving speed of the second vehicle fleet in each area of the ramp; A scheme formulation module for determining the vehicle fleet order according to a preset priority principle and formulating a merging scheme based on the determined vehicle fleet order, the first driving time, and the second driving time. Determining the vehicle fleet order according to a preset priority principle and formulating a merging scheme based on the determined vehicle fleet order, the first driving time, and the second driving time includes: Setting the leading vehicle of the second vehicle fleet to reach the merging point after the first vehicle fleet has completely passed through the merging point according to the first vehicle fleet priority principle, and determining the time starting point for the vehicles of the first vehicle fleet to reach the lane-changing area according to this vehicle fleet order; A control module for sending the merging scheme to each vehicle of the vehicle fleet to control each vehicle to execute the merging scheme; Among them, the main line includes a first lane and a second lane, and a lane-changing decision point is set at the starting point of the first lane. It also includes: If the first vehicle at the lane-changing decision point is not a following vehicle, calculate the time for the first vehicle and the third vehicle fleet formed with the first vehicle as the leading vehicle to pass through the merging point respectively; And calculate the time for the second vehicle and the fourth vehicle fleet formed with the second vehicle as the leading vehicle to pass through the merging point respectively, where the second vehicle is the vehicle that reaches the ramp starting point at the lane-changing decision point of the first vehicle; If , the first vehicle changes lanes from the first lane to the second lane or readjusts its driving route, where is the time for the fourth vehicle fleet to pass through the merging point, is the time for the third vehicle fleet to pass through the merging point, is the time for the second vehicle to pass through the merging point, is the safe distance between the front and rear vehicles of each vehicle fleet.

5. An electronic device, Characterized in that, It includes a memory and a processor. Among them, the memory is used to store programs; the processor is coupled to the memory and is used to execute the programs stored in the memory to implement the steps in the ramp merging cooperative control method based on vehicle formation as described in any one of claims 1 to 3 above.

6. A computer-readable storage medium, Characterized in that, It is used to store computer-readable programs or instructions. When the programs or instructions are executed by a processor, they can implement the steps in the ramp merging cooperative control method based on vehicle formation as described in any one of claims 1 to 3 above.

Images