An adaptive merging vehicle queue control method for intelligent connected vehicles

Abstract

This invention discloses an adaptive merging control method for intelligent connected vehicles, comprising the following steps: acquiring the initial speed of the merging vehicle, the initial speed of the vehicles in the convoy, and the position information of the merging vehicle and the vehicles in the convoy; acquiring road traffic management information; calculating the distance between the current position of the merging vehicle and all candidate merging positions; calculating the merging time required for each merging position based on the merging distance and speed and acceleration constraints; and evaluating each merging position considering both the merging time and merging distance, thereby enabling the vehicle to adaptively select the optimal merging position. This invention considers the speed and position relationship between the vehicle convoy and the merging vehicle, road speed limits, and vehicle comfort requirements, solves for the merging time of the vehicle merging into all candidate merging positions, and evaluates the candidate merging positions by comprehensively considering the merging distance and merging time, thereby enabling the merging vehicle to adaptively select the optimal merging position and improving vehicle merging efficiency.

Description

Technical Field

[0001] This invention belongs to the field of autonomous driving technology, specifically relating to an adaptive merging vehicle queue control method for intelligent connected vehicles. Background Technology

[0002] With the development of intelligent connected vehicle cooperative platooning, the focus of existing research is shifting from how to maintain the stability of fixed platoons to how to ensure the safe dynamic entry and exit of vehicles from platoons.

[0003] Existing research has proposed several control methods for vehicles merging into a convoy. Chinese invention patent application CN202111180496.1, entitled "A Control Method, Joining Method, Control Device, and Joining Device for a Convoy," proposes a convoy joining method. This method determines whether the convoy can accept new vehicles based on its driving information, and then accepts the target vehicle to join an empty position in the convoy, allowing it to automatically follow the convoy. However, this method does not consider the joining position of the vehicle; it directly joins an empty position in the convoy. Chinese invention patent application CN202211502180.4, entitled "A Method, Device, and Storage Medium for Vehicles Joining a Convoy," proposes another method for vehicle joining a convoy. This method determines the target position of the merging vehicle in the vehicle queue based on the distance information between the merging vehicle and the convoy, and controls the vehicle to join the convoy based on the target position information. However, this method does not consider the influence of the merging vehicle's speed and acceleration.

[0004] However, when the speed difference between the vehicle queue and the merging vehicle is too large, merging into a nearby position may lead to sudden acceleration changes and longer merging operation times. Therefore, it is necessary to comprehensively consider the differences in distance, speed, and acceleration between the queued vehicles and the merging vehicle to achieve adaptive selection of the optimal merging position. Summary of the Invention

[0005] To address the shortcomings of the existing technologies, the present invention aims to provide an adaptive merging vehicle queue control method for intelligent connected vehicles. This method fully considers the speed and positional relationship between the vehicle queue and the merging vehicles, road speed limits, and vehicle comfort requirements, evaluates all candidate merging positions, and enables merging vehicles to adaptively select the optimal merging position, thereby improving merging efficiency.

[0006] To achieve the above objectives, the technical solution adopted by the present invention is as follows:

[0007] The present invention provides an adaptive merging vehicle queue control method for intelligent connected vehicles, comprising the following steps:

[0008] Step 1: Obtain the initial speed V0 of the merging vehicle and the initial speed V of the convoy vehicles. p And the location information of the imported vehicles and fleet vehicles;

[0009] Step 2: Obtain road traffic management information, including the maximum speed limit V. max Minimum speed limit V min The maximum acceleration a of the merging vehicle max and maximum deceleration a min ;

[0010] Step 3: Calculate the distance dis between the current position of the merging vehicle and all candidate merging positions, i.e., the merging distance;

[0011] Step 4: Based on the merging distance in Step 3 and the velocity and acceleration constraints in Step 2, calculate the merging time required for each merging position;

[0012] Step 5: Considering the merging time and merging distance, evaluate each merging position. The lower the evaluation score, the shorter the merging time, the closer the merging distance, and the better the merging position, thus enabling the vehicle to adaptively select the optimal merging position.

[0013] Furthermore, step 1 specifically includes: using V2I technology to send the speed and location information of the convoy vehicles and merging vehicles to the roadside unit and store it.

[0014] Furthermore, step 2 specifically includes: using V2I technology to send road traffic management information to the roadside unit and store it.

[0015] In step 2, limiting the maximum acceleration and deceleration of merging vehicles is to take into account the comfort of the vehicles during the merging process; limiting the minimum speed of vehicles is to reduce the impact of the merging process on the vehicles in the convoy, as vehicles moving slowly or even stopping on the road will seriously obstruct traffic.

[0016] Furthermore, step 3 specifically includes:

[0017] Step 31: Solve for the candidate inflow location set as follows:

[0018]

[0019] In the formula, s c Let x be the c-th candidate merge position. c Let x be the position of the c-th vehicle in the convoy. c+1 Let p be the position of the (c+1)th vehicle in the convoy, and p be the number of vehicles in the convoy.

[0020] Step 32: Calculate the distance between the merging vehicle and the candidate merging location:

[0021] dis c =x m -s c

[0022] In the formula, x m To merge the vehicle's current location, s c For the c-th candidate merge position, dis c This is the distance between the current position of the merging vehicle and the c-th candidate merging position; if the merging vehicle is behind the merging position, a positive distance is used, i.e., dis. c If positive, then negative; otherwise, take the negative distance, i.e., dis. c It is negative.

[0023] Furthermore, in step 4, when calculating the merging time, the speed of the convoy vehicles is set to remain constant, |a min |=|a max The merging vehicle adjusts its speed from its initial speed to its maximum or minimum speed using maximum acceleration or deceleration to adjust its relative position with the convoy vehicles. It then merges into the convoy upon reaching the designated merging position. The merging time is calculated based on the merging distance and the relative speed between the merging vehicle and the convoy vehicles, as follows:

[0024] Step 41: When V0 = V p ,and At that time, V m This represents the maximum or minimum vehicle speed. When dis < 0, V m =V min When dis > 0, V m =V max The inflow time t can be obtained by solving the following formula. m :

[0025]

[0026] Step 42: When V0 = V p ,and At that time, V m This represents the maximum or minimum vehicle speed. When dis < 0, V m =V min When dis > 0, V m =V max The inflow time t can be obtained by solving the following formula. m :

[0027]

[0028] Step 43: When V0 > V p dis > 0 or V0 < V p dis < 0, and The inflow time t can be obtained by solving the following formula. m :

[0029]

[0030] Step 44: When V0 > V p dis > 0 or V0 < V p dis < 0, and At that time, V m This represents the maximum or minimum vehicle speed. When dis < 0, V m =V min When dis > 0, V m =V max The inflow time t can be obtained by solving the following formula. m :

[0031]

[0032] Step 45: When V0 > V p dis > 0 or V0 < V p dis < 0, and At that time, V m This represents the maximum or minimum vehicle speed. When dis < 0, V m =V min When dis > 0, V m =V max The inflow time t can be obtained by solving the following formula. m :

[0033]

[0034] Step 46: When V0 < V p dis > 0 or V0 > V p dis < 0, and At that time, V m This represents the maximum or minimum vehicle speed. When dis < 0, V m =V min When dis > 0, V m =V max The inflow time t can be obtained by solving the following formula. m :

[0035]

[0036] Step 47: When V0 < V p dis > 0 or V0 > V p dis < 0, and At that time, V m This represents the maximum or minimum vehicle speed. When dis < 0, V m =V min When dis > 0, V m =V max The inflow time t can be obtained by solving the following formula.m :

[0037]

[0038] Furthermore, the evaluation function used in step 5 is as follows:

[0039] score=w1*t m +w2*|dis| / V0

[0040] In the formula, score is the evaluation score; w1 and w2 are weighting coefficients; and tm is the ingress time.

[0041] The beneficial effects of this invention are:

[0042] This invention considers the speed and positional relationship between vehicle queues and merging vehicles, road speed limits, and vehicle comfort requirements. It calculates the merging time for vehicles to merge into all candidate merging positions, and evaluates the candidate merging positions by combining merging distance and merging time. This enables merging vehicles to adaptively select the optimal merging position, thereby improving vehicle merging efficiency. Attached Figure Description

[0043] Figure 1 This is a flowchart of the method of the present invention.

[0044] Figure 2 This is a schematic diagram illustrating the speed distribution of vehicles merging into the convoy and vehicles in the convoy during the merging time calculation. Detailed Implementation

[0045] To facilitate understanding by those skilled in the art, the present invention will be further described below with reference to embodiments and accompanying drawings. The content mentioned in the embodiments is not intended to limit the present invention.

[0046] Reference Figure 1 As shown, the intelligent connected vehicle adaptive merging vehicle queue control method of the present invention comprises the following steps:

[0047] Step 1: Obtain the initial speed V0 of the merging vehicle and the initial speed V of the convoy vehicles. p And the location information of the imported vehicles and fleet vehicles;

[0048] V2I technology is used to send the speed and location information of vehicles in the convoy and merging vehicles to the roadside unit and store it.

[0049] Step 2: Obtain road traffic management information, including the maximum speed limit V. max Minimum speed limit V min The maximum acceleration a of the merging vehicle max and maximum deceleration a min ;

[0050] V2I technology is used to send road traffic management information to roadside units and store it.

[0051] In step 2, limiting the maximum acceleration and deceleration of merging vehicles is to take into account the comfort of the vehicles during the merging process; limiting the minimum speed of vehicles is to reduce the impact of the merging process on the vehicles in the convoy, as vehicles moving slowly or even stopping on the road will seriously obstruct traffic.

[0052] Step 3: Calculate the distance *dis* between the current location of the merging vehicle and all candidate merging locations; specifically including:

[0053] Step 31: Solve for the candidate inflow location set as follows:

[0054]

[0055] In the formula, s c Let x be the c-th candidate merge position. c Let x be the position of the c-th vehicle in the convoy. c+1 Let p be the position of the (c+1)th vehicle in the convoy, and p be the number of vehicles in the convoy.

[0056] Step 32: Calculate the distance between the merging vehicle and the candidate merging location:

[0057] dis c =x m -s c

[0058] In the formula, x m To merge the vehicle's current location, s c For the c-th candidate merge position, dis c This is the distance between the current position of the merging vehicle and the c-th candidate merging position; if the merging vehicle is behind the merging position, a positive distance is used, i.e., dis. c If positive, then negative; otherwise, take the negative distance, i.e., dis. c It is negative.

[0059] Step 4: Based on the merging distance in Step 3 and the velocity and acceleration constraints in Step 2, calculate the merging time required for each merging position;

[0060] When calculating the import time in step 4, refer to... Figure 2 As shown, the speed V of the convoy vehicles is set. p Remain unchanged, |a min |=|a maxThe merging vehicle adjusts its speed from its initial speed to its maximum or minimum speed using maximum acceleration or deceleration to adjust its relative position with the convoy vehicles. It then merges into the convoy upon reaching the designated merging position. The merging time is calculated based on the merging distance and the relative speed between the merging vehicle and the convoy vehicles, as follows:

[0061] Step 41: When V0 = V p ,and At that time, V m This represents the maximum or minimum vehicle speed. When dis < 0, V m =V min When dis > 0, V m =V max The inflow time t can be obtained by solving the following formula. m :

[0062]

[0063] Step 42: When V0 = V p ,and At that time, V m This represents the maximum or minimum vehicle speed. When dis < 0, V m =V min When dis > 0, V m =V max The inflow time t can be obtained by solving the following formula. m :

[0064]

[0065] Step 43: When V0 > V p dis > 0 or V0 < V p dis < 0, and The inflow time t can be obtained by solving the following formula. m :

[0066]

[0067] Step 44: When V0 > V p dis > 0 or V0 < V p dis < 0, and At that time, V m This represents the maximum or minimum vehicle speed. When dis < 0, V m =V min When dis > 0, V m =V max The inflow time t can be obtained by solving the following formula. m :

[0068]

[0069] Step 45: When V0 > V p dis > 0 or V0 < V p dis < 0, and At that time, V m This represents the maximum or minimum vehicle speed. When dis < 0, V m =V min When dis > 0, V m =V max The inflow time t can be obtained by solving the following formula. m :

[0070]

[0071] Step 46: When V0 < V p dis > 0 or V0 > V p dis < 0, and At that time, V m This represents the maximum or minimum vehicle speed. When dis < 0, V m =V min When dis > 0, V m =V max The inflow time t can be obtained by solving the following formula. m :

[0072]

[0073] Step 47: When V0 < V p dis > 0 or V0 > V p dis < 0, and At that time, V m This represents the maximum or minimum vehicle speed. When dis < 0, V m =V min When dis > 0, V m =V max The inflow time t can be obtained by solving the following formula. m :

[0074]

[0075] Step 5: Considering the merging time and merging distance, evaluate each merging position. The lower the evaluation score, the shorter the merging time, the closer the merging distance, and the better the merging position, thereby enabling the vehicle to adaptively select the optimal merging position.

[0076] The evaluation function used in step 5 is as follows:

[0077] score=w1*t m +w2*|dis| / V0

[0078] In the formula, score is the evaluation score; w1 and w2 are weighting coefficients; and tm is the ingress time.

[0079] This invention has many specific applications. The above description is only a preferred embodiment of this invention. It should be noted that for those skilled in the art, several improvements can be made without departing from the principle of this invention, and these improvements should also be considered within the scope of protection of this invention.

Claims

1. A method for adaptive merging control of intelligent connected vehicles into a vehicle queue, characterized in that, The steps are as follows: Step 1: Obtain the initial speed V0 of the merging vehicle and the initial speed V of the convoy vehicles. p And the location information of the imported vehicles and fleet vehicles; Step 2: Obtain road traffic management information, including the maximum speed limit V. max Minimum speed limit V min The maximum acceleration a of the merging vehicle max and maximum deceleration a min ; Step 3: Calculate the distance dis between the current position of the merging vehicle and all candidate merging positions, i.e., the merging distance; Step 4: Based on the merging distance in Step 3 and the velocity and acceleration constraints in Step 2, calculate the merging time required for each merging position; Step 5: Considering the merging time and merging distance, evaluate each merging position to enable the vehicle to adaptively select the optimal merging position; Step 3 specifically includes: Step 31: Solve for the candidate inflow location set as follows: In the formula, s c Let x be the c-th candidate merge position. c Let x be the position of the c-th vehicle in the convoy. c+1 Let p be the position of the (c+1)th vehicle in the convoy, and p be the number of vehicles in the convoy. Step 32: Calculate the distance between the merging vehicle and the candidate merging location: dis c =x m -s c In the formula, x m To merge the vehicle's current location, s c For the c-th candidate merge position, dis c This is the distance between the current position of the merging vehicle and the c-th candidate merging position; if the merging vehicle is behind the merging position, a positive distance is used, i.e., dis. c If positive, then negative; otherwise, take the negative distance, i.e., dis. c Negative; In step 4, when calculating the merging time, the vehicle speeds of the convoy are assumed to remain constant, |a min |=|a max The merging vehicle adjusts its speed from its initial speed to its maximum or minimum speed using maximum acceleration or deceleration to adjust its relative position with the convoy vehicles. It then merges into the convoy upon reaching the designated merging position. The merging time is calculated based on the merging distance and the relative speed between the merging vehicle and the convoy vehicles, as follows: Step 41: When V0 = V p ,and At that time, V m This represents the maximum or minimum vehicle speed. When dis < 0, V m =V min When dis > 0, V m =V max The inflow time t can be obtained by solving the following formula. m : Step 42: When V0 = V p ,and At that time, V m This represents the maximum or minimum vehicle speed. When dis < 0, V m =V min When dis > 0, V m =V max The inflow time t can be obtained by solving the following formula. m : Step 43: When V0 > V p dis > 0 or V0 < V p dis < 0, and The inflow time t can be obtained by solving the following formula. m : Step 44: When V0 > V p dis > 0 or V0 < V p dis < 0, and At that time, V m surface This indicates the maximum or minimum vehicle speed. When dis < 0, V m =V min When dis > 0, V m =V max The inflow time t can be obtained by solving the following formula. m : Step 45: When V0 > V p dis > 0 or V0 < V p dis < 0, and At that time, V m This represents the maximum or minimum vehicle speed. When dis < 0, V m =V min When dis > 0, V m =V max The inflow time t can be obtained by solving the following formula. m : Step 46: When V0 < V p dis > 0 or V0 > V p dis < 0, and At that time, V m This represents the maximum or minimum vehicle speed. When dis < 0, V m =V min When dis > 0, V m =V max The inflow time t can be obtained by solving the following formula. m : Step 47: When V0 < V p dis > 0 or V0 > V p dis < 0, and At that time, V m This represents the maximum or minimum vehicle speed. When dis < 0, V m =V min When dis > 0, V m =V max The inflow time t can be obtained by solving the following formula. m :

2. The intelligent connected vehicle adaptive merging vehicle queue control method according to claim 1, characterized in that, Step 1 specifically includes: using V2I technology to send the speed and location information of the convoy vehicles and merging vehicles to the roadside unit and store it.

3. The intelligent connected vehicle adaptive merging vehicle queue control method according to claim 1, characterized in that, Step 2 specifically includes: using V2I technology to send road traffic management information to the roadside unit and store it.

4. The intelligent connected vehicle adaptive merging vehicle queue control method according to claim 1, characterized in that, The evaluation function used in step 5 is as follows: score=w1*t m +w2*|dis| / V0 In the formula, score is the evaluation score; w1 and w2 are weighting coefficients, and t m This refers to the time of data transfer.

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