A platooning vehicle control method, system and vehicle based on predicted acceleration

Abstract

The application relates to the field of vehicle control, and particularly discloses a queue vehicle control method and system based on predicted acceleration and a vehicle. Current operation information of a controlled vehicle and adjacent vehicles in front and behind the vehicle in a lane is acquired. The future position of the vehicle is predicted according to the current operation information of the vehicle, and a predicted position sequence of each vehicle in a prediction time domain is acquired. An expected distance sequence between the controlled vehicle and a front vehicle is acquired based on a vehicle distance control principle according to the predicted position sequence of each vehicle. An expected position sequence of the controlled vehicle is acquired according to the expected distance sequence. An expected speed sequence of the controlled vehicle is acquired according to the expected position sequence. An expected acceleration sequence of the controlled vehicle is acquired according to the expected speed sequence. The accelerator pedal and the brake pedal of the vehicle are controlled according to the expected acceleration sequence. The application plans acceleration based on the dynamic state of the vehicle to control the operation of the vehicle, and improves the safety, economy and stability of the queue vehicle driving.

Description

Technical Field

[0001] This invention relates to the field of vehicle control, and more specifically to a method, system, and vehicle for platoon vehicle control based on predicted acceleration. Background Technology

[0002] The longitudinal speed and acceleration decision-making method of intelligent vehicle fleet is one of the key components of intelligent driving system. During intelligent driving, intelligent vehicles need to make speed planning and acceleration decisions based on environmental information and the status information of controlled vehicles, and ensure control performance such as safety, economy, and comfort.

[0003] When performing speed planning and acceleration decision-making, the vehicle speed is typically planned based on the speed limit requirements of the current driving path and information about various obstacles in the path, aiming to generate speed and acceleration with the goals of avoiding collisions with obstacles, energy saving, and comfort. Currently, most longitudinal speed planning and acceleration decision-making methods consider information about obstacles ahead, which, while meeting regulatory safety requirements, cannot achieve the optimal solution for traffic flow stability on a given road segment. Furthermore, some methods calculate the desired speed and acceleration at the current moment by dynamically detecting environmental information, but neglect the condition that adjacent vehicles are in dynamic motion.

[0004] Patent application CN2002310460815.7 discloses a speed control method for autonomous driving. At the beginning of the planning cycle, speed planning is performed and a reference speed curve is output. The speed planning model includes a cost function, a first constraint, a second constraint, etc. The method can satisfy multiple constraints. However, the method does not consider the state of adjacent vehicles in the current driving environment. Summary of the Invention

[0005] To address the aforementioned issues, this invention provides a platoon vehicle control method, system, and vehicle based on predicted acceleration. It utilizes the vehicle spacing control principle between the controlled vehicle and adjacent vehicles to determine the target motion state, and uses state prediction to perform acceleration planning in the predicted time domain. Based on the planned acceleration, vehicle operation is controlled, improving the safety, economy, and stability of platoon vehicle operation.

[0006] In a first aspect, the technical solution of the present invention provides a queuing vehicle control method based on predicted acceleration, comprising the following steps: Obtain the current operating information of the controlled vehicle and its adjacent vehicles in front and behind it in the same lane; the current operating information includes vehicle position, speed and acceleration; Based on the current vehicle operating information, the future position of the vehicle is predicted to obtain the predicted position sequence of each vehicle in the prediction time domain. Based on the predicted position sequence of each vehicle, the expected distance sequence between the controlled vehicle and the vehicle in front is obtained based on the vehicle spacing control principle. The desired position sequence of the controlled vehicle is obtained based on the desired spacing sequence; The desired speed sequence of the controlled vehicle is obtained from the desired position sequence; The desired acceleration sequence of the controlled vehicle is obtained from the desired velocity sequence; The accelerator and brake pedals of the vehicle are controlled according to the desired acceleration sequence.

[0007] In one optional implementation, the prediction time domain is N time sampling periods, where N is a positive integer.

[0008] In an optional implementation, the future position of the vehicle is predicted based on the vehicle's current operating information to obtain the predicted position sequence of each vehicle in the prediction time domain. Specifically, the prediction is performed using the following formula (1): , (1)

[0009] in, For the first i The vehicle's current location For the first i The vehicle's current speed, The time sampling period is For the first i The vehicle's current acceleration, For the first i vehicle number j Predicted location for each time sampling period.

[0010] In an optional implementation, based on the predicted position sequence of each vehicle, the desired distance sequence between the controlled vehicle and the vehicle in front is obtained according to the vehicle spacing control principle, specifically including: Based on the principle that vehicles in a queue should avoid collisions with adjacent vehicles, the first expected distance sequence between the controlled vehicle and the vehicle in front is calculated using the following formula (2): (2)

[0011] in, The vehicle under control is the first i The vehicle in front of the vehicle being controlled is the first vehicle. i -1 vehicle, d This is the expected distance between two adjacent vehicles when they come to a stop. The non-collision coefficient;

[0012] Based on the principle that the speeds of all vehicles in the queue tend to be consistent under steady conditions, the second expected distance sequence between the controlled vehicle and the vehicle in front is calculated using the following formula (3): (3)

[0013] Among them, the vehicle following the controlled vehicle was the first i +1 car, This is the speed consistency coefficient;

[0014] Based on the principle that the controlled vehicle is located at the center of adjacent vehicles, the third expected distance sequence between the controlled vehicle and the preceding vehicle is calculated using the following formula (4): (4)

[0015] in, Center position coefficient;

[0016] The final expected distance sequence between the controlled vehicle and the preceding vehicle is calculated using the following formula (5): (5).

[0017] In an optional implementation, the desired position sequence of the controlled vehicle is obtained based on the desired spacing sequence, specifically by calculating the desired position sequence of the controlled vehicle using the following formula (6): (6).

[0018] In an optional implementation, the desired speed sequence of the controlled vehicle is obtained based on the desired position sequence, specifically by calculating the desired speed sequence of the controlled vehicle using the following formula (7): (7).

[0019] In an optional implementation, the desired acceleration sequence of the controlled vehicle is obtained based on the desired velocity sequence, specifically by calculating the desired acceleration sequence of the controlled vehicle using the following formula (8): (8).

[0020] Secondly, the technical solution of the present invention provides a queuing vehicle control system based on predicted acceleration, comprising, Operation information acquisition module: Acquires the current operation information of the controlled vehicle and its adjacent vehicles in front and behind it in the lane; the current operation information includes vehicle position, speed and acceleration; Location prediction module: Predicts the future location of vehicles based on their current operating information, and obtains the predicted location sequence of each vehicle in the prediction time domain; Expected Spacing Calculation Module: Based on the predicted position sequence of each vehicle, the expected spacing sequence between the controlled vehicle and the vehicle in front is obtained according to the vehicle spacing control principle. Desired position calculation module: Obtains the desired position sequence of the controlled vehicle based on the desired spacing sequence; Desired speed calculation module: Obtains the desired speed sequence of the controlled vehicle based on the desired position sequence; Desired acceleration calculation module: Obtains the desired acceleration sequence of the controlled vehicle based on the desired velocity sequence; Execution control module: Controls the accelerator and brake pedals of the vehicle according to the desired acceleration sequence.

[0021] Thirdly, the technical solution of the present invention provides a vehicle, including a sensor unit and a control unit, wherein the sensor unit is used to collect the current operating information of the controlled vehicle and the adjacent vehicles in front and behind it in the lane, and the control unit is used to execute the method described in any of the above.

[0022] In one optional implementation, the sensors include a vehicle status sensor and an environmental information sensor; Among them, the vehicle status sensor is used to collect the current operating information of the controlled vehicle, and the environmental information sensor is used to collect the current operating information of the vehicles in front and behind the controlled vehicle in the lane.

[0023] The present invention provides a platoon vehicle control method, system, and vehicle based on predicted acceleration, which has the following advantages over the prior art: the future position of the vehicle is predicted based on the current operating information of the vehicle; the expected position of the controlled vehicle is obtained by using the predicted position and based on the vehicle spacing control principle; the acceleration of the controlled vehicle is predicted based on the expected position; the present invention uses the vehicle spacing control principle between the controlled vehicle and adjacent vehicles to give the target motion state; and uses state prediction to perform acceleration planning in the prediction time domain; and controls vehicle operation based on the planned acceleration, thereby improving the safety, economy, and stability of platoon vehicle operation. Attached Figure Description

[0024] To more clearly illustrate the technical solutions of the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0025] Figure 1 This is a schematic flowchart of a queuing vehicle control method based on predicted acceleration provided by an embodiment of the present invention.

[0026] Figure 2This is a schematic diagram of a queuing vehicle control system based on predicted acceleration provided by an embodiment of the present invention.

[0027] Figure 3 This is a schematic diagram of a vehicle architecture provided in an embodiment of the present invention. Detailed Implementation

[0028] To enable those skilled in the art to better understand the present invention, the invention will be further described in detail below with reference to the accompanying drawings and specific embodiments. Obviously, the described embodiments are merely some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0029] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention pertains. The terminology used herein in the description of the invention is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention.

[0030] This invention addresses the current limitations of intelligent vehicle control systems that do not consider the dynamic movement of adjacent vehicles. It provides a queuing vehicle control scheme based on predicted acceleration. The scheme utilizes onboard sensors and an environmental perception module to collect state information of the controlled vehicle and adjacent vehicles in the current lane. Based on this state information, it makes predictions in the time domain and predicts the motion information of adjacent and controlled vehicles within that time domain. It constructs attraction, repulsion, and homing force models using a social force model to make acceleration decisions. The desired acceleration determined by the upper-level module is achieved through an execution control module. This approach integrates the safety and economy of intelligent driving vehicles in a single lane and ensures traffic flow stability when all vehicles follow the rules.

[0031] Figure 1 This is a schematic flowchart of a queuing vehicle control method based on predicted acceleration provided by an embodiment of the present invention, as shown below. Figure 1 As shown, the method includes the following steps.

[0032] S1, obtain the current operating information of the controlled vehicle and the vehicles adjacent to it in front and behind in its lane.

[0033] The purpose of this step is to obtain the current operating information of vehicles in the convoy. For the controlled vehicle, it obtains its own current operating information and the current operating information of the vehicles in front and behind it in the lane. In this embodiment, the current operating information includes the vehicle's position, speed and acceleration. Subsequently, the vehicle's operating status is predicted based on the current operating information to provide the controlled vehicle's acceleration that can ensure vehicle safety, economy and convoy stability.

[0034] S2, based on the current vehicle operating information, predicts the future position of the vehicle and obtains the predicted position sequence of each vehicle in the prediction time domain.

[0035] It should be noted that the prediction time domain in this embodiment is N time sampling periods, where N is a positive integer. The controller will calculate the motion state within the time period (0-NT). The user can determine the value of N as needed to perform speed planning in the medium and short time domains.

[0036] In this embodiment, the position of each vehicle is predicted using the following formula (1).

[0037] , (1)

[0038] in, For the first i The vehicle's current location For the first i The vehicle's current speed, The time sampling period is For the first i The vehicle's current acceleration, For the first i vehicle number j Predicted location for each time sampling period.

[0039] S3, based on the predicted position sequence of each vehicle, obtains the expected distance sequence between the controlled vehicle and the vehicle in front based on the vehicle spacing control principle.

[0040] The vehicle spacing control principle in this embodiment includes three aspects: attraction, repulsion, and orientation. These constitute a social force model for convoy vehicle control. To obtain the expected spacing sequence between the controlled vehicle and the vehicle in front, the expected spacing sequence is obtained based on attraction, repulsion, and orientation respectively. Finally, the expected spacing sequence from all three aspects is combined.

[0041] Repulsion principle: Commercial vehicle nodes in the queue should avoid colliding with their surrounding peers, requiring each individual to maintain a certain distance, i.e., avoid collisions. Referring to the constant spacing strategy, the benefit caused by the collision avoidance principle, i.e. the first expected spacing sequence between the controlled vehicle and the vehicle in front, is shown in the following equation (2).

[0042] (2)

[0043] in, The vehicle under control is the first i The vehicle in front of the vehicle being controlled is the first vehicle. i -1 vehicle, d This is the expected distance between two adjacent vehicles when they come to a stop. This is the non-collision coefficient.

[0044] Same-direction force rule: The same-direction force rule requires that, under steady-state conditions, the speeds of all vehicles in the queue tend to be consistent. Therefore, the benefit obtained by this principle is designed to be consistent with the average speed of the vehicles in front and behind, that is, the second expected distance sequence between the controlled vehicle and the vehicle in front, as shown in equation (3) below. This principle ensures that the speeds of vehicles in the queue meet the consistency requirement, reduces vehicle spacing fluctuations and additional control operations, thereby achieving stability within the queue.

[0045] (3)

[0046] Among them, the vehicle following the controlled vehicle was the first i +1 car, This is the speed consistency coefficient.

[0047] Attraction rule: The attraction rule requires that the controlled vehicle is always located in the center of adjacent vehicles. This principle ensures that the controlled vehicle has the same safety margin as the vehicle in front or behind. The spacing gain generated by this rule, namely the third expected spacing sequence between the controlled vehicle and the vehicle in front, is shown in the following equation (4).

[0048] (4)

[0049] in, The center position coefficient.

[0050] It should be noted that the expected distance, non-collision coefficient, speed consistency coefficient, and center position coefficient between adjacent vehicles when the vehicles stop in this embodiment can be set according to specific requirements.

[0051] The spacing gain determined by the above three motion principles is related to the motion state of the controlled vehicle and its adjacent vehicles, as well as the spacing control coefficient, and the total spacing gain (the final expected spacing sequence between the controlled vehicle and the vehicle in front) is shown in the following formula (5).

[0052] (5).

[0053] S4, obtain the desired position sequence of the controlled vehicle based on the desired spacing sequence.

[0054] By using the position of the vehicle in front and the desired distance, the ideal desired position sequence of the controlled vehicle can be obtained: (6).

[0055] S5, obtain the desired speed sequence of the controlled vehicle based on the desired position sequence.

[0056] The desired velocity sequence can be obtained by time sampling using the ideal spacing sequence. (7).

[0057] S6, obtain the desired acceleration sequence of the controlled vehicle based on the desired velocity sequence.

[0058] The desired acceleration sequence is obtained by time sampling from the desired velocity sequence: (8).

[0059] S7 controls the accelerator and brake pedals of the vehicle according to the desired acceleration sequence.

[0060] The desired acceleration sequence of the controlled vehicle is obtained, and the vehicle can be controlled according to the desired acceleration. The desired acceleration is converted into the accelerator pedal and brake pedal for control.

[0061] The preceding text provides a detailed description of an embodiment of a queuing vehicle control method based on predicted acceleration. Based on the queuing vehicle control method based on predicted acceleration described in the above embodiment, this invention also provides a queuing vehicle control system based on predicted acceleration corresponding to the method.

[0062] Figure 2 This is a schematic diagram of a queuing vehicle control system based on predictive acceleration provided by an embodiment of the present invention. In this embodiment, the queuing vehicle control system based on predictive acceleration can be divided into multiple functional modules according to the functions it performs, such as... Figure 2 As shown. The functional modules may include: a runtime information acquisition module, a position prediction module, a desired distance calculation module, a desired position calculation module, a desired velocity calculation module, a desired acceleration calculation module, and an execution control module. The module referred to in this invention is a series of computer program segments that can be executed by at least one processor and perform a fixed function, and is stored in memory.

[0063] Operation information acquisition module: Acquires the current operation information of the controlled vehicle and its adjacent vehicles in front and behind in the lane; the current operation information includes vehicle position, speed and acceleration.

[0064] Location prediction module: Predicts the future location of vehicles based on their current operating information, and obtains the predicted location sequence of each vehicle in the prediction time domain.

[0065] Expected Spacing Calculation Module: Based on the predicted position sequence of each vehicle, the expected spacing sequence between the controlled vehicle and the vehicle in front is obtained according to the vehicle spacing control principle.

[0066] Desired position calculation module: Obtains the desired position sequence of the controlled vehicle based on the desired spacing sequence.

[0067] Desired speed calculation module: Obtains the desired speed sequence of the controlled vehicle based on the desired position sequence.

[0068] Desired acceleration calculation module: Obtains the desired acceleration sequence of the controlled vehicle based on the desired velocity sequence.

[0069] Execution control module: Controls the accelerator and brake pedals of the vehicle according to the desired acceleration sequence.

[0070] The queuing vehicle control system based on predicted acceleration in this embodiment is used to implement the aforementioned queuing vehicle control method based on predicted acceleration. Therefore, the specific implementation of this system can be found in the embodiment section of the queuing vehicle control method based on predicted acceleration mentioned above. Thus, the specific implementation can be referred to the description of the corresponding embodiments, and will not be elaborated here.

[0071] Furthermore, since the queuing vehicle control system based on predicted acceleration in this embodiment is used to implement the aforementioned queuing vehicle control method based on predicted acceleration, its function corresponds to that of the above method, and will not be repeated here.

[0072] Figure 3 This is a schematic diagram of a vehicle architecture provided by an embodiment of the present invention, including a sensor unit and a control unit. The sensor unit is used to collect the current operating information of the controlled vehicle and the vehicles in front and behind it in the lane. The control unit configures the queuing vehicle control system based on predictive acceleration of the above embodiment, executes the queuing vehicle control method based on predictive acceleration of the above embodiment, and outputs execution information to control the accelerator pedal and the brake pedal.

[0073] In this embodiment, the sensors include a vehicle status sensor and an environmental information sensor. The vehicle status sensor is used to collect the current operating information of the controlled vehicle, and the environmental information sensor is used to collect the current operating information of adjacent vehicles in the lane where the controlled vehicle is located.

[0074] The above-disclosed embodiments are merely preferred embodiments of the present invention, but the present invention is not limited thereto. Any non-creative variations that can be conceived by those skilled in the art, as well as any improvements and modifications made without departing from the principles of the present invention, should fall within the protection scope of the present invention.

Claims

1. A platoon vehicle control method based on predicted acceleration, characterized in that, Includes the following steps: Obtain the current operating information of the controlled vehicle and its adjacent vehicles in front and behind it in the same lane; the current operating information includes vehicle position, speed and acceleration; Based on the current vehicle operating information, the future position of the vehicle is predicted to obtain the predicted position sequence of each vehicle in the prediction time domain. Based on the predicted position sequence of each vehicle, the expected distance sequence between the controlled vehicle and the vehicle in front is obtained based on the vehicle spacing control principle. The desired position sequence of the controlled vehicle is obtained based on the desired spacing sequence; The desired speed sequence of the controlled vehicle is obtained from the desired position sequence; The desired acceleration sequence of the controlled vehicle is obtained from the desired velocity sequence; The accelerator and brake pedals of the vehicle are controlled according to the desired acceleration sequence. The prediction time domain consists of N time sampling periods, where N is a positive integer; Based on the current vehicle operating information, the future position of the vehicle is predicted to obtain the predicted position sequence of each vehicle in the prediction time domain. Specifically, the prediction is made using the following formula (1): ， ;（1） in, Let i be the current position of the i-th vehicle. Let i be the current speed of the i-th vehicle. The time sampling period is Let i be the current acceleration of the i-th vehicle. The predicted position of the i-th vehicle in the j-th time sampling period; Based on the predicted position sequence of each vehicle, the expected distance sequence between the controlled vehicle and the vehicle in front is obtained according to the vehicle spacing control principle, specifically including: Based on the principle that vehicles in a queue should avoid collisions with adjacent vehicles, the first expected distance sequence between the controlled vehicle and the vehicle in front is calculated using the following formula (2): （2） in, The controlled vehicle is vehicle i, the vehicle in front of the controlled vehicle is vehicle (i-1), and d is the expected distance between two adjacent vehicles when the vehicles stop. The non-collision coefficient; Based on the principle that the speeds of all vehicles in the queue tend to be consistent under steady conditions, the second expected distance sequence between the controlled vehicle and the vehicle in front is calculated using the following formula (3): （3） Among them, the vehicle following the controlled vehicle is the (i+1)th vehicle. This is the speed consistency coefficient; Based on the principle that the controlled vehicle is located at the center of the adjacent vehicles, the third expected distance sequence between the controlled vehicle and the preceding vehicle is calculated using the following formula (4): （4） in, Center position coefficient; The final expected distance sequence between the controlled vehicle and the preceding vehicle is calculated using the following formula (5): （5）。 2. The platoon vehicle control method based on predicted acceleration according to claim 1, characterized in that, The desired position sequence of the controlled vehicle is obtained based on the desired spacing sequence, specifically by calculating the desired position sequence of the controlled vehicle using the following formula (6): （6）。 3. The platoon vehicle control method based on predicted acceleration according to claim 2, characterized in that, The desired speed sequence of the controlled vehicle is obtained from the desired position sequence, specifically by calculating the desired speed sequence of the controlled vehicle using the following formula (7): （7）。 4. The platoon vehicle control method based on predicted acceleration according to claim 3, characterized in that, The desired acceleration sequence of the controlled vehicle is obtained from the desired velocity sequence, specifically by calculating the desired acceleration sequence of the controlled vehicle using the following formula (8): （8）。 5. A platoon vehicle control system based on predictive acceleration, characterized in that, include, Operation information acquisition module: Acquires the current operation information of the controlled vehicle and its adjacent vehicles in front and behind it in the lane; the current operation information includes vehicle position, speed and acceleration; Location prediction module: Predicts the future location of vehicles based on their current operating information, and obtains the predicted location sequence of each vehicle in the prediction time domain; Expected Spacing Calculation Module: Based on the predicted position sequence of each vehicle, the expected spacing sequence between the controlled vehicle and the vehicle in front is obtained according to the vehicle spacing control principle. Desired position calculation module: Obtains the desired position sequence of the controlled vehicle based on the desired spacing sequence; Desired speed calculation module: Obtains the desired speed sequence of the controlled vehicle based on the desired position sequence; Desired acceleration calculation module: Obtains the desired acceleration sequence of the controlled vehicle based on the desired velocity sequence; Execution control module: Controls the accelerator and brake pedals of the vehicle according to the desired acceleration sequence; The prediction time domain consists of N time sampling periods, where N is a positive integer; Based on the current vehicle operating information, the future position of the vehicle is predicted to obtain the predicted position sequence of each vehicle in the prediction time domain. Specifically, the prediction is made using the following formula (1): ， ;（1） in, Let i be the current position of the i-th vehicle. Let i be the current speed of the i-th vehicle. The time sampling period is Let i be the current acceleration of the i-th vehicle. The predicted position of the i-th vehicle in the j-th time sampling period; Based on the predicted position sequence of each vehicle, the expected distance sequence between the controlled vehicle and the vehicle in front is obtained according to the vehicle spacing control principle, specifically including: Based on the principle that vehicles in a queue should avoid collisions with adjacent vehicles, the first expected distance sequence between the controlled vehicle and the vehicle in front is calculated using the following formula (2): （2） in, The controlled vehicle is vehicle i, the vehicle in front of the controlled vehicle is vehicle (i-1), and d is the expected distance between two adjacent vehicles when the vehicles stop. The non-collision coefficient; Based on the principle that the speeds of all vehicles in the queue tend to be consistent under steady conditions, the second expected distance sequence between the controlled vehicle and the vehicle in front is calculated using the following formula (3): （3） Among them, the vehicle following the controlled vehicle is the (i+1)th vehicle. This is the speed consistency coefficient; Based on the principle that the controlled vehicle is located at the center of the adjacent vehicles, the third expected distance sequence between the controlled vehicle and the preceding vehicle is calculated using the following formula (4): （4） in, Center position coefficient; The final expected distance sequence between the controlled vehicle and the preceding vehicle is calculated using the following formula (5): （5）。 6. A vehicle, characterized in that, It includes a sensor unit and a control unit. The sensor unit is used to collect the current operating information of the controlled vehicle and the vehicles in front and behind it in the lane. The control unit is used to execute the method described in any one of claims 1-4.

7. The vehicle according to claim 6, characterized in that, The sensors include vehicle status sensors and environmental information sensors; Among them, the vehicle status sensor is used to collect the current operating information of the controlled vehicle, and the environmental information sensor is used to collect the current operating information of the vehicles in front and behind the controlled vehicle in the lane.

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