A ramp merging longitudinal control method and device integrating virtual queue and lane-changing rules

Abstract

The present invention discloses a ramp merging longitudinal control method and device that integrates virtual queues and lane-changing rules. Intelligent networked vehicles in the ramp merging area obtain position and speed information; the ramp vehicle positions are projected onto the main road to form a virtual queue; the lane-changing rules are determined, and the control model is determined by the lane-changing rules, and finally the longitudinal acceleration of the vehicle is determined. The ramp merging process is converted into a special following process to make the merging process smoother; a control model based on lane-changing rules is established so that the vehicle speed and position are adjusted so that the vehicle can merge smoothly after reaching the merging area.

Description

Technical Field

[0001] The present invention relates to the field of intelligent traffic control, and in particular to a ramp merging longitudinal control method and device integrating virtual queue and lane changing rules. Background Art

[0002] The ramp merging area is an accident-prone section of the highway and one of the areas where the driver's limitations are most obvious. During the merging process, the driver's irrational and uncooperative decision-making will reduce the stability of the traffic flow in the area and reduce the traffic efficiency. It will also cause a series of negative effects such as increased vehicle delays and increased vehicle emissions. Most of the existing control algorithms use signal light control combined with the current traffic operation status, but this method cannot achieve fine control of the merging behavior, and the control has lag, which cannot meet the control needs of modern ramps with large flow.

[0003] In recent years, with the increasing maturity of intelligent driving and vehicle networking technologies, information transmission between vehicles and control of vehicle motion trajectories have become possible in an intelligent networked environment. In such a context of vehicle-road collaboration, achieving micro-control of ramp merging is a new idea for controlling ramp merging areas.

[0004] In the existing studies on ramp merging longitudinal control, most of them divide ramp merging into two parts: gap selection and trajectory planning. Among them, most of the studies consider centralized control methods that jointly optimize the two, and a few study distributed control methods; most of the studies aim to improve the overall vehicle operation status, but do not consider the right of way issues caused by the first-come-first-served vehicles. Summary of the invention

[0005] Purpose of the invention: In order to overcome the deficiencies of the above-mentioned prior art, the purpose of the present invention is to propose a ramp merging longitudinal control method that integrates virtual queues and lane changing rules. Intelligent connected vehicles in the ramp merging area obtain position and speed information; the ramp vehicle position is projected onto the main road to form a virtual queue; the lane changing rules are determined, and the control model is determined by the lane changing rules, and finally the longitudinal acceleration of the vehicle is determined. The ramp merging process is converted into a special following process to make the merging process smoother; a control model based on lane changing rules is established so that the vehicle speed and position can be adjusted so that it can merge smoothly after reaching the merging area.

[0006] Technical solution: To solve the above technical problems, the present invention proposes a ramp merging longitudinal control method integrating virtual queue and lane change rules, the method comprising the following steps:

[0007] (1) ICVs obtain their own location and speed information and send it to roadside facilities;

[0008] (2) The roadside facilities project the position of the ramp vehicle onto the main road according to the virtual rotation method to form a virtual queue, and send the information of the leading vehicle in the virtual queue to the following vehicle;

[0009] (3) Determine lane-changing rules when merging by using the safe distance between virtual trains;

[0010] (4) Propose a vehicle longitudinal control model under virtual platooning based on lane-changing rules;

[0011] (5) Add physical constraints to the vehicle, calculate the longitudinal acceleration of the vehicle, and perform longitudinal control on the vehicle.

[0012] Furthermore, the specific method of step (1) is as follows:

[0013] The length of the ramp merging control area is D, and the main road vehicle set is defined by the order of entering the area. The ramp vehicle set is defined by the order in which it enters the ramp merging control area Among them, m i and r j They are the i-th vehicle on the main road and the j-th vehicle on the ramp entering the ramp merging area. There are n vehicles on the main road and k vehicles on the ramp. Set Main road vehicles m i The distance from the tail end of the ramp to the start of the merging control area. Vehicles on the main road m i speed, For ramp vehicles r j The distance from the tail end of the ramp to the start of the merging control area. For ramp vehicles r j The speed of the ramp is , the length D of the ramp merging into the control area is in meters (m), and The unit is meter (m), and The unit is meter per second (m / s).

[0014] Furthermore, the specific method of step (2) is as follows:

[0015] The first step is to set a=1, b=1 and define the virtual vehicle set

[0016] Step 2: Compare and if Go to step 3; otherwise, go to step 4;

[0017] Step 3, V a+b-1 =m a , if a=n, End; otherwise, a=a+1, return to step 2;

[0018] Step 4, V a+b-1 =r b , if b = k, End; otherwise, b=b+1, return to step 2;

[0019] Forming a virtual queue according to the virtual rotation method After that, the roadside facilities for each virtual vehicle V index The corresponding virtual vehicle V index The distance from the end of the ramp to the start of the ramp merging control area and V index Speed Send to vehicle V index-1 .

[0020] Furthermore, the lane-changing rule when merging in step (3) is:

[0021] If the virtual vehicle V index When changing lanes, both the virtual vehicle V index and the virtual vehicle V index-1 The safety distance is:

[0022]

[0023] And satisfy the virtual vehicle V index and the virtual vehicle V index+1 The safety distance is:

[0024]

[0025] The lane-changing condition is met;

[0026] in, and They are virtual vehicles V index , virtual vehicle V index+1 and the virtual vehicle V index-1 Length of vehicle; and They are virtual vehicles V index and the virtual vehicle V index+1 Required safety distance.

[0027] Furthermore, the vehicle control model under the virtual queue in step (4) is:

[0028]

[0029] In the formula, k x ≥0, k v≥0 is the proportional factor of position difference and speed difference, the unit is the reciprocal of the square of second (1 / s 2 ) and the reciprocal of seconds (1 / s), Δ is the relaxation distance of the control distance relative to the safety distance, in meters (m); a Vindex V index The theoretical control longitudinal acceleration is expressed in meters per second squared (m / s 2 );

[0030] When index=1, the control model of the first vehicle is:

[0031]

[0032] In the formula, v e The expected speed of vehicles on the main road.

[0033] Furthermore, the method for calculating the longitudinal acceleration of the vehicle in step (5) is as follows:

[0034] In the calculation Based on the maximum acceleration, a max , the maximum deceleration is taken as d max , then the actual control longitudinal acceleration as follows:

[0035]

[0036] After calculating each virtual vehicle V index The actual controlled longitudinal acceleration is Then, for each vehicle in the virtual train, the acceleration is Take control.

[0037] In addition, the present invention also proposes a ramp merging longitudinal control calculation device that integrates virtual queues and lane changing rules, including a memory, a processor, and a computer program stored in the memory and executable on the processor. When the computer program is loaded into the processor, it implements any one of the ramp merging longitudinal control methods that integrate virtual queues and lane changing rules.

[0038] Beneficial effects: Compared with the prior art, the technical solution of the present invention has the following beneficial technical effects:

[0039] The purpose of the present invention is to propose a ramp merging longitudinal control method that integrates virtual queues and lane-changing rules. Intelligent connected vehicles in the ramp merging area obtain position and speed information; the ramp vehicle position is projected onto the main road to form a virtual queue; the lane-changing rules are determined, and the control model is determined by the lane-changing rules, and finally the longitudinal acceleration of the vehicle is determined. The ramp merging process is converted into a special following process to make the merging process smoother; a control model based on lane-changing rules is established so that the vehicle speed and position can be adjusted so that it can merge smoothly after reaching the merging area.

[0040] In the present invention, the idea of ​​virtual queue is used to achieve natural gap selection, and at the same time, a control model combined with lane-changing rules is adopted in trajectory planning. The idea of ​​virtual queue ensures that the merging control can be distributed and the fairness of first-in-first-out is guaranteed; at the same time, the control model integrated with lane-changing rules ensures that the speed and position adjustment process before merging is carried out smoothly, and ensures that the vehicle can naturally change lanes to the main road after entering the merging area. BRIEF DESCRIPTION OF THE DRAWINGS

[0041] Figure 1 It is a method flow chart of an embodiment of the present invention.

[0042] Figure 2 It is a schematic diagram of the ramp merging scene of the present invention.

[0043] Figure 3 It is a schematic diagram of generating a virtual queue by the virtual rotation method of the present invention. DETAILED DESCRIPTION

[0044] In order to make the contents of the present invention more clearly understood, the present invention is further described in detail below in conjunction with the accompanying drawings and specific embodiments.

[0045] In one embodiment, Figure 1 As shown, the present invention proposes a ramp merging longitudinal control method integrating virtual queue and lane changing rules, the method comprising the following steps:

[0046] (1) ICVs obtain their own location and speed information and send it to roadside facilities;

[0047] (2) The roadside facilities project the position of the ramp vehicle onto the main road according to the virtual rotation method to form a virtual queue, and send the information of the leading vehicle in the virtual queue to the following vehicle;

[0048] (3) Determine lane-changing rules when merging by using the safe distance between virtual trains;

[0049] (4) Propose a vehicle longitudinal control model under virtual platooning based on lane-changing rules;

[0050] (5) Add physical constraints to the vehicle, calculate the longitudinal acceleration of the vehicle, and perform longitudinal control on the vehicle.

[0051] Furthermore, the specific method of step (1) is as follows:

[0052] The length of the ramp merging control area is D, and the main road vehicle set is defined by the order of entering the area. The ramp vehicle set is defined by the order in which it enters the ramp merging control area Among them, m i and r j They are the i-th vehicle on the main road and the j-th vehicle on the ramp entering the ramp merging area. There are n vehicles on the main road and k vehicles on the ramp. Set Vehicles on the main road m i The distance from the tail end of the ramp to the start of the merging control area. Vehicles on the main road m i speed, For ramp vehicles r j The distance from the tail end of the ramp to the start of the merging control area. For ramp vehicles r j The speed of the ramp is , the length D of the ramp merging into the control area is in meters (m), and The unit is meter (m), and The unit is meter per second (m / s).

[0053] Furthermore, the specific method of step (2) is as follows:

[0054] The first step is to set a=1, b=1 and define the virtual vehicle set

[0055] Step 2: Compare and if Go to step 3; otherwise, go to step 4;

[0056] Step 3, V a+b-1 =m a , if a=n, End; otherwise, a=a+1, return to step 2;

[0057] Step 4, V a+b-1 =r b , if b = k, End; otherwise, b=b+1, return to step 2;

[0058] Forming a virtual queue according to the virtual rotation method After that, the roadside facilities for each virtual vehicle V indexThe corresponding virtual vehicle V index The distance from the end of the ramp to the start of the ramp merging control area and V index The speed v Vindex Send to vehicle V index-1 .

[0059] Furthermore, the lane-changing rule when merging in step (3) is:

[0060] If the virtual vehicle V index When changing lanes, both the virtual vehicle V index and the virtual vehicle V index-1 The safety distance is:

[0061]

[0062] And satisfy the virtual vehicle V index and the virtual vehicle V index+1 The safety distance is:

[0063]

[0064] The lane-changing condition is met;

[0065] in, and They are virtual vehicles V index , virtual vehicle V index+1 and the virtual vehicle V index-1 Length of vehicle; and They are virtual vehicles V index and the virtual vehicle V index+1 Required safety distance.

[0066] Furthermore, the vehicle control model under the virtual queue in step (4) is:

[0067]

[0068] In the formula, k x ≥0, k v ≥0 is the proportional factor of position difference and speed difference, the unit is the reciprocal of the square of second (1 / s 2 ) and the reciprocal of seconds (1 / s), Δ is the relaxation distance of the control distance relative to the safety distance, in meters (m); V index The theoretical control longitudinal acceleration is expressed in meters per second squared (m / s 2 );

[0069] When index=1, the control model of the first vehicle is:

[0070]

[0071] In the formula, v e The expected speed of vehicles on the main road.

[0072] Furthermore, the method for calculating the longitudinal acceleration of the vehicle in step (5) is as follows:

[0073] In the calculation Based on the maximum acceleration, a max , the maximum deceleration is taken as d max , then the actual control longitudinal acceleration as follows:

[0074]

[0075] After calculating each virtual vehicle V index The actual controlled longitudinal acceleration is Then, for each vehicle in the virtual train, the acceleration is Take control.

[0076] In addition, the present invention also proposes a ramp merging longitudinal control calculation device that integrates virtual queues and lane changing rules, including a memory, a processor, and a computer program stored in the memory and executable on the processor. When the computer program is loaded into the processor, it implements any one of the ramp merging longitudinal control methods that integrate virtual queues and lane changing rules.

Claims

1. A ramp merging longitudinal control method integrating virtual queue and lane changing rules, characterized in that: The method comprises the following steps: (1) ICVs obtain their own location and speed information and send it to roadside facilities; (2) The roadside facilities project the position of the ramp vehicle onto the main road according to the virtual rotation method to form a virtual queue, and send the information of the leading vehicle in the virtual queue to the following vehicle; (3) Determine lane-changing rules when merging by using the safe distance between virtual trains; (4) Propose a vehicle longitudinal control model under virtual platooning based on lane-changing rules; (5) Add physical constraints to the vehicle, calculate the longitudinal acceleration of the vehicle, and perform longitudinal control on the vehicle; The specific method of step (1) is as follows: The length of the ramp merging control area is D, and the main road vehicle set is defined by the order of entering the area. The ramp vehicle set is defined by the order in which it enters the ramp merging control area Among them, m i and r j They are the i-th vehicle on the main road and the j-th vehicle on the ramp entering the ramp merging area. There are n vehicles on the main road and k vehicles on the ramp. Set Vehicles on the main road m i The distance from the tail end of the ramp to the start of the merging control area. Main road vehicles m i speed, For ramp vehicles r j The distance from the tail end of the ramp to the start of the merging control area. For ramp vehicles r j The speed of the ramp is , the length D of the ramp merging into the control area is in meters (m), and The unit is meter (m), v mi and v ri The unit is meter per second (m / s); The specific method of step (2) is as follows: The first step is to set a=1, b=1 and define the virtual vehicle set Step 2: Compare and if Go to step 3; otherwise, go to step 4; Step 3, V a+b-1 =m a , if a=n, End; otherwise, a=a+1, return to step 2; Step 4, V a+b-1 =r b , if b = k, End; otherwise, b=b+1, return to step 2; Forming a virtual queue according to the virtual rotation method After that, the roadside facilities for each virtual vehicle V index The corresponding virtual vehicle V index The distance from the end of the ramp to the start of the ramp merging control area and V index The speed v Vindex Send to vehicle V index-1 ; The lane-changing rule when merging in step (3) is: If the virtual vehicle V index When changing lanes, both the virtual vehicle V index and the virtual vehicle V index-1 The safety distance is: x Vindex-1 -x Vindex -l Vindex -s Vindex ≥0; And satisfy the virtual vehicle V index and the virtual vehicle V index+1 The safety distance is: x Vindex -x Vindex+1 -l Vindex+1 -s Vindex+1 ≥0 Then the lane-changing condition is met; Among them, l Vindex , l Vindex+1 and l Vindex-1 They are virtual vehicles V index , virtual vehicle V index+1 and the virtual vehicle V index-1 Vehicle length; s Vindex and Vindex+1 They are virtual vehicles V index and the virtual vehicle V index+1 Required safety distances; The vehicle control model under the virtual queue in step (4) is: a Vindex =-k v (v Vindex -v Vindex-1 )-k x (x Vindex +l Vindex +s Vindex +Δ-x Vindex-1 ) In the formula, k x ≥0, k v ≥0 is the proportional factor of position difference and speed difference, the unit is the reciprocal of the square of second (1 / s 2 ) and the reciprocal of seconds (1 / s), Δ is the relaxation distance of the control distance relative to the safety distance, in meters (m); a Vindex V index The theoretical control longitudinal acceleration is expressed in meters per second squared (m / s 2 ); When index=1, the control model of the first vehicle is: a V1 =-k v (v V1 -v e ) In the formula, v e The expected speed of vehicles on the main road.

2. The ramp merging longitudinal control method integrating virtual queue and lane changing rules according to claim 1, characterized in that: The method for calculating the longitudinal acceleration of the vehicle in step (5) is as follows: In calculating a Vindex Based on the maximum acceleration, a max , the maximum deceleration is taken as d max , then the actual control longitudinal acceleration a Vindex as follows: After calculating each virtual vehicle V index The actual controlled longitudinal acceleration is Then, for each vehicle in the virtual train, the acceleration is Take control.

3. A ramp merging longitudinal control computing device integrating virtual queue and lane changing rules, comprising a memory, a processor and a computer program stored in the memory and executable on the processor, characterized in that: When the computer program is loaded into a processor, the ramp merging longitudinal control method integrating a virtual queue and a lane changing rule according to any one of claims 1 to 2 is implemented.

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