Intelligent formation auxiliary control method and system based on speed difference

Abstract

The invention discloses a formation intelligent auxiliary control method and system based on speed difference, and relates to the technical field of intelligent network connection vehicle drive.The method comprises the steps that firstly, position information of each vehicle in a current vehicle formation is collected, and the distance between the vehicles is calculated; calculating the stability of each vehicle in the current vehicle formation based on a classical theory of a time-delay multi-speed difference car-following model, and judging whether the stability of each vehicle is in a stable region or not; and performing vehicle feedback control according to the steady state judgment result. According to the method, the real-time data monitoring and analysis technology and the classical theory of the time-delay multi-speed difference car-following model are fused, and the safety and passing efficiency of road traffic are remarkably improved.

Description

Technical Field

[0001] The present invention relates to the field of intelligent networked vehicle driving technology, and more specifically to a formation intelligent auxiliary control method and system based on speed difference. Background Art

[0002] In the field of intelligent connected vehicle driving, effective management of vehicle platooning has become one of the research focuses. Vehicle platooning requires a highly coordinated following control strategy to ensure the overall stability and safety of the platoon. In existing technologies, vehicle platooning often faces the "whip effect" caused by speed fluctuations of the vehicle in front, that is, the following vehicles must make significant speed adjustments to maintain the necessary safety distance, which affects the overall smoothness and energy efficiency of the platoon and increases the potential risk of traffic accidents.

[0003] Therefore, how to monitor the convoy vehicles while dynamically adjusting the vehicle speed and spacing to ensure road safety is an urgent problem that technical personnel in this field need to solve. Summary of the invention

[0004] In view of this, the present invention provides a formation intelligent auxiliary control method and system based on speed difference to solve the problems in the background technology.

[0005] In order to achieve the above object, the present invention provides the following technical solutions: A formation intelligent auxiliary control method based on speed difference comprises the following steps: Step 1: Collect the position information of each vehicle in the current vehicle formation and calculate the distance between vehicles; Step 2: Calculate the stability of each vehicle in the current vehicle formation, and determine whether the stability of each vehicle is within the stable region; Step 3: Perform vehicle feedback control based on the steady-state judgment result.

[0006] Furthermore, in step 1, the location information of the vehicle is collected by equipment carried by the vehicle, and the equipment includes vehicle sensors, vehicle radars and vehicle communication systems.

[0007] Further, in step 2, k The stability of the vehicle is calculated as: ; ; ; in Indicates k The stability of the vehicle, represents the vehicle following sensitivity function, It is a dynamic vehicle distance adjustment item. is the driver's reaction time lag coefficient, , The driver's reaction time, n represents the number of vehicles ahead that need to be considered, is the sensitivity coefficient, represents the expected speed of the vehicle under free-flow traffic conditions; is the safe distance between two vehicles. d It represents the distance to the vehicle in front; sech() is the sensitivity attenuation function in the vehicle following behavior.

[0008] Furthermore, in step 2, when calculating the stability of each vehicle, it is divided into the following four situations: The first scenario: In a platoon, the lead vehicle travels at the desired maximum speed; The second case: The second car only considers the previous car, that is n =1; The third case: The third car considers the two cars in front, that is n =2; The fourth situation: The remaining vehicles only consider the three vehicles in front, and take n =3.

[0009] Further, in step 2, it is determined that k The method to determine whether the stability of the vehicle is within the stable region is as follows: k Stability of the vehicle When , the vehicle is in a stable state; otherwise, it is in an unstable state.

[0010] Further, in step 3, k The method of feedback control of the vehicle is: Jordi k If the vehicle is in an unstable state, the vehicle is controlled to automatically reduce the speed to adjust the distance between vehicles and seek a stable state; if the k If the vehicle is in a stable state, the system recommends that the vehicle accelerate or maintain the current speed.

[0011] A formation intelligent auxiliary control system based on speed difference, comprising: The information collection module is used to collect the position information of each vehicle in the current vehicle formation and calculate the distance between vehicles; The steady-state analysis module is used to calculate the stability of each vehicle in the current vehicle formation and determine whether the stability of each vehicle is within the stable area; The feedback control module is used to perform vehicle feedback control according to the steady-state judgment result.

[0012] It can be seen from the above technical solutions that the present invention provides a formation intelligent auxiliary control method and system based on speed difference, which has the following beneficial effects compared with the prior art: (1) Dynamic speed adjustment and spacing optimization: The present invention monitors and analyzes the status of each vehicle in the vehicle formation in real time, and implements precise feedback control based on the steady-state judgment results. By dynamically adjusting the vehicle speed and the spacing with the preceding vehicle, the optimal safety distance is maintained, thereby significantly reducing the risk of rear-end collision.

[0013] (2) Close coordination and efficient collaboration: The present invention focuses on the continuous driving scenarios of vehicles in the same lane. Through advanced auxiliary control methods, it achieves seamless connection and efficient collaboration between vehicles, thereby improving the overall operating efficiency of the fleet.

[0014] (3) Alleviating the “whip effect”: The present invention utilizes a multi-speed difference following model with time lag to accurately optimize the speed and acceleration control strategy of each vehicle, effectively alleviating and reducing the common “whip effect” during convoy driving, and ensuring the stability and comfort of the convoy during driving.

[0015] In summary, the present invention integrates real-time data monitoring and analysis technology with the classical theory of the multi-speed difference following model with time lag, providing strong technical support for the continuous driving of vehicles in the same lane, significantly improving the safety and traffic efficiency of road traffic, and has broad application prospects and important social value. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on the provided drawings without paying creative work.

[0017] FIG1 is a schematic diagram of road conditions applicable to the solution of the present invention; Figure 2 is a schematic diagram of the principle of the intelligent auxiliary control system for formation based on speed difference; Figure 3 is a flow chart of the feedback control module; Figure 4 is a stable region diagram of the multi-velocity difference model with time lag. DETAILED DESCRIPTION

[0018] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0019] The embodiment of the present invention discloses an intelligent auxiliary control method for a formation based on speed difference, which is mainly applicable to the auxiliary control of the successive following behavior of vehicles in the same lane (see Figure 1 ), the method mainly comprises the following steps: Step 1: Collect the position information of each vehicle in the current vehicle formation and calculate the distance between vehicles.

[0020] This process is mainly implemented through a variety of devices carried by the vehicle, including vehicle sensors, vehicle radars and vehicle communication systems, which are responsible for collecting vehicle location information. Subsequently, these key data are transmitted to the formation intelligent auxiliary control system, which processes the received data and calculates the distance between vehicles. On this basis, the system further performs a comprehensive assessment of the vehicle's steady state to evaluate the stability and safety of the vehicle in actual operation.

[0021] Step 2: Based on the classical theory of the multi-speed difference following model with time delay, calculate the stability of each vehicle in the current vehicle formation, and determine whether the stability of each vehicle is within the stable region.

[0022] First k Taking a car as an example, its stability calculation method is: ; ; ; in Indicates k The stability of the vehicle, represents the vehicle following sensitivity function, It is a dynamic vehicle distance adjustment item. is the driver's reaction time lag coefficient, , take the model parameters , , The driver's reaction time, n represents the number of vehicles ahead that need to be considered, is the sensitivity coefficient, (The driver's sensitivity to the speed difference of the vehicle in front gradually decreases. There are papers that prove that considering the information of the three vehicles in front is enough to make the traffic flow very stable under small disturbances, so this scheme only considers the impact of the three vehicles in front on the vehicle). It represents the expected speed of the vehicle under free-flow traffic conditions, which is taken as 2m / s; is the safe distance between two vehicles, take 4m, d It represents the distance to the vehicle in front; sech() is the sensitivity attenuation function in the vehicle following behavior.

[0023] When calculating the stability of each vehicle, four scenarios are considered: The first scenario: In a platoon, the lead vehicle travels at the desired maximum speed; The second case: The second car only considers the previous car, that is n =1; The third case: The third car considers the two cars in front, that is n =2; The fourth situation: The remaining vehicles only consider the three vehicles in front, and take n =3.

[0024] The phase change diagram and critical stability curve of the model are shown in Figure 4 As shown in Figure 2, inside the curve is the unstable area of ​​traffic flow, and outside the curve is the stable area of ​​traffic flow. p Indicates the number of vehicles ahead.

[0025] The vehicle information of the platoon is loaded from the vehicle-mounted unit, and the system performs the above-mentioned operation on the input data to judge the stability of the vehicle. If the result falls outside the stable domain, the system performs corresponding control operations to make the vehicle enter a stable state. k The method to determine whether the stability of the vehicle is within the stable region is as follows: k Stability of the vehicle When , the vehicle is in a stable state; otherwise, it is in an unstable state.

[0026] Step 3: Perform vehicle feedback control based on the steady-state judgment result.

[0027] Jordi k If the vehicle is in an unstable state, the auxiliary control system will control the vehicle to automatically reduce the speed to adjust the distance between vehicles and seek a stable state; if the k If the vehicle is in a stable state, the system recommends that the vehicle accelerate or maintain the current speed.

[0028] An intelligent auxiliary control system for formation based on speed difference, see Figure 2 ,include: The information collection module is used to collect the position information of each vehicle in the current vehicle formation and calculate the distance between vehicles; The steady-state analysis module is used to calculate the stability of each vehicle in the current vehicle formation and determine whether the stability of each vehicle is within the stable area. The module will be embedded and installed on the vehicle's electronic control unit.

[0029] Feedback control module, used to perform vehicle feedback control based on steady-state judgment results. Figure 3 .

[0030] As for the system device disclosed in the embodiment, since it corresponds to the method disclosed in the embodiment, the description is relatively simple, and the relevant parts can be referred to the description of the method part.

[0031] The various embodiments in this specification are described in a progressive manner, and each embodiment focuses on the differences from other embodiments. The same or similar parts between the various embodiments can be referenced to each other.

[0032] The above description of the disclosed embodiments enables one skilled in the art to implement or use the present invention. Various modifications to these embodiments will be apparent to one skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the present invention. Therefore, the present invention will not be limited to the embodiments shown herein, but rather to the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A formation intelligent auxiliary control method based on speed difference, characterized in that: The following steps are involved: Step 1: Collect the position information of each vehicle in the current vehicle formation and calculate the distance between vehicles; Step 2: Calculate the stability of each vehicle in the current vehicle formation, and determine whether the stability of each vehicle is within the stable region; Step 3: Perform vehicle feedback control based on the steady-state judgment result.

2. The intelligent auxiliary control method for formation based on speed difference according to claim 1, characterized in that: In the step 1, the location information of the vehicle is collected by the equipment carried by the vehicle, and the equipment includes a vehicle sensor, a vehicle radar and a vehicle communication system.

3. The intelligent auxiliary control method for formation based on speed difference according to claim 1, characterized in that: In step 2, k The stability of the vehicle is calculated as: ； ； ； in Indicates k The stability of the vehicle, represents the vehicle following sensitivity function, It is a dynamic vehicle distance adjustment item. is the driver's reaction time lag coefficient, , The driver's reaction time, n represents the number of vehicles ahead that need to be considered, is the sensitivity coefficient, represents the expected speed of the vehicle under free-flow traffic conditions; is the safe distance between two vehicles. d It represents the distance to the vehicle in front; sech() is the sensitivity attenuation function in the vehicle following behavior.

4. The method for intelligent auxiliary control of a formation based on speed difference according to claim 3, characterized in that: In step 2, when calculating the stability of each vehicle, there are four situations: The first scenario: In a platoon, the lead vehicle travels at the desired maximum speed; The second case: The second car only considers the previous car, that is n =1; The third case: The third car considers the two cars in front, that is n =2; The fourth situation: The remaining vehicles only consider the three vehicles in front. n =3.

5. The method for intelligent auxiliary control of a formation based on speed difference according to claim 3, characterized in that: In step 2, determine k The method to determine whether the stability of the vehicle is within the stable region is as follows: k Stability of the vehicle When , the vehicle is in a stable state; otherwise, it is in an unstable state.

6. The method for intelligent auxiliary control of a formation based on speed difference according to claim 5, characterized in that: In step 3, k The method of feedback control of the vehicle is: Jordi k If the vehicle is in an unstable state, the vehicle is controlled to automatically reduce the speed to adjust the distance between vehicles and seek a stable state; if the k If the vehicle is in a stable state, the system recommends that the vehicle accelerate or maintain the current speed.

7. A formation intelligent auxiliary control system based on speed difference, characterized in that: include: The information collection module is used to collect the position information of each vehicle in the current vehicle formation and calculate the distance between vehicles; The steady-state analysis module is used to calculate the stability of each vehicle in the current vehicle formation and determine whether the stability of each vehicle is within the stable area; The feedback control module is used to perform vehicle feedback control according to the steady-state judgment result.

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