Networked autonomous vehicle cooperative control method for eliminating continuous traffic jam

Abstract

The invention discloses a network-connected automatic driving vehicle cooperative control method for eliminating continuous traffic congestion, relates to the technical field of expressway traffic congestion dissipation, and aims to detect the traffic congestion distribution state in real time by using a network-connected automatic driving technology so as to regulate and control the running state of a congestion upstream vehicle in real time, actively adapt to and eliminate continuous traffic congestion and improve the traffic congestion elimination efficiency. And the initiative, the flexibility and the real-time performance of continuous traffic jam elimination are improved. The problem that an existing method cannot adapt to continuous traffic congestion occurring at random positions and random time is solved.

Description

Technical Field

[0001] The present invention relates to the technical field of eliminating traffic congestion on expressways, and in particular to a collaborative control method for networked autonomous driving vehicles for eliminating continuous traffic congestion. Background Art

[0002] The frequent occurrence of traffic congestion on expressways has greatly reduced the traffic efficiency and safety of vehicles. At present, the main way to alleviate traffic congestion at home and abroad is to set speed limit signs and traffic lights at fixed locations to control traffic input. This method can only alleviate the congestion formed at fixed bottlenecks and cannot adapt to continuous traffic congestion that occurs at random locations and random times. With the development of intelligent networked autonomous driving technology, it will become possible for networked autonomous driving vehicles to be on the road, and it will also become possible to detect and control the traffic operation status of networked autonomous driving vehicles. Therefore, based on networked autonomous driving technology, the detection of the traffic operation status of expressways, the active adjustment of the driving behavior of networked autonomous driving vehicles, and the adjustment of traffic operation status can actively eliminate continuous traffic congestion in real time and significantly improve the traffic efficiency of expressways. Summary of the invention

[0003] In view of the above-mentioned deficiencies in the prior art, the present invention provides a collaborative control method for networked autonomous driving vehicles for eliminating continuous traffic jams, which solves the problem that the prior art methods cannot adapt to continuous traffic jams occurring at random locations and random times.

[0004] In order to achieve the above-mentioned invention object, the technical solution adopted by the present invention is: a networked autonomous driving vehicle cooperative control method for eliminating continuous traffic congestion, comprising the following steps:

[0005] S1: Based on the Internet of Vehicles technology, the cloud control platform is used to detect the traffic operation status in real time and obtain the vehicle operation status data;

[0006] S2: Use the cloud control platform to control the automatic driving behavior of upstream vehicles in congestion according to vehicle operation status data, so as to slow down the upstream designated vehicles;

[0007] S3: Based on the control result, determine whether new congestion is generated, if yes, proceed to step S4, otherwise proceed to step S5;

[0008] S4: Use the cloud control platform to control the upstream designated vehicle to slow down again, and return to step S3;

[0009] S5: Use the cloud control platform to regulate vehicle speed recovery, eliminate continuous traffic jams, and complete the coordinated control of connected autonomous driving vehicles to eliminate continuous traffic jams.

[0010] The beneficial effects of the above scheme are as follows: the present invention is based on networked autonomous driving technology, implements detection of the operating status of vehicles and traffic on expressways, and according to the distribution status of multiple consecutive traffic jams and the law of traffic wave propagation, real-time regulation of the driving speed and spacing of designated vehicles upstream of the congestion is carried out to actively eliminate multiple consecutive traffic jams, improve the traffic efficiency of expressways, and solve the problem that existing methods cannot adapt to continuous traffic jams occurring at random locations and random times.

[0011] Furthermore, the vehicle running status data in S1 includes vehicle speed, headway and position.

[0012] The beneficial effect of the above further scheme is: by acquiring the vehicle operation data on the road in real time, the vehicle congestion behavior can be regulated.

[0013] Furthermore, S2 includes the following sub-steps:

[0014] S2-1: When the first traffic congestion is detected at time t1 by the cloud control platform, one of the vehicles i in the upstream of the designated traffic congestion area is decelerated to the designated speed v 1i , and control the following vehicles of the designated vehicle i to decelerate to the designated speed v 1i , while the headway h 1i Following driving;

[0015] S2-2: When the headway between designated vehicle i and vehicle i-1 is l, the cloud control platform is used to control designated vehicle i to return to the free flow speed v f , and regulate the following vehicles of the designated vehicle i to restore to the free flow speed v accordingly f , and at the same time follow the car with a head-to-head distance of l to complete the regulation of the driving behavior of the vehicles upstream of the congestion.

[0016] The beneficial effect of the above further scheme is: through the above technical scheme, the driving behavior of vehicles upstream of the congestion is regulated by the cloud control platform to completely eliminate the first movement wave.

[0017] Furthermore, the speed v specified in S2-1 1i for:

[0018]

[0019] in, The position where vehicle i-1 accelerates to return to the free flow speed after it falls into the first congestion at the current free flow speed. is the time when vehicle i-1 accelerates to return to the free flow speed after it falls into the first congestion at the current free flow speed, d is the headway between vehicles when they stop, is the position of vehicle i when the first congestion is detected, and t1 is the moment when the first congestion is detected after it is fully formed.

[0020] The beneficial effect of the above further scheme is: through the above technical scheme, when traffic congestion occurs, the congestion can be alleviated by regulating the vehicle to slow down to a specified speed.

[0021] Furthermore, the determination condition for specifying vehicle i in S2-1 is:

[0022]

[0023] in, is the time when the last decelerated vehicle returns to the free flow speed when the designated vehicle i is the upstream leading vehicle. When vehicle i-1 is the upstream leading vehicle that slows down in advance, the moment when the last decelerated vehicle returns to the free flow speed. When vehicle i+1 is the leading vehicle in the upstream pre-deceleration, the moment when the last decelerated vehicle returns to the free flow speed, and Δt is the delay time of a single vehicle in congestion;

[0024]

[0025]

[0026] in, is the time when vehicle i decelerates for a period of time and then accelerates to eliminate the first congestion, T i is the time required for the evanescent wave generated by the acceleration of a given vehicle i to catch up with the compression wave generated by its deceleration, t i-1 is the time when vehicle i-1 accelerates to return to free flow speed after falling into congestion. is the position where vehicle i decelerates for a period of time to eliminate the first congestion and then accelerates, h1 is the headway between vehicles when they are traveling at the free flow speed before they get into congestion, t0 is the moment when the first vehicle in congestion starts to decelerate, x1 is the position where the first vehicle in congestion accelerates to recover to the free flow speed, x0 is the position where the first vehicle in congestion starts to decelerate, and v 压缩 is the propagation speed of the compression wave generated by the deceleration and acceleration of the specified vehicle i, v 消散 is the propagation speed of the evanescent wave generated by the deceleration and acceleration of the specified vehicle i.

[0027] The beneficial effect of the above further scheme is that the designated vehicle satisfies: compared with the vehicles before, after or after it, the congestion time that can be eliminated in advance by it as the designated vehicle is greater than the time that a single vehicle is trapped in congestion.

[0028] Furthermore, the speed at which the upstream designated vehicle decelerates again in S4 is:

[0029]

[0030] Among them, v (j+1)i is the speed of vehicle i after deceleration to relieve the j+1th congestion, The position where vehicle i-1 accelerates to return to the free flow speed after it is stuck in the j+1th congestion at the current free flow speed. is the time when vehicle i-1 accelerates to return to the free flow speed after it is stuck in the j+1th congestion at the current free flow speed. is the position of vehicle i when the j+1th congestion is detected, t j+1 It is the time when the j+1th congestion is detected after it is fully formed.

[0031] The beneficial effect of the above further solution is that through the above technical solution, the upstream designated vehicle can be decelerated again.

[0032] Furthermore, the determination method for eliminating the continuous traffic jam in S5 is: the dissipation wave and the compression wave caused by the acceleration and deceleration of the designated vehicle propagate upstream, and when the dissipation wave and the compression wave meet and dissipate respectively, the continuous traffic jam is completely eliminated.

[0033] The beneficial effect of the above further solution is: through the above technical solution, it is possible to determine whether continuous traffic congestion has been eliminated. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] Figure 1 The present invention is a flow chart of a collaborative control method for connected autonomous driving vehicles to eliminate continuous traffic jams.

[0035] Figure 2 This is a system structure diagram of an example of the present invention.

[0036] Figure 3 It is a schematic diagram of an implementation effect of the present invention. DETAILED DESCRIPTION

[0037] The present invention will be further described below in conjunction with the accompanying drawings and specific embodiments.

[0038] like Figure 1 As shown, a method for cooperative control of connected autonomous driving vehicles to eliminate continuous traffic congestion includes the following steps:

[0039] S1: Based on the Internet of Vehicles technology, the cloud control platform is used to detect the traffic operation status in real time and obtain the vehicle operation status data;

[0040] S2: Use the cloud control platform to control the automatic driving behavior of upstream vehicles in congestion according to vehicle operation status data, so as to slow down the upstream designated vehicles;

[0041] S3: Based on the control result, determine whether new congestion is generated, if yes, proceed to step S4, otherwise proceed to step S5;

[0042] S4: Use the cloud control platform to control the upstream designated vehicle to slow down again, and return to step S3;

[0043] S5: Use the cloud control platform to regulate vehicle speed recovery, eliminate continuous traffic jams, and complete the coordinated control of connected autonomous driving vehicles to eliminate continuous traffic jams.

[0044] In one embodiment of the present invention, Figure 2 As shown, the system structure of the present invention is shown, that is, the vehicle networking technology is used to detect the running status data of the expressway vehicles and upload it to the cloud data management center. The data management center transmits the results to the cloud control platform after calculation and analysis. The cloud control platform formulates strategies and issues control instructions to the vehicles in the expressway system. The specific method is as follows:

[0045] The vehicle operation status data in S1 includes vehicle speed, headway and position.

[0046] S2 includes the following sub-steps:

[0047] S2-1: When the first traffic congestion is detected at time t1 by the cloud control platform, one of the vehicles i in the upstream of the designated traffic congestion area is decelerated to the designated speed v 1i , and control the following vehicles of the designated vehicle i to decelerate to the designated speed v 1i , while the headway h 1i Following driving;

[0048] S2-2: When the headway between designated vehicle i and vehicle i-1 is l, the cloud control platform is used to control designated vehicle i to return to the free flow speed v f , and regulate the following vehicles of the designated vehicle i to restore to the free flow speed v accordingly f , and at the same time follow the car with a head-to-head distance of l to complete the regulation of the driving behavior of the vehicles upstream of the congestion.

[0049] In this embodiment, a vehicle networking data management center is set up on the expressway, and the connected autonomous driving vehicles on the expressway upload their position, speed, and headway distance to the data management center every 0.1s.

[0050] At time t0, the cloud control platform detects that vehicle 1 starts to decelerate from the free flow speed at x0 meters in lane 1, and detects that the vehicle accelerates back to the free flow speed at x1 meters in lane 1 at time t1. At this point, the lane forms a traffic jam that spreads steadily upstream. The speed of the upstream vehicle in the non-congested area is the free flow speed v f, the headway is h; the speed of the vehicle stuck in congestion is 0, the headway is d; the speed of the vehicle resuming driving after stopping in congestion is v f , the headway between the two vehicles is h.

[0051] At time t1, the cloud control platform slows down a specific vehicle i upstream of the congestion area to a specified speed v 1i , and the following vehicles of the designated vehicle i are decelerated to speed v accordingly 1i and head spacing 1.2v 1i Then, the cloud control platform orders the designated vehicle i to move forward with the upstream vehicle i-1 at a head distance of 1.2v. f When the speed is accelerated back to the free flow speed v f , and let the following vehicles of the designated vehicle i accelerate to speed v accordingly f and head spacing 1.2v f Follow the car.

[0052] S2-1 specifies the speed v 1i for:

[0053]

[0054] in, The position where vehicle i-1 accelerates to return to the free flow speed after it falls into the first congestion at the current free flow speed. is the time when vehicle i-1 accelerates to return to the free flow speed after it falls into the first congestion at the current free flow speed, d is the headway between vehicles when they stop, is the position of vehicle i when the first congestion is detected, and t1 is the moment when the first congestion is detected after it is fully formed.

[0055] The dissipation wave and compression wave caused by the acceleration and deceleration of the designated vehicle i propagate upstream. When the dissipation wave and the compression wave meet, the congestion is completely eliminated. There are multiple candidate vehicles upstream that can be designated as the deceleration lead vehicle. However, different vehicles have different speeds and different head-to-head distances, and the time when the congestion is completely eliminated is different. Since each vehicle is designated as the lead vehicle upstream, each additional vehicle will be trapped in congestion, that is, the delay time of one vehicle being trapped in congestion will be increased. Therefore, the designated vehicle i satisfies: compared with the vehicles before, after, or after it, the congestion time that can be eliminated in advance by it as a designated vehicle is greater than the time a single vehicle is trapped in congestion.

[0056] The determination condition for specifying vehicle i in S2-1 is:

[0057]

[0058] in, is the time when the last decelerated vehicle returns to the free flow speed when the designated vehicle i is the upstream leading vehicle. When vehicle i-1 is the upstream leading vehicle that slows down in advance, the moment when the last decelerated vehicle returns to the free flow speed. When vehicle i+1 is the leading vehicle in the upstream pre-deceleration, the moment when the last decelerated vehicle returns to the free flow speed, and Δt is the delay time of a single vehicle in congestion;

[0059]

[0060]

[0061] in, is the time when vehicle i decelerates for a period of time and then accelerates to eliminate the first congestion, T i is the time required for the evanescent wave generated by the acceleration of a given vehicle i to catch up with the compression wave generated by its deceleration, t i-1 is the time when vehicle i-1 accelerates to return to free flow speed after falling into congestion. is the position where vehicle i decelerates for a period of time to eliminate the first congestion and then accelerates, h1 is the headway between vehicles when they are traveling at the free flow speed before they get into congestion, t0 is the moment when the first vehicle in congestion starts to decelerate, x1 is the position where the first vehicle in congestion accelerates to recover to the free flow speed, x0 is the position where the first vehicle in congestion starts to decelerate, and v 压缩 is the propagation speed of the compression wave generated by the deceleration and acceleration of the specified vehicle i, v 消散 is the propagation speed of the evanescent wave generated by the deceleration and acceleration of the specified vehicle i.

[0062] From the above steps, it can be seen that each time a vehicle is tried as the head vehicle of the upstream deceleration in the congestion, the above control parameters corresponding to the vehicle as the head vehicle of the upstream deceleration in the congestion can be obtained, that is, the deceleration time t1 of the vehicle (the time when the congestion is detected), the position x at the time of deceleration i , the speed that the vehicle can maintain after decelerating as the lead vehicle Headroom h ai , Acceleration time The moment when the congestion is completely eliminated i .

[0063] Based on this, we tried and calculated the N+1 vehicles upstream of the congestion, and obtained the control parameters and effects of each vehicle as the deceleration head vehicle upstream of the congestion, as shown in Table 1:

[0064] Table 1 Control parameters and results of selecting vehicle i as the deceleration head vehicle

[0065]

[0066]

[0067] Select the leading vehicle to slow down in advance upstream of the congestion: In order to make the dissipation wave meet the compression wave as soon as possible, the designated vehicle should be the vehicle that can eliminate the congestion the fastest, that is, the designated vehicle i meets the following conditions:

[0068]

[0069] From Table 1, we can see that:

[0070]

[0071] Therefore, the Nth vehicle upstream of the congestion is selected as the first vehicle to slow down in advance. Let the Nth vehicle upstream of the congestion slow down to v at time t1. 1n , and the following vehicles follow accordingly, with a head-to-head distance h 1n Keep moving.

[0072] The second congestion is formed: at time t2, before the first congestion is completely dissipated, another traffic congestion is detected at x′ meters away from lane 1, which is closer to the first congestion, and it is spreading steadily upstream along the lane. The speed of the vehicles trapped in the congestion is 0, and the headway is d; the speed of the vehicles that resume driving after stopping in the congestion is v f , the headway distance is h, v 压缩 With v 消散 are the propagation speeds of the compression wave and the evanescent wave generated by the deceleration and acceleration of vehicle i, respectively.

[0073] Second congestion relief: The cloud control platform instructs the designated vehicle N to slow down to the designated speed v again. 2n , and the following vehicles of the designated vehicle i are decelerated to speed v accordingly 2n and head spacing 1.2v 2n Following driving. In which, the speed v at which vehicle N decelerates again is specified 2n for:

[0074]

[0075] in, is the position of vehicle i when the second congestion is detected; They are the time and position when vehicle N-1 accelerates to recover to the free flow speed after being stuck in the second congestion at the current free flow speed; t2 is the time when the second congestion is fully formed and detected.

[0076] The speed at which the upstream designated vehicle decelerates again in S4 is:

[0077]

[0078] Among them, v (j+1)i is the speed of vehicle i after deceleration to relieve the j+1th congestion, The position where vehicle i-1 accelerates to return to the free flow speed after it is stuck in the j+1th congestion at the current free flow speed. is the time when vehicle i-1 accelerates to return to the free flow speed after it is stuck in the j+1th congestion at the current free flow speed. is the position of vehicle i when the j+1th congestion is detected, t j+1 It is the time when the j+1th congestion is detected after it is fully formed.

[0079] Vehicle speed recovery: When the headway between the designated vehicle N and its downstream vehicle N-1 is l, a new motion wave is detected. At this time, the cloud control platform instructs the designated vehicle N to accelerate and recover to the free flow speed v f , and let the following vehicles of the designated vehicle i accelerate to speed v accordingly f and head spacing 1.2v f Follow the car.

[0080] The determination method for eliminating the continuous traffic jam in S5 is: the dissipation wave and the compression wave caused by the acceleration and deceleration of the designated vehicle propagate upstream, and when the dissipation wave and the compression wave meet and dissipate respectively, the continuous traffic jam is completely eliminated.

[0081] Traffic congestion elimination: The dissipation wave and two compression waves caused by the acceleration, deceleration, and re-deceleration of the designated vehicle i propagate upstream. When the dissipation wave and the two compression waves meet and dissipate successively, the two congestions are completely eliminated. The implementation process is as follows: Figure 3 As shown, each line represents the space-time trajectory of each vehicle, that is, the corresponding position of the vehicle at each moment; the color represents the speed of the vehicle, that is, the slope of the line.

[0082] The present invention can detect and obtain the operating status of vehicles and traffic flows with high precision through vehicle network technology, and can control vehicle driving behavior and traffic operating status with high precision through automatic driving technology; by controlling the driving behavior of individual vehicles upstream of the congestion, the operating status of traffic flows upstream and downstream of the congestion can be coordinated, thereby completely eliminating continuous traffic congestion. Compared with traditional manual coordination and control methods of placement of restrictive facilities (speed limit boards, traffic lights, etc.), continuous traffic congestion can be completely eliminated in real time, greatly saving the cost of congestion control, and significantly improving the initiative, flexibility, accuracy and efficiency of congestion elimination.

[0083] Those skilled in the art will appreciate that the embodiments described herein are intended to help readers understand the principles of the present invention, and should be understood that the protection scope of the present invention is not limited to such specific statements and embodiments. Those skilled in the art can make various other specific variations and combinations that do not deviate from the essence of the present invention based on the technical revelations disclosed by the present invention, and these variations and combinations are still within the protection scope of the invention.

Claims

1. A method for cooperative control of networked autonomous driving vehicles to eliminate continuous traffic congestion, characterized in that: The following steps are involved: S1: Based on the Internet of Vehicles technology, the cloud control platform is used to detect the traffic operation status in real time and obtain the vehicle operation status data; S2: Use the cloud control platform to control the automatic driving behavior of upstream vehicles in congestion according to vehicle operation status data, so as to slow down the upstream designated vehicles; S3: Based on the control result, determine whether new congestion is generated, if yes, proceed to step S4, otherwise proceed to step S5; S4: Use the cloud control platform to control the upstream designated vehicle to slow down again, and return to step S3; S5: Use the cloud control platform to regulate vehicle speed recovery, eliminate continuous traffic jams, and complete the coordinated control of connected autonomous driving vehicles to eliminate continuous traffic jams.

2. The method for cooperatively controlling networked autonomous driving vehicles to eliminate continuous traffic jams according to claim 1, characterized in that: The vehicle running status data in S1 includes vehicle speed, headway and position.

3. The method for cooperatively controlling networked autonomous driving vehicles to eliminate continuous traffic jams according to claim 1, characterized in that: The S2 includes the following sub-steps: S2-1: When the first traffic congestion is detected at time t1 by the cloud control platform, one of the vehicles i in the upstream of the designated traffic congestion area is decelerated to the designated speed v 1i , and control the following vehicles of the designated vehicle i to decelerate to the designated speed v 1i , while the headway h 1i Following driving; S2-2: When the headway between designated vehicle i and vehicle i-1 is l, the cloud control platform is used to control designated vehicle i to return to the free flow speed v f , and regulate the following vehicles of the designated vehicle i to restore to the free flow speed v accordingly f , and at the same time follow the car with a head-to-head distance of l to complete the regulation of the driving behavior of the vehicles upstream of the congestion.

4. The method for cooperatively controlling networked autonomous driving vehicles to eliminate continuous traffic jams according to claim 3, characterized in that: The speed v is specified in S2-1 1i for: in, The position where vehicle i-1 accelerates to return to the free flow speed after it falls into the first congestion at the current free flow speed. is the time when vehicle i-1 accelerates to return to the free flow speed after it falls into the first congestion at the current free flow speed, d is the headway between vehicles when they stop, is the position of vehicle i when the first congestion is detected, and t1 is the moment when the first congestion is detected after it is fully formed.

5. The method for cooperatively controlling networked autonomous driving vehicles to eliminate continuous traffic jams according to claim 4, characterized in that: The determination condition for specifying vehicle i in S2-1 is: in, is the time when the last decelerated vehicle returns to the free flow speed when the designated vehicle i is the upstream leading vehicle. When vehicle i-1 is the upstream leading vehicle that slows down in advance, the moment when the last decelerated vehicle returns to the free flow speed. When vehicle i+1 is the leading vehicle in the upstream pre-deceleration, the moment when the last decelerated vehicle returns to the free flow speed, and Δt is the delay time of a single vehicle in congestion; in, is the time when vehicle i decelerates for a period of time and then accelerates to eliminate the first congestion, T i is the time required for the evanescent wave generated by the acceleration of a given vehicle i to catch up with the compression wave generated by its deceleration, t i-1 is the time when vehicle i-1 accelerates to return to free flow speed after falling into congestion. is the position where vehicle i decelerates for a period of time to eliminate the first congestion and then accelerates, h1 is the headway between vehicles when they are traveling at the free flow speed before they get into congestion, t0 is the moment when the first vehicle in congestion starts to decelerate, x1 is the position where the first vehicle in congestion accelerates to recover to the free flow speed, x0 is the position where the first vehicle in congestion starts to decelerate, and v 压缩 is the propagation speed of the compression wave generated by the deceleration and acceleration of the specified vehicle i, v 消散 is the propagation speed of the evanescent wave generated by the deceleration and acceleration of the specified vehicle i.

6. The method for cooperatively controlling networked autonomous driving vehicles to eliminate continuous traffic jams according to claim 4, characterized in that: The speed at which the upstream designated vehicle decelerates again in S4 is: Among them, v (j+1)i is the speed of vehicle i after deceleration to relieve the j+1th congestion, The position where vehicle i-1 accelerates to return to the free flow speed after it is stuck in the j+1th congestion at the current free flow speed. is the time when vehicle i-1 accelerates to return to the free flow speed after it is stuck in the j+1th congestion at the current free flow speed. is the position of vehicle i when the j+1th congestion is detected, t j+1 It is the time when the j+1th congestion is detected after it is fully formed.

7. The method for cooperatively controlling networked autonomous driving vehicles to eliminate continuous traffic jams according to claim 1, characterized in that: The determination method for eliminating the continuous traffic jam in S5 is: the dissipation wave and the compression wave caused by the acceleration and deceleration of the designated vehicle propagate upstream, and when the dissipation wave and the compression wave meet and dissipate respectively, the continuous traffic jam is completely eliminated.

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