A transitional maneuvering decision method and system for commercial vehicle platoons

Abstract

The present invention relates to the field of intelligent transportation technology, and discloses a transitional maneuvering decision method and system for a commercial vehicle queue, comprising: judging whether a vehicle requesting to leave the current queue is to leave the current queue according to the surrounding traffic conditions of the commercial vehicle queue, and if so, obtaining the target lane and the start time of the leaving maneuver of the vehicle requesting to leave the current queue, otherwise, not executing the leaving; judging whether a vehicle requesting to merge into the current queue is to merge into the current queue according to the surrounding traffic conditions of the commercial vehicle queue, and if so, obtaining the queue position number and the execution merging mode of the vehicle requesting to merge into the current queue, otherwise, not executing the merging; the transitional maneuvering decision method and system for a commercial vehicle queue designed by the present invention ensure the safety and rationality of the leaving maneuver of the vehicle requesting to leave the current queue, and at the same time ensure the rationality of the merging behavior of the vehicle requesting to merge into the current queue, thereby ensuring the driving safety of the queue members and improving the safety of the commercial vehicle queue and the surrounding single-driving vehicles.

Description

Technical Field

[0001] The present invention relates to the field of intelligent transportation technology, and in particular to a transitional maneuvering decision method and system for a commercial vehicle queue. Background Art

[0002] The rapid economic and social development and the rapid growth of logistics demand have promoted the great prosperity of the road transportation industry. With the support of technologies such as vehicle-to-vehicle communication and autonomous driving, commercial vehicle platooning technology has significant advantages in reducing fuel consumption, reducing traffic accidents, and avoiding fatigue driving.

[0003] Existing research on commercial vehicle platoons mainly focuses on maintaining the desired configuration of the platoon, optimizing the communication topology, etc., but rarely considers the scenario where the platoon members change during driving. But in fact, for commercial vehicle platoons, the member vehicles may leave the platoon due to real-life situations such as changes in transportation plans and temporarily change their routes, and commercial vehicles that originally traveled alone may also hope to obtain energy-saving benefits by temporarily joining an existing platoon nearby. The above-mentioned disengagement and merging maneuvers related to commercial vehicle platoons are collectively referred to as transitional maneuvers of commercial vehicle platoons. If there is a lack of appropriate transitional maneuvering decision-making methods, it will threaten the driving safety of the platoon itself and the surrounding traffic flow, and even cause serious property damage and casualties. Summary of the invention

[0004] In view of the above-mentioned deficiencies in the prior art, the present invention provides a transitional maneuvering decision method and system for a commercial vehicle platoon, which are used to solve the problem of low driving safety in the existing transitional maneuvering decision method for vehicles.

[0005] In order to achieve the above-mentioned object of the invention, the technical solution adopted by the present invention is: A transitional maneuvering decision method for a commercial vehicle platoon comprises the following steps: S1. Determine whether the vehicle requesting to leave the current queue is to leave the current queue according to the surrounding traffic conditions of the commercial vehicle queue. If so, obtain the target lane and the start time of the leaving operation of the vehicle requesting to leave. Otherwise, do not leave the current queue. S2. Determine whether the vehicle requesting to merge can be merged into the current queue according to the surrounding traffic conditions of the commercial vehicle queue. If so, obtain the queue position number of the vehicle requesting to merge and the merging execution mode. Otherwise, do not execute the merging.

[0006] A transitional maneuvering decision system for a commercial vehicle platoon using a transitional maneuvering decision method for a commercial vehicle platoon comprises: The disengagement request decision module is used to obtain the surrounding traffic flow density evaluation index of the commercial vehicle queue and the field of view evaluation index of the queue leader vehicle, calculate the disengagement suitability factor of the disengagement request vehicle, and determine whether the disengagement suitability factor of the disengagement request vehicle is greater than or equal to the disengagement suitability threshold. If so, the disengagement request vehicle makes a decision to accept the disengagement request; otherwise, the disengagement request vehicle makes a decision to reject the disengagement request. The target lane selection module is used to make a decision to accept the disengagement request according to the disengagement request vehicle, obtain the lane change suitability factor of the left lane and the lane change suitability factor of the right lane of the commercial vehicle queue, and determine whether the lane change suitability factor of the left lane is less than or equal to the lane change suitability factor of the right lane. If so, the right lane is used as the target lane of the disengagement request vehicle, otherwise, the left lane is used as the target lane of the disengagement request vehicle; a disengagement time calculation module, used to make a decision to accept the disengagement request according to the disengagement requesting vehicle, obtain a path overlap correction coefficient, a disengagement motivation correction coefficient, a path overlap weight coefficient, and a disengagement motivation weight coefficient of the disengagement requesting vehicle, and calculate a disengagement operation start time of the disengagement requesting vehicle; The merging request decision module is used to obtain the cargo evaluation index of the merging request vehicle and the merging request driver evaluation index of the commercial vehicle queue, and calculate the merging suitability factor of the merging request vehicle, and determine whether the merging suitability factor of the merging request vehicle is greater than or equal to the merging suitability threshold. If so, the merging request vehicle makes a decision to accept the merging request, otherwise, the merging request vehicle makes a decision to reject the merging request; A queue position allocation module is used to make a decision to accept the merging request based on the merging requesting vehicle, obtain the maximum braking deceleration of the merging requesting vehicle, the maximum braking deceleration of the merging requesting vehicle, the mileage of the merging requesting vehicle from the last maintenance to the present, and calculate the queue position number of the merging requesting vehicle; The merging mode selection module is used to make a decision to accept the merging request based on the vehicle requesting to merge, obtain the unloaded center of mass height, shape correction coefficient, total number of axles, cargo compartment width, and driver status correction coefficient of the vehicle requesting to merge, calculate the roll risk factor of the vehicle requesting to merge, and set a first roll risk threshold and a second roll risk threshold, analyze the relationship between the roll risk factor of the vehicle requesting to merge and the first roll risk threshold and the second roll risk threshold, and obtain the execution merging mode of the vehicle requesting to merge.

[0007] The present invention has the following beneficial effects: The present invention proposes a transitional maneuvering decision method and system for a commercial vehicle queue, which determines whether a vehicle requesting to leave can leave the current queue according to the surrounding traffic conditions, and obtains the timing of leaving and the target lane, thereby ensuring that the vehicle requesting to leave can leave the current queue safely and smoothly at the right time; at the same time, it determines whether a vehicle requesting to merge can merge into the current queue according to the surrounding traffic conditions, and obtains the queue position and merging method, thereby ensuring the rationality of the merging behavior, laying a foundation for the vehicle requesting to merge to obtain energy-saving and emission reduction benefits in subsequent trips. BRIEF DESCRIPTION OF THE DRAWINGS

[0008] Figure 1 A flowchart of a transitional maneuvering decision method for a commercial vehicle platoon is provided; Figure 2 The schematic diagram is a structural diagram of a transitional maneuvering decision system for a commercial vehicle platoon. DETAILED DESCRIPTION

[0009] The specific implementation modes of the present invention are described below so that those skilled in the art can understand the present invention. However, it should be clear that the present invention is not limited to the scope of the specific implementation modes. For those of ordinary skill in the art, as long as various changes are within the spirit and scope of the present invention as defined and determined by the attached claims, these changes are obvious, and all inventions and creations utilizing the concept of the present invention are protected.

[0010] like Figure 1 As shown, a transitional maneuvering decision method for a commercial vehicle platoon includes the following steps S1-S2: S1. Determine whether the vehicle requesting to leave the current queue is to leave the current queue according to the surrounding traffic conditions of the commercial vehicle queue. If so, obtain the target lane and the start time of the leaving operation of the vehicle requesting to leave. Otherwise, do not execute the leaving operation.

[0011] In this embodiment, the vehicle requesting to leave the current queue is allowed to leave only when the surrounding traffic density is low enough and the visible range is large enough, and the target lane and the start time of the leave operation are calculated, thereby ensuring the safety and rationality of the leave operation.

[0012] Specifically, step S1 includes S11-S13: S11. Obtain the surrounding traffic flow density evaluation index of the commercial vehicle queue and the queue leader vehicle's field of view evaluation index, calculate the disengagement suitability factor of the vehicle requesting to disengage, and determine whether the disengagement suitability factor of the vehicle requesting to disengage is greater than or equal to the disengagement suitability threshold. If so, the vehicle requesting to disengage makes a decision to accept the disengagement request and executes step S12; otherwise, the vehicle requesting to disengage makes a decision to reject the disengagement request.

[0013] In this embodiment, the surrounding traffic flow density is determined according to the total number of surrounding single-vehicle driving, thereby providing a reference for the decision of the breakaway request.

[0014] Specifically, step S11 includes S111-S114: S111. Calculate the surrounding traffic flow density evaluation index of the commercial vehicle queue, namely:

[0015] in, represents the surrounding traffic flow density evaluation index, represents the natural exponential function, represents the traffic flow density correction coefficient, for Indicates the numbers of the commercial vehicle queue from the leading vehicle to the last vehicle in the queue. Indicates the number The total number of individual vehicles detected by the sensors of commercial vehicles around them, represents the length of the platoon leader car, Indicates the number The length of the commercial vehicle.

[0016] In this embodiment, if the current time is between 17:00 and 22:00, the traffic density correction coefficient is The traffic density correction factor is 1.17. is 0.95.

[0017] S112. Calculate the vision evaluation index of the platoon leader vehicle of the commercial vehicle platoon, namely:

[0018] in, represents the vision evaluation index of the platoon leader vehicle, represents the correction factor of the platoon leader’s field of view, Indicates the current speed of the platoon leader vehicle. represents a constant term, represents the inverse tangent function, It represents the subjective judgment result of the driver of the platoon leader vehicle on the current sight distance. Represents the line of sight constant.

[0019] In this embodiment, if the driver's field of view of the platoon leader vehicle is not less than 145 degrees, the field of view correction coefficient of the platoon leader vehicle is is 1.24. In other cases, the correction factor of the platoon leader's field of view is It is 0.98.

[0020] S113. Calculate the disengagement suitability factor of the vehicle requesting disengagement based on the surrounding traffic flow density evaluation index of the commercial vehicle queue and the field of view evaluation index of the queue pilot vehicle, that is:

[0021] in, represents the factor of the degree of disengagement from suitability, Indicates the upper speed limit of the lane where the platoon leader is located. Indicates the correction factor of the degree of deviation.

[0022] In this embodiment, when the steering wheel angle of the platoon leader vehicle does not exceed 8 degrees, the deviation indication degree correction coefficient 1.2, in other cases, the correction factor of the deviation from the schematic degree It is 0.82.

[0023] S114. Determine whether the disengagement suitability factor of the disengagement requesting vehicle is greater than or equal to the disengagement suitability threshold. If so, the disengagement requesting vehicle makes a decision to accept the disengagement request and executes step S12. Otherwise, the disengagement requesting vehicle makes a decision to reject the disengagement request.

[0024] In this embodiment, the threshold value of the separation suitability is 0.28.

[0025] S12. Obtain the lane change suitability factor of the left lane and the lane change suitability factor of the right lane of the commercial vehicle queue, and determine whether the lane change suitability factor of the left lane is less than or equal to the lane change suitability factor of the right lane. If so, use the right lane as the target lane for the vehicle requesting to leave; otherwise, use the left lane as the target lane for the vehicle requesting to leave.

[0026] In this embodiment, the lane with the larger curvature radius on both sides is selected as the target lane for the vehicle requesting to disengage, so as to ensure that the vehicle requesting to disengage always has a good field of view during the subsequent disengagement process, thereby improving driving safety.

[0027] Specifically, step S12 specifically includes S121-S127: S121. Construct a left lane curvature radius information matrix and a right lane curvature radius information matrix, that is:

[0028] in, Indicates the number of sampling points of the curvature radius of the left lane, Indicates the number of sampling points of the curvature radius of the right lane, , , Respectively represent the first and , The distance from the left lane curvature radius sampling point to the platoon leader car, , , Respectively represent the first and , The curvature radius of the left lane curvature radius sampling point, , , Respectively represent the first and , The distance from the right lane curvature radius sampling point to the platoon leader car, , , Respectively represent the first and , The curvature radius of the right lane curvature radius sampling point.

[0029] S122, extract all elements of the second column of the left lane curvature radius information matrix to generate the left lane curvature radius vector , and extract all elements of the second column in the right lane curvature radius information matrix to generate the right lane curvature radius vector .

[0030] S123, respectively based on the left lane curvature radius vector , the right lane curvature radius vector , calculate the left lane curvature evaluation index and the right lane curvature evaluation index of the commercial vehicle queue, that is:

[0031] in, represents the left lane curvature evaluation index, represents the curvature evaluation index of the right lane, represents transpose, represents the diagonal matrix of the curvature radius weight of the left lane, Represents the diagonal matrix of curvature radius weights of the right lane.

[0032] in, , , , , Respectively represent The first, second, The weight coefficient of the curvature radius of the left lane curvature radius sampling point, , , Respectively represent The first, second, The weight coefficient of the curvature radius of the right lane curvature radius sampling point.

[0033] in, , , Indicates The weight coefficient of the curvature radius of the left lane curvature radius sampling point, Indicates The weight coefficient of the curvature radius of the right lane curvature radius sampling point.

[0034] S124. Calculate the left lane traffic flow evaluation index and the right lane traffic flow evaluation index of the commercial vehicle queue, namely:

[0035] in, represents the left lane traffic flow evaluation index, represents the traffic flow evaluation index of the right lane, Indicates the number of vehicles driving alone in the left lane. Indicates the number of vehicles driving alone in the right lane. represents the logarithmic function, Indicates from identification to number The time difference from the moment when the vehicle in the left lane is driving alone to the current moment, Indicates from identification to number The time difference from the time when the vehicle in the right lane is driving alone to the current time, represents the traffic flow correction coefficient of the left lane, Represents the traffic flow correction coefficient of the right lane.

[0036] In this embodiment, when the total length of the queue does not exceed 98 meters, the traffic flow correction coefficient of the left lane is The traffic flow correction factor of the right lane is 1.64. is 1.71. In other cases, the traffic flow correction factor of the left lane is The traffic flow correction factor of the right lane is 1.31. It is 1.43.

[0037] S125. Calculate the lane change suitability factor of the left lane of the commercial vehicle queue based on the left lane curvature evaluation index and the left lane traffic flow evaluation index, that is:

[0038] in, represents the lane change suitability factor of the left lane, Indicates the upper speed limit for the left lane.

[0039] S126. Calculate the lane change suitability factor of the right lane of the commercial vehicle queue based on the curvature evaluation index of the right lane of the commercial vehicle queue and the traffic flow evaluation index of the right lane, that is:

[0040] in, represents the lane change suitability factor of the right lane, Indicates the upper speed limit for the right lane.

[0041] S127. Determine whether the lane change suitability factor of the left lane is less than or equal to the lane change suitability factor of the right lane. If so, use the right lane as the target lane for requesting to leave the vehicle. Otherwise, use the left lane as the target lane for requesting to leave the vehicle.

[0042] S13, obtaining the path overlap correction coefficient, the disengagement motivation correction coefficient, the path overlap weight coefficient, and the disengagement motivation weight coefficient of the vehicle requesting to disengage, and calculating the disengagement operation start time of the vehicle requesting to disengage.

[0043] In this embodiment, the specific time when the disengaging vehicle is requested to disengage from the current queue is determined based on the expected path and the disengagement motivation, thereby ensuring that the disengagement operation is efficient and timely.

[0044] Specifically, step S13 includes S131-S132: S131, obtaining the path overlap correction coefficient, the disengagement motivation correction coefficient, the path overlap weight coefficient, and the disengagement motivation weight coefficient of the vehicle requesting to disengage, specifically: If the remaining overlap between the desired path of the vehicle requesting to leave and the desired path of the platoon leader does not exceed x1 kilometers, the path overlap correction factor of the vehicle requesting to leave is .

[0045] In this embodiment, x1 is 2, It is 0.96.

[0046] If the remaining overlap between the desired path of the vehicle requesting to leave and the desired path of the platoon leader exceeds x1 kilometers and does not exceed x2 kilometers, the path overlap correction factor of the vehicle requesting to leave is .

[0047] In this embodiment, x2 is 4.5, It is 0.87.

[0048] If the remaining overlap between the desired path of the vehicle requesting to leave and the desired path of the platoon leader exceeds x2 kilometers, the path overlap correction factor of the vehicle requesting to leave is .

[0049] In this embodiment, It is 0.69.

[0050] Determine whether the driver who requests to leave the vehicle has one or more symptoms including burns, acute abdominal pain, and high fever. If so, the driver who requests to leave the vehicle will be corrected by the motivation factor. Otherwise, continue to judge whether the driver who requests to leave the vehicle detects one or more phenomena including smoke in the cargo box, fire in the cargo box, and cargo falling. If so, the correction coefficient of the driver who requests to leave the vehicle is , otherwise, the disengagement motivation correction factor of the disengagement vehicle is .

[0051] In this embodiment, is 1, is 0.98, It is 0.73.

[0052] If the number of lanes in the same direction as the vehicle requesting to leave does not exceed 2, the path overlap weight coefficient of the vehicle requesting to leave is , the weight coefficient of the disengagement motivation of the requesting disengagement vehicle is .

[0053] In this embodiment, is 2, It is 6.5.

[0054] If the number of lanes in the same direction as the vehicle requesting to leave exceeds 2, the path overlap weight coefficient is , the weight coefficient of the motivation for separation is .

[0055] In this embodiment, is 2.5, is 4.

[0056] S132, calculating the disengagement operation start time of the disengagement vehicle according to the path overlap correction coefficient of the disengagement vehicle, the disengagement motivation correction coefficient, the path overlap weight coefficient, and the disengagement motivation weight coefficient, that is:

[0057] in, Indicates the start time of the disengagement operation requesting the disengagement of the vehicle. Indicates the current moment, , They represent the path overlap weight coefficient and the motivation weight coefficient of the vehicle requesting to leave, respectively. , They represent the path overlap correction factor and the disengagement motivation correction factor of the vehicle requesting to disengage, respectively. Indicates The logarithmic function with base .

[0058] S2. Determine whether the vehicle requesting to merge can be merged into the current queue according to the surrounding traffic conditions of the commercial vehicle queue. If so, obtain the queue position number of the vehicle requesting to merge and the merging execution mode. Otherwise, do not execute the merging.

[0059] In this embodiment, a comprehensive judgment is made based on the cargo type and driving performance to determine whether the vehicle requesting to merge is allowed to join the current queue, thereby ensuring the driving safety of the queue members.

[0060] Specifically, step S2 specifically includes S21-S23: S21. Obtain the cargo evaluation index of the vehicle requesting to merge and the driver evaluation index of the commercial vehicle queue, calculate the merging suitability factor of the vehicle requesting to merge, and determine whether the merging suitability factor of the vehicle requesting to merge is greater than or equal to the merging suitability threshold. If so, the vehicle requesting to merge makes a decision to accept the merging request and executes step S22; otherwise, the vehicle requesting to merge makes a decision to reject the merging request.

[0061] In this embodiment, an evaluation index of the cargo requested to be merged into the vehicle is calculated based on information such as the cargo shape, cargo quality, and cargo type, and an evaluation index of the driver requested to be merged into the vehicle is calculated based on information such as the driver's age, driving mileage, and historical performance, and ultimately a decision is made on the merging request for the merging request.

[0062] Specifically, step S21 includes S211-S214: S211, calculating the evaluation index of the cargo requested to be merged into the commercial vehicle queue, namely:

[0063] in, Indicates a request to incorporate vehicle cargo evaluation indicators, represents the total mass of the vehicle to be merged, Indicates the maximum total mass of the vehicle requested to be merged, , , They respectively represent the cargo mass correction factor, cargo shape correction factor, and cargo type correction factor requested to be incorporated into the vehicle.

[0064] In this embodiment, when the mass of the cargo requested to be merged into the vehicle does not exceed 15 tons, the mass correction factor of the cargo requested to be merged into the vehicle is 1.24, in other cases, request the correction factor of the cargo mass incorporated into the vehicle 0.85; when the cargo form requested to be merged into the vehicle is gaseous, the cargo form correction coefficient requested to be merged into the vehicle 0.63, when the cargo form requested to be merged into the vehicle is liquid, the cargo form correction coefficient requested to be merged into the vehicle 0.75, in other cases, request the cargo shape correction factor to be incorporated into the vehicle 0.97; when the cargo type requested to be merged into the vehicle is flammable and explosive hazardous chemicals, the cargo type correction factor requested to be merged into the vehicle 0, otherwise, request the correction factor of the cargo type to be merged into the vehicle is 1.

[0065] S212, calculating the request for commercial vehicle queues and incorporating it into the driver evaluation index, namely:

[0066] in, Indicates a request to incorporate driver evaluation indicators, Indicates the age of the driver requesting the merge. Indicates the accumulated mileage of the driver who requested to merge into the vehicle. Indicates the historical performance correction factor of the driver requesting to merge into the vehicle.

[0067] In this embodiment, when the number of traffic violations per 10,000 kilometers driven by the driver requesting to merge does not exceed 0.6, the historical performance correction factor of the driver requesting to merge is =0.94. When the number of traffic violations per 10,000 kilometers driven by the driver requesting to merge exceeds 0.6 but does not exceed 1.1, the historical performance correction factor of the driver requesting to merge is 1.09, in other cases, the driver's historical performance correction factor of the vehicle being merged is is 1.21.

[0068] S213. Calculate the merging suitability factor of the vehicle requesting to merge based on the cargo evaluation index of the vehicle requesting to merge and the evaluation index of the driver requesting to merge in the commercial vehicle queue, that is:

[0069] in, represents the incorporation suitability factor, Indicates the correction coefficient of incorporation suitability.

[0070] In this embodiment, when the meteorological disaster warning signal at the location is orange or above, the suitability correction coefficient is incorporated. 0, in other cases, incorporated into the suitability correction coefficient is 2.

[0071] S214. Determine whether the merging suitability factor of the merging-requesting vehicle is greater than or equal to the merging suitability threshold. If so, the merging-requesting vehicle makes a decision to accept the merging request and executes step S22. Otherwise, the merging-requesting vehicle makes a decision to reject the merging request.

[0072] In this embodiment, when the total number of platoon member vehicles does not exceed 6, the merging suitability threshold is 1.73, and when the total number of platoon member vehicles exceeds 6, the merging suitability threshold is 2.51.

[0073] S22: Obtain the maximum braking deceleration of the vehicle requesting to merge, the maximum braking deceleration of the queue member vehicles, and the mileage of the queue member vehicles from the last maintenance to the present, and calculate the queue position number of the vehicle requesting to merge.

[0074] In this embodiment, a merging position is allocated to the vehicle requesting to merge in combination with the braking capacity and maintenance condition, thereby avoiding a chain rear-end collision in the queue due to a difference in braking capacity.

[0075] Specifically, the formula for calculating the queue position number of the vehicle requesting to merge in step S22 is:

[0076] in, Indicates the queue position number of the vehicle requesting to merge. Indicates taking the maximum value, Indicates the number The maximum braking deceleration of the queue members, Indicates the maximum braking deceleration requested for merging vehicles. , All represent judgment conditions. Indicates the number The mileage of the fleet members' vehicles since the last maintenance, Indicates taking the minimum value, , , Respectively represent the numbers 1, 2, and The mileage of fleet member vehicles since the last maintenance.

[0077] S23. Obtain the unloaded center of mass height, shape correction coefficient, total number of axles, cargo compartment width, and driver status correction coefficient of the vehicle requested to merge into, calculate the roll risk factor of the vehicle requested to merge into, and set a first roll risk threshold and a second roll risk threshold, analyze the relationship between the roll risk factor of the vehicle requested to merge into and the first roll risk threshold and the second roll risk threshold, and obtain the execution merging mode of the vehicle requested to merge into.

[0078] In this embodiment, the vehicle speed difference before the merging and the steering wheel angle during the merging process are constrained according to the roll risk of the merging vehicle, thereby ensuring the lateral movement safety during the merging process.

[0079] Specifically, step S23 specifically includes S231-S233: S231. Calculate the roll risk factor of the vehicle requesting to merge based on the unloaded center of mass height, shape correction coefficient, total number of axles, cargo compartment width, and driver status correction coefficient of the vehicle requesting to merge, that is:

[0080] in, represents the roll risk factor of the vehicle requesting to merge, Indicates the unloaded center of mass height of the vehicle requesting to merge, Indicates the shape correction coefficient of the vehicle requesting to merge, Indicates the driver status correction factor for the vehicle requesting to merge, Indicates the total number of axles requested to be merged. Indicates the width of the cargo compartment of the vehicle being merged.

[0081] In this embodiment, when the vehicle to be merged is a semi-trailer, the shape correction coefficient of the vehicle to be merged is 1.42, in other cases, please incorporate the vehicle's shape correction factor 1; when the driver drives continuously for more than 8 hours or drives continuously for more than 600 kilometers, the driver status correction factor of the vehicle requesting to merge 2.3, in other cases, request the driver status correction factor of the merging vehicle is 1.2.

[0082] S232: Setting a first threshold value of rollover risk and a second threshold value of rollover risk, specifically: Determine whether the vehicle requesting to merge is unloaded. If so, the first threshold of rollover risk is , the second threshold of roll risk is , otherwise, the first threshold of roll risk is , the second threshold of roll risk is .

[0083] In this embodiment, is 0.83, is 0.61, is 0.78, It is 0.56.

[0084] S233, analyzing the relationship between the roll risk factor of the vehicle requesting to merge and the first roll risk threshold and the second roll risk threshold, and obtaining the execution merge mode of the vehicle requesting to merge, specifically: It is determined whether the roll risk factor of the vehicle requesting to merge is greater than or equal to a first roll risk threshold. If so, the vehicle requesting to merge executes the first merging mode. Otherwise, a second determination is performed.

[0085] The second judgment is: determine whether the roll risk factor of the vehicle requested to merge is greater than the second roll risk threshold and less than the first roll risk threshold. If so, the vehicle requested to merge executes the second merging mode; otherwise, the vehicle requested to merge executes the third merging mode.

[0086] The specific process of requesting the merging vehicle to execute the first merging mode is as follows: When starting to merge, the speed difference between the merging vehicle and the pilot vehicle is The following relations are satisfied: .

[0087] During the merging process, request the steering wheel angle of the merging vehicle The following relations are satisfied: .

[0088] The specific process of requesting the merging vehicle to execute the merging second mode is as follows: When starting to merge, the speed difference between the merging vehicle and the pilot vehicle is The following relations are satisfied: .

[0089] During the merging process, request the steering wheel angle of the merging vehicle The following relations are satisfied: .

[0090] The specific process of requesting the merging vehicle to execute the third merging mode is as follows: At the beginning of the merging, there is no limit on the speed difference between the vehicle requesting to merge and the lead vehicle. Also, during the merging process, there is no limit on the steering wheel angle of the vehicle requesting to merge.

[0091] like Figure 2 As shown, a transitional maneuvering decision system for a commercial vehicle platoon using a transitional maneuvering decision method for a commercial vehicle platoon comprises: The disengagement request decision module is used to obtain the surrounding traffic flow density evaluation index of the commercial vehicle queue and the queue leader vehicle's field of view evaluation index, calculate the disengagement suitability factor of the requesting disengagement vehicle, and determine whether the disengagement suitability factor of the requesting disengagement vehicle is greater than or equal to the disengagement suitability threshold. If so, the requesting disengagement vehicle makes a decision to accept the disengagement request; otherwise, the requesting disengagement vehicle makes a decision to reject the disengagement request.

[0092] The target lane selection module is used to make a decision to accept the disengagement request based on the vehicle requesting to disengage, obtain the lane change suitability factor of the left lane and the lane change suitability factor of the right lane of the commercial vehicle queue, and determine whether the lane change suitability factor of the left lane is less than or equal to the lane change suitability factor of the right lane. If so, the right lane is used as the target lane of the vehicle requesting to disengage, otherwise, the left lane is used as the target lane of the vehicle requesting to disengage.

[0093] The disengagement time calculation module is used to make a decision to accept the disengagement request based on the disengagement request vehicle, obtain the path overlap correction coefficient, disengagement motivation correction coefficient, path overlap weight coefficient, and disengagement motivation weight coefficient of the disengagement request vehicle, and calculate the disengagement operation start time of the disengagement request vehicle.

[0094] The merging request decision module is used to obtain the cargo evaluation index of the vehicle requesting to merge and the evaluation index of the driver requesting to merge in the commercial vehicle queue, and calculate the merging suitability factor of the vehicle requesting to merge, and determine whether the merging suitability factor of the vehicle requesting to merge is greater than or equal to the merging suitability threshold. If so, the vehicle requesting to merge makes a decision to accept the merging request; otherwise, the vehicle requesting to merge makes a decision to reject the merging request.

[0095] The queue position allocation module is used to make a decision to accept the merging request based on the vehicle requesting to merge, obtain the maximum braking deceleration of the vehicle requesting to merge, the maximum braking deceleration of the queue member vehicles, and the mileage of the queue member vehicles from the last maintenance to the present, and calculate the queue position number of the vehicle requesting to merge.

[0096] The merging mode selection module is used to make a decision to accept the merging request based on the vehicle requesting to merge, obtain the unloaded center of mass height, shape correction coefficient, total number of axles, cargo compartment width, and driver status correction coefficient of the vehicle requesting to merge, calculate the roll risk factor of the vehicle requesting to merge, and set a first roll risk threshold and a second roll risk threshold, analyze the relationship between the roll risk factor of the vehicle requesting to merge and the first roll risk threshold and the second roll risk threshold, and obtain the execution merging mode of the vehicle requesting to merge.

[0097] In summary, the method and system for transitional maneuvering decision-making of a commercial vehicle platoon proposed in the present invention determine whether a vehicle requesting to leave can leave the current platoon according to the surrounding traffic conditions, and obtain the timing of leaving and the target lane. At the same time, it determines whether a vehicle requesting to merge can merge into the current platoon according to the surrounding traffic conditions, and obtains the platoon position and merging method, thereby ultimately ensuring the safety of the commercial vehicle platoon and surrounding single-vehicle vehicles, and contributing to the continuous improvement of the mileage covered by commercial vehicle platoon technology.

[0098] The present invention uses specific embodiments to illustrate the principles and implementation methods of the present invention. The description of the above embodiments is only used to help understand the method of the present invention and its core idea. At the same time, for those skilled in the art, according to the idea of ​​the present invention, there will be changes in the specific implementation methods and application scope. In summary, the content of this specification should not be understood as a limitation on the present invention.

[0099] 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 present invention.

Claims

1. A transitional maneuvering decision method for a commercial vehicle platoon, characterized in that: The following steps are involved: S1. Determine whether the vehicle requesting to leave the current queue is to leave the current queue according to the surrounding traffic conditions of the commercial vehicle queue. If so, obtain the target lane and the start time of the leaving operation of the vehicle requesting to leave. Otherwise, do not leave the current queue. S2. Determine whether the vehicle requesting to merge can be merged into the current queue according to the surrounding traffic conditions of the commercial vehicle queue. If so, obtain the queue position number of the vehicle requesting to merge and the merging execution mode. Otherwise, do not execute the merging.

2. The method for decision-making on transitional maneuvering of a commercial vehicle platoon according to claim 1, characterized in that: Step S1 specifically includes: S11, obtaining the surrounding traffic flow density evaluation index of the commercial vehicle queue and the field of view evaluation index of the queue leader vehicle, calculating the disengagement suitability factor of the vehicle requesting to disengage, and determining whether the disengagement suitability factor of the vehicle requesting to disengage is greater than or equal to the disengagement suitability threshold. If so, the vehicle requesting to disengage makes a decision to accept the disengagement request and executes step S12; otherwise, the vehicle requesting to disengage makes a decision to reject the disengagement request. S12, obtaining a lane change suitability factor of the left lane and a lane change suitability factor of the right lane of the commercial vehicle queue, and determining whether the lane change suitability factor of the left lane is less than or equal to the lane change suitability factor of the right lane; if so, taking the right lane as the target lane for the vehicle to be separated from, otherwise, taking the left lane as the target lane for the vehicle to be separated from; S13, obtaining the path overlap correction coefficient, the disengagement motivation correction coefficient, the path overlap weight coefficient, and the disengagement motivation weight coefficient of the vehicle requesting to disengage, and calculating the disengagement operation start time of the vehicle requesting to disengage.

3. The transitional maneuvering decision method for a commercial vehicle platoon according to claim 2, characterized in that: Step S11 specifically includes: S111. Calculate the surrounding traffic flow density evaluation index of the commercial vehicle queue, namely: in, represents the surrounding traffic flow density evaluation index, represents the natural exponential function, represents the traffic flow density correction coefficient, for Indicates the numbers of the commercial vehicle queue from the leading vehicle to the last vehicle in the queue. Indicates the number The total number of individual vehicles detected by the sensors of commercial vehicles around them, represents the length of the platoon leader car, Indicates the number The length of the commercial vehicle; S112. Calculate the vision evaluation index of the platoon leader vehicle of the commercial vehicle platoon, namely: in, represents the vision evaluation index of the platoon leader vehicle, represents the correction factor of the platoon leader’s field of view, Indicates the current speed of the platoon leader vehicle. represents a constant term, represents the inverse tangent function, It represents the subjective judgment result of the driver of the platoon leader vehicle on the current sight distance. represents the sight distance constant; S113. Calculate the disengagement suitability factor of the vehicle requesting disengagement based on the surrounding traffic flow density evaluation index of the commercial vehicle queue and the field of view evaluation index of the queue pilot vehicle, that is: in, represents the factor of the degree of disengagement from suitability, Indicates the upper speed limit of the lane where the platoon leader is located. Indicates the correction factor of the degree of separation; S114. Determine whether the disengagement suitability factor of the disengagement requesting vehicle is greater than or equal to the disengagement suitability threshold. If so, the disengagement requesting vehicle makes a decision to accept the disengagement request and executes step S12. Otherwise, the disengagement requesting vehicle makes a decision to reject the disengagement request.

4. The method for decision-making on transitional maneuvering of a commercial vehicle platoon according to claim 3, characterized in that: Step S12 specifically includes: S121. Construct a left lane curvature radius information matrix and a right lane curvature radius information matrix, that is: in, Indicates the number of sampling points of the curvature radius of the left lane, Indicates the number of sampling points of the curvature radius of the right lane, , , Respectively represent , , The distance from the left lane curvature radius sampling point to the platoon leader car, , , Respectively represent , , The curvature radius of the left lane curvature radius sampling point, , , Respectively represent , , The distance from the right lane curvature radius sampling point to the platoon leader car, , , Respectively represent , , The curvature radius of the right lane curvature radius sampling point; S122, extract all elements of the second column of the left lane curvature radius information matrix to generate the left lane curvature radius vector , and extract all elements of the second column in the right lane curvature radius information matrix to generate the right lane curvature radius vector ; S123, respectively based on the left lane curvature radius vector , the right lane curvature radius vector , calculate the left lane curvature evaluation index and the right lane curvature evaluation index of the commercial vehicle queue, that is: in, represents the left lane curvature evaluation index, represents the curvature evaluation index of the right lane, represents transpose, represents the diagonal matrix of the curvature radius weight of the left lane, Represents the right lane curvature radius weight diagonal matrix; in, , , , , Respectively represent the first, second, and The weight coefficient of the curvature radius of the left lane curvature radius sampling point, , , Respectively represent the first, second, and The weight coefficient of the curvature radius of the right lane curvature radius sampling point; in, , , Indicates The weight coefficient of the curvature radius of the left lane curvature radius sampling point, Indicates The weight coefficient of the curvature radius of the right lane curvature radius sampling point; S124. Calculate the left lane traffic flow evaluation index and the right lane traffic flow evaluation index of the commercial vehicle queue, namely: in, represents the left lane traffic flow evaluation index, represents the traffic flow evaluation index of the right lane, Indicates the number of vehicles driving alone in the left lane. Indicates the number of vehicles driving alone in the right lane. represents the logarithmic function, Indicates from identification to number The time difference from the moment when the vehicle in the left lane is driving alone to the current moment, Indicates from identification to number The time difference from the time when the vehicle in the right lane is driving alone to the current time, represents the traffic flow correction coefficient of the left lane, Indicates the traffic flow correction coefficient of the right lane; S125. Calculate the lane change suitability factor of the left lane of the commercial vehicle queue based on the left lane curvature evaluation index and the left lane traffic flow evaluation index, that is: in, represents the lane change suitability factor of the left lane, Indicates the upper speed limit of the left lane; S126. Calculate the lane change suitability factor of the right lane of the commercial vehicle queue based on the curvature evaluation index of the right lane of the commercial vehicle queue and the traffic flow evaluation index of the right lane, that is: in, represents the lane change suitability factor of the right lane, Indicates the upper speed limit of the right lane; S127. Determine whether the lane change suitability factor of the left lane is less than or equal to the lane change suitability factor of the right lane. If so, use the right lane as the target lane for requesting to leave the vehicle. Otherwise, use the left lane as the target lane for requesting to leave the vehicle.

5. The method for decision-making on transitional maneuvering of a commercial vehicle platoon according to claim 4, characterized in that: Step S13 specifically includes: S131, obtaining the path overlap correction coefficient, the disengagement motivation correction coefficient, the path overlap weight coefficient, and the disengagement motivation weight coefficient of the vehicle requesting to disengage, specifically: If the remaining overlap between the desired path of the vehicle requesting to leave and the desired path of the platoon leader does not exceed x1 kilometers, the path overlap correction factor of the vehicle requesting to leave is ; If the remaining overlap between the desired path of the vehicle requesting to leave and the desired path of the platoon leader exceeds x1 kilometers and does not exceed x2 kilometers, the path overlap correction factor of the vehicle requesting to leave is ; If the remaining overlap between the desired path of the vehicle requesting to leave and the desired path of the platoon leader exceeds x2 kilometers, the path overlap correction factor of the vehicle requesting to leave is ; Determine whether the driver who requests to leave the vehicle has one or more symptoms including burns, acute abdominal pain, and high fever. If so, the driver who requests to leave the vehicle will be corrected by the motivation factor. Otherwise, continue to judge whether the driver who requests to leave the vehicle detects one or more phenomena including smoke in the cargo box, fire in the cargo box, and cargo falling. If so, the correction coefficient of the driver who requests to leave the vehicle is , otherwise, the disengagement motivation correction factor of the disengagement request vehicle is ; If the number of lanes in the same direction as the vehicle requesting to leave does not exceed 2, the path overlap weight coefficient of the vehicle requesting to leave is , the weight coefficient of the disengagement motivation of the requesting disengagement vehicle is ; If the number of lanes in the same direction as the vehicle requesting to leave exceeds 2, the path overlap weight coefficient is , the weight coefficient of the motivation to leave is ; S132, calculating the disengagement operation start time of the disengagement vehicle according to the path overlap correction coefficient of the disengagement vehicle, the disengagement motivation correction coefficient, the path overlap weight coefficient, and the disengagement motivation weight coefficient, that is: in, Indicates the start time of the disengagement operation requesting the disengagement of the vehicle. Indicates the current moment, , They represent the path overlap weight coefficient and the motivation weight coefficient of the vehicle requesting to leave, respectively. , They represent the path overlap correction factor and the disengagement motivation correction factor of the requesting disengagement vehicle, respectively. Indicates The logarithmic function with base .

6. The method for decision-making on transitional maneuvering of a commercial vehicle platoon according to claim 5, characterized in that: Step S2 specifically includes: S21, obtaining the cargo evaluation index of the vehicle requesting to merge and the evaluation index of the driver requesting to merge of the commercial vehicle queue, and calculating the merging suitability factor of the vehicle requesting to merge, and determining whether the merging suitability factor of the vehicle requesting to merge is greater than or equal to the merging suitability threshold; if so, the vehicle requesting to merge makes a decision to accept the merging request and executes step S22; otherwise, the vehicle requesting to merge makes a decision to reject the merging request; S22, obtaining the maximum braking deceleration of the vehicle requesting to merge, the maximum braking deceleration of the queue member vehicles, and the mileage of the queue member vehicles from the last maintenance to the present, and calculating the queue position number of the vehicle requesting to merge; S23. Obtain the unloaded center of mass height, shape correction coefficient, total number of axles, cargo compartment width, and driver status correction coefficient of the vehicle requested to merge into, calculate the roll risk factor of the vehicle requested to merge into, and set a first roll risk threshold and a second roll risk threshold, analyze the relationship between the roll risk factor of the vehicle requested to merge into and the first roll risk threshold and the second roll risk threshold, and obtain the execution merging mode of the vehicle requested to merge into.

7. The method for decision-making on transitional maneuvering of a commercial vehicle platoon according to claim 6, characterized in that: Step S21 specifically includes: S211, calculating the evaluation index of the cargo requested to be merged into the commercial vehicle queue, namely: in, Indicates a request to incorporate vehicle cargo evaluation indicators, represents the total mass of the vehicle requested to be incorporated, Indicates the maximum total mass of the vehicle requested to be merged, , , They respectively represent the correction factor of the cargo mass, cargo form and cargo type requested to be incorporated into the vehicle; S212, calculating the request for commercial vehicle queues and incorporating it into the driver evaluation index, namely: in, Indicates a request to incorporate driver evaluation indicators, Indicates the age of the driver requesting the merge. Indicates the accumulated mileage of the driver who requested to merge into the vehicle. Indicates the historical performance correction factor of the driver requesting to merge into the vehicle; S213. Calculate the merging suitability factor of the vehicle requesting to merge based on the cargo evaluation index of the vehicle requesting to merge and the evaluation index of the driver requesting to merge in the commercial vehicle queue, that is: in, represents the incorporation suitability factor, Indicates the correction coefficient of the appropriateness of incorporation; S214. Determine whether the merging suitability factor of the merging-requesting vehicle is greater than or equal to the merging suitability threshold. If so, the merging-requesting vehicle makes a decision to accept the merging request and executes step S22. Otherwise, the merging-requesting vehicle makes a decision to reject the merging request.

8. The method for decision-making on transitional maneuvering of a commercial vehicle platoon according to claim 7, characterized in that: The formula for calculating the queue position number of the vehicle requesting to merge in step S22 is: in, Indicates the queue position number of the vehicle requesting to merge. Indicates taking the maximum value, Indicates the number The maximum braking deceleration of the queue members, Indicates the maximum braking deceleration requested for merging vehicles. , All represent judgment conditions. Indicates the number The mileage of the fleet members' vehicles since the last maintenance, Indicates taking the minimum value, , , Respectively represent the numbers 1, 2, and The mileage of the fleet members' vehicles since the last maintenance.

9. The method for decision-making on transitional maneuvering of a commercial vehicle platoon according to claim 8, characterized in that: Step S23 specifically includes: S231. Calculate the roll risk factor of the vehicle requesting to merge based on the unloaded center of mass height, shape correction coefficient, total number of axles, cargo compartment width, and driver status correction coefficient of the vehicle requesting to merge, that is: in, represents the roll risk factor of the vehicle requesting to merge, Indicates the unloaded center of mass height of the vehicle requesting to merge, Indicates the shape correction coefficient of the vehicle requesting to merge, Indicates the driver status correction factor for the vehicle requesting to merge, Indicates the total number of axles requested to be merged. Indicates the width of the cargo compartment of the vehicle being merged; S232: Setting a first threshold value of rollover risk and a second threshold value of rollover risk, specifically: Determine whether the vehicle requesting to merge is unloaded. If so, the first threshold of rollover risk is , the second threshold of roll risk is , otherwise, the first threshold of roll risk is , the second threshold of roll risk is ; S233, analyzing the relationship between the roll risk factor of the vehicle requesting to merge and the first roll risk threshold and the second roll risk threshold, and obtaining the execution merge mode of the vehicle requesting to merge, specifically: Determine whether the roll risk factor of the vehicle requesting to merge is greater than or equal to a first roll risk threshold, if so, the vehicle requesting to merge executes the first merging mode, otherwise, perform a second determination; The second judgment is: judging whether the roll risk factor of the vehicle requesting to merge is greater than the second roll risk threshold and less than the first roll risk threshold; if so, the vehicle requesting to merge executes the second merging mode; otherwise, the vehicle requesting to merge executes the third merging mode; The specific process of requesting the merging vehicle to execute the first merging mode is as follows: When starting to merge, the speed difference between the merging vehicle and the pilot vehicle is The following relations are satisfied: ； During the merging process, request the steering wheel angle of the merging vehicle The following relations are satisfied: ； The specific process of requesting the merging vehicle to execute the merging second mode is as follows: When starting to merge, the speed difference between the merging vehicle and the pilot vehicle is The following relations are satisfied: ； During the merging process, request the steering wheel angle of the merging vehicle The following relations are satisfied: ； The specific process of requesting the merging vehicle to execute the third merging mode is as follows: At the beginning of the merging, there is no limit on the speed difference between the vehicle requesting to merge and the lead vehicle. Also, during the merging process, there is no limit on the steering wheel angle of the vehicle requesting to merge.

10. A transitional maneuvering decision system for a commercial vehicle platoon, characterized in that: A transitional maneuvering decision method for a commercial vehicle platoon as claimed in any one of claims 1 to 9, comprising: The disengagement request decision module is used to obtain the surrounding traffic flow density evaluation index of the commercial vehicle queue and the field of view evaluation index of the queue leader vehicle, calculate the disengagement suitability factor of the disengagement request vehicle, and determine whether the disengagement suitability factor of the disengagement request vehicle is greater than or equal to the disengagement suitability threshold. If so, the disengagement request vehicle makes a decision to accept the disengagement request; otherwise, the disengagement request vehicle makes a decision to reject the disengagement request. The target lane selection module is used to make a decision to accept the disengagement request according to the disengagement request vehicle, obtain the lane change suitability factor of the left lane and the lane change suitability factor of the right lane of the commercial vehicle queue, and determine whether the lane change suitability factor of the left lane is less than or equal to the lane change suitability factor of the right lane. If so, the right lane is used as the target lane of the disengagement request vehicle, otherwise, the left lane is used as the target lane of the disengagement request vehicle; a disengagement time calculation module, used to make a decision to accept the disengagement request according to the disengagement requesting vehicle, obtain a path overlap correction coefficient, a disengagement motivation correction coefficient, a path overlap weight coefficient, and a disengagement motivation weight coefficient of the disengagement requesting vehicle, and calculate a disengagement operation start time of the disengagement requesting vehicle; The merging request decision module is used to obtain the cargo evaluation index of the merging request vehicle and the merging request driver evaluation index of the commercial vehicle queue, and calculate the merging suitability factor of the merging request vehicle, and determine whether the merging suitability factor of the merging request vehicle is greater than or equal to the merging suitability threshold. If so, the merging request vehicle makes a decision to accept the merging request, otherwise, the merging request vehicle makes a decision to reject the merging request; A queue position allocation module is used to make a decision to accept the merging request based on the merging requesting vehicle, obtain the maximum braking deceleration of the merging requesting vehicle, the maximum braking deceleration of the merging requesting vehicle, the mileage of the merging requesting vehicle from the last maintenance to the present, and calculate the queue position number of the merging requesting vehicle; The merging mode selection module is used to make a decision to accept the merging request based on the vehicle requesting to merge, obtain the unloaded center of mass height, shape correction coefficient, total number of axles, cargo compartment width, and driver status correction coefficient of the vehicle requesting to merge, calculate the roll risk factor of the vehicle requesting to merge, and set a first roll risk threshold and a second roll risk threshold, analyze the relationship between the roll risk factor of the vehicle requesting to merge and the first roll risk threshold and the second roll risk threshold, and obtain the execution merging mode of the vehicle requesting to merge.

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