技术领域technical field
本发明涉及一种面向节油的基于车联网的车辆轨迹平滑控制方法。The invention relates to a fuel-saving and vehicle-network-based vehicle trajectory smoothing control method.
背景技术Background technique
随着定位技术、信息感知技术、信息通信技术以及移动互联技术的飞速发展，车联网已经成为了智能交通下一步发展的必然趋势，尤其是在自动驾驶技术蓬勃发展的背景下，造成了对车联网技术的研发与应用的迫切需求，使得车联网技术得到了全球交通、汽车、能源、环境等相关产业的高度关注，同时也引发了全球各国在车联网领域的新一轮科技竞赛，其目标无疑是争夺科技的制高点和经济的新兴增长点。With the rapid development of positioning technology, information perception technology, information communication technology and mobile Internet technology, the Internet of Vehicles has become an inevitable trend in the next development of intelligent transportation, especially in the context of the rapid development of autonomous driving technology, resulting in the The urgent need for the research and development and application of networking technology has made the Internet of Vehicles technology highly concerned by the global transportation, automobile, energy, environment and other related industries. It has also triggered a new round of technological competition in the field of Internet of Vehicles in countries around the world. Undoubtedly, they are competing for the commanding heights of science and technology and emerging economic growth points.
信号交叉口作为城市路网中的瓶颈，对交通流有打断作用，往往是交通拥堵和交通事故发生的关键节点。传统的信号交叉口控制主要聚焦于调整交通信号配时来调节到达的交通模式，以减轻“走走-停停”交通带来的交通拥堵、以及燃油消耗和排放的增加。这类方法包括激励控制、自适应控制和信号协同控制。虽然，在实际应用中，这类控制给信号交叉口带来了显著的影响，其核心在于交通信息的准确、实时检测。当前，信号交叉口处常用交通信息检测设备主要包括：线圈检测器、微波检测器和视频检测器等。一方面，该类检测器的铺设和维修具有较高的成本；另一方面，信号配时的控制并未消除在交叉口处的完全停车等待，这对交叉口处车辆的停车延误和燃油消耗依然有很大的影响。As a bottleneck in the urban road network, signalized intersections interrupt the traffic flow and are often the key nodes of traffic congestion and traffic accidents. Traditional signalized intersection control mainly focuses on adjusting traffic signal timing to regulate arriving traffic patterns to alleviate traffic congestion caused by stop-and-go traffic, as well as increased fuel consumption and emissions. Such methods include excitation control, adaptive control and signal cooperative control. Although, in practical applications, this type of control has brought significant impact to signalized intersections, its core lies in the accurate and real-time detection of traffic information. Currently, commonly used traffic information detection equipment at signalized intersections mainly includes coil detectors, microwave detectors, and video detectors. On the one hand, the laying and maintenance of this type of detector has a high cost; on the other hand, the control of signal timing does not eliminate the complete stop waiting at the intersection, which has a great impact on the parking delay and fuel consumption of vehicles at the intersection. Still have a big impact.
发明内容Contents of the invention
本发明的目的是为了解决现有的信号配时控制不能消除交叉口处完全停车等待，以及停车延误和燃油消耗影响的问题，而提出一种面向节油的基于车联网的车辆轨迹平滑控制方法。The purpose of the present invention is to solve the problem that the existing signal timing control cannot eliminate the complete stop waiting at the intersection, as well as the impact of parking delay and fuel consumption, and propose a fuel-saving vehicle trajectory smoothing control method based on the Internet of Vehicles .
一种面向节油的基于车联网的车辆轨迹平滑控制方法，所述方法通过以下步骤实现：A fuel-saving vehicle trajectory smoothing control method based on the Internet of Vehicles, the method is implemented through the following steps:
步骤一、确定控制区域划分方法，其中控制区域划分方法包括基本区域划分和控制点优化方法；Step 1. Determine the control area division method, wherein the control area division method includes basic area division and control point optimization methods;
步骤二、根据特定车辆识别遵循的规则，识别出控制区域内的特定车辆；Step 2. According to the rules followed by specific vehicle identification, identify specific vehicles in the control area;
步骤三、计算速度建议值，并根据速度建议值对步骤二确定出的特定车辆进行车辆轨迹控制。Step 3: Calculating the suggested speed value, and performing vehicle trajectory control on the specific vehicle determined in Step 2 according to the suggested speed value.
本发明的有益效果为：The beneficial effects of the present invention are:
本发明公开了一种面向节油的基于车联网的车辆轨迹平滑控制方法。该方法利用车联网技术，对信号交叉口停车线前的进口路段划分出一段控制区域，随后根据相应的信号灯配时信息和车辆运行信息，识别出特定车辆，对其进行可变速度控制，从而使其能够在绿灯相位开始时通过交叉口，进而影响其后的跟驰车辆，提升信号交叉口处的交通效率，降低车辆的燃油消耗。The invention discloses a vehicle track smooth control method based on Internet of Vehicles oriented to fuel saving. This method uses Internet of Vehicles technology to divide a section of control area on the entrance road section in front of the signal intersection stop line, and then according to the corresponding signal light timing information and vehicle operation information, identify specific vehicles and perform variable speed control on them. It enables it to pass through the intersection at the beginning of the green light phase, thereby affecting the following vehicles, improving the traffic efficiency at the signalized intersection, and reducing the fuel consumption of the vehicle.
本发明提出的车联网技术，实现车辆与车辆，车辆与基础设施之间的信息共享，从而准确地获得信号交叉口周围的环境信息，并有效地预测出车辆在交叉口处的运行轨迹，进而结合动态速度控制方法(DSC)，通过动态调节车辆的速度限制以此响应实时的交通状态，并通过车载设备对驾驶员进行提示，从而平滑车辆轨迹，提升交通效能，减少油耗。The Internet of Vehicles technology proposed by the present invention realizes information sharing between vehicles and between vehicles and infrastructure, thereby accurately obtaining environmental information around signalized intersections, and effectively predicting the trajectory of vehicles at the intersection, and then Combined with the dynamic speed control method (DSC), it responds to real-time traffic conditions by dynamically adjusting the speed limit of the vehicle, and prompts the driver through the on-board equipment, thereby smoothing the vehicle trajectory, improving traffic efficiency, and reducing fuel consumption.
附图说明Description of drawings
图1为本发明的流程图；Fig. 1 is a flowchart of the present invention;
图2为本发明涉及的交叉口进口道控制区区域划分示意图；Fig. 2 is a schematic diagram of the regional division of the intersection entrance road control area involved in the present invention;
图3为本发明涉及的DIRECT算法逻辑图；Fig. 3 is the logic diagram of the DIRECT algorithm involved in the present invention;
图4为本发明涉及的还是车辆轨迹控制示意图；Fig. 4 is a schematic diagram of vehicle trajectory control related to the present invention;
具体实施方式Detailed ways
具体实施方式一：Specific implementation mode one:
本实施方式的面向节油的基于车联网的车辆轨迹平滑控制方法，结合图1所示的流程图，所述方法通过以下步骤实现：The fuel-saving and Internet-based vehicle trajectory smoothing control method of this embodiment, combined with the flow chart shown in Figure 1, the method is implemented through the following steps:
步骤一、确定控制区域划分方法，其中控制区域划分方法包括基本区域划分和控制点优化方法；其对车辆轨迹控制方法的控制效果有明显的影响；Step 1. Determine the control area division method, wherein the control area division method includes basic area division and control point optimization methods; it has a significant impact on the control effect of the vehicle trajectory control method;
步骤二、根据特定车辆识别遵循的规则，识别出控制区域内的特定车辆；Step 2. According to the rules followed by specific vehicle identification, identify specific vehicles in the control area;
步骤三、计算速度建议值，并根据速度建议值对步骤二确定出的特定车辆进行车辆轨迹控制。Step 3: Calculating the suggested speed value, and performing vehicle trajectory control on the specific vehicle determined in Step 2 according to the suggested speed value.
具体实施方式二：Specific implementation mode two:
与具体实施方式一不同的是，本实施方式的面向节油的基于车联网的车辆轨迹平滑控制方法，步骤一所述基本区域划分的过程为，The difference from the first specific embodiment is that, in the fuel-saving Internet of Vehicles-based vehicle trajectory smoothing control method of this embodiment, the basic area division process described in step 1 is as follows:
利用DSRC通信方式及GPS定位方法确定交叉口进口道的控制范围，同时将控制区域分为缓冲区、减速区和加速区这三个基本区域；如图2所示，为交叉口进口道控制区区域划分示意图；Use the DSRC communication method and GPS positioning method to determine the control range of the intersection entrance road, and at the same time divide the control area into three basic areas: the buffer zone, the deceleration area and the acceleration area; as shown in Figure 2, it is the intersection entrance road control area Schematic diagram of regional division;
以单一单车道进口道为例，通过DSRC通信检测车辆所处控制区域内的位置。其中，Taking a single single-lane approach road as an example, the position of the vehicle in the control area is detected through DSRC communication. in,
缓冲区的作用是对车辆与基础设施之间的通信进行检验，同时预测车辆的行驶轨迹，设定缓冲区的长度为L1；The function of the buffer zone is to test the communication between the vehicle and the infrastructure, and at the same time predict the trajectory of the vehicle, and set the length of the buffer zone as L1 ;
减速区的作用是通过向车载App提供速度建议值，指导车辆减速行驶，设定减速区的长度为L2；The function of the deceleration zone is to guide the vehicle to slow down by providing the speed suggestion value to the vehicle App, and the length of the deceleration zone is set as L2 ;
加速区通过向车载App提供速度建议值，指导车辆加速行驶，设定加速区的长度为L3；The acceleration zone guides the vehicle to accelerate by providing the speed suggestion value to the vehicle App, and the length of the acceleration zone is set as L3 ;
设定控制区域的总长度为L，则确保车辆有足够的空间进行加速和减速的各个基本区域的长度分别为：If the total length of the control area is set as L, the lengths of each basic area to ensure that the vehicle has enough space for acceleration and deceleration are:
三个基本区域应该属于总控制区域的控制范围中：L1+L2+L3＝L；Three basic areas should belong to the control range of the general control area: L1 +L2 +L3 =L;
式中，vmax表示减速区或者加速区路段允许的最大车速；d表示减速区路段允许的最大减速度；a表示加速区路段允许的最大加速度。In the formula, vmax indicates the maximum vehicle speed allowed in the deceleration zone or the section in the acceleration zone; d indicates the maximum deceleration allowed in the section in the deceleration zone; a indicates the maximum acceleration allowed in the section in the acceleration zone.
具体实施方式三：Specific implementation mode three:
与具体实施方式一或二不同的是，本实施方式的面向节油的基于车联网的车辆轨迹平滑控制方法，步骤一所述确定控制点位置优化方法的过程为，The difference from the specific embodiment 1 or 2 is that, in the fuel-saving vehicular trajectory smoothing control method based on the Internet of Vehicles in this embodiment, the process of determining the control point position optimization method described in step 1 is as follows:
所述控制点位置优化是通过步骤一确定出缓冲区、减速区和加速区这三个基本区域之后，根据节油目标对控制点位置进行优化，确定三个基本区域的最终长度，具体为：The control point position optimization is to determine the three basic areas of the buffer zone, deceleration area and acceleration area through step 1, optimize the control point position according to the fuel saving target, and determine the final length of the three basic areas, specifically:
步骤一一、引进VT-micro车辆燃油消耗和排放模型，对交叉口处的全部车辆的燃油消耗进行计算，计算公式如下：Step 11. Introduce the VT-micro vehicle fuel consumption and emission model to calculate the fuel consumption of all vehicles at the intersection. The calculation formula is as follows:
其中，VT-micro车辆燃油消耗和排放模型是指根据车辆的瞬时速度和加速度计算其瞬时油耗；控制点是指缓冲区与减速区之间的分割点，减速区与加速区之间的控制点；Among them, the VT-micro vehicle fuel consumption and emission model refers to the calculation of instantaneous fuel consumption based on the vehicle's instantaneous speed and acceleration; the control point refers to the division point between the buffer zone and the deceleration zone, and the control point between the deceleration zone and the acceleration zone ;
式中，N为总的车辆数；xn-1(0)表示第n辆车进入控制区域的缓冲区的时间；xn-1(L)表示第n辆车离开缓冲区的时间；K是一个4×4的常系数矩阵，具体情况可参考文献(Ahn1998)；表示第n辆车在t时刻速度的i次方；示第n辆车在t时刻速度的i次方；In the formula, N is the total number of vehicles; xn-1 (0) represents the time when the nth vehicle enters the buffer zone of the control area; xn-1 (L) represents the time when the nth vehicle leaves the buffer zone; K is a 4×4 constant coefficient matrix, for details, please refer to the literature (Ahn1998); Indicates the i-th power of the speed of the nth vehicle at time t; Indicates the i-th power of the speed of the nth vehicle at time t;
步骤一二、利用DIRECT优化算法对控制点的位置进行优化，DIRECT算法逻辑图如图3所示：Step 12. Use the DIRECT optimization algorithm to optimize the position of the control point. The logic diagram of the DIRECT algorithm is shown in Figure 3:
第一，仿真器输出每个候选控制点的系统的燃油消耗值；First, the simulator outputs the fuel consumption value of the system for each candidate control point;
第二，基于对燃油消耗值的评价，DIRECT算法通过多级矩形分割找出下一个可行的候选点，直到找到最优的控制点位置。Second, based on the evaluation of the fuel consumption value, the DIRECT algorithm finds the next feasible candidate point through multi-level rectangular segmentation until the optimal control point position is found.
其中，DIRECT优化算是指矩形分割。Among them, the DIRECT optimization operation refers to the rectangular segmentation.
具体实施方式四：Specific implementation mode four:
与具体实施方式三不同的是，本实施方式的面向节油的基于车联网的车辆轨迹平滑控制方法，步骤二所述特定车辆识别遵循的规则包括：The difference from the third specific embodiment is that, in the fuel-saving Internet of Vehicles-based vehicle trajectory smoothing control method of this embodiment, the rules followed by the specific vehicle identification in step 2 include:
当前车辆到达控制区域的缓冲区；和The current vehicle arrives at the buffer zone of the control area; and
前一车辆能在当前的绿灯时间周期内通过交叉口，而当前车辆无法在当前周期的绿灯时间内通过交叉口。The previous vehicle can pass through the intersection during the current green light time period, but the current vehicle cannot pass through the intersection within the green light time period of the current period.
具体实施方式五：Specific implementation mode five:
与具体实施方式一、二或四不同的是，本实施方式的面向节油的基于车联网的车辆轨迹平滑控制方法，步骤二所述识别出控制区域内的特定车辆的过程为，The difference from specific embodiments 1, 2 or 4 is that in the fuel-saving Internet-of-Vehicles-based vehicle trajectory smoothing control method of this embodiment, the process of identifying a specific vehicle in the control area described in step 2 is as follows:
所述面向节油的基于车联网的车辆轨迹平滑控制方法，并不是对控制区域内的所有车辆进行控制，因为这样的计算求解复杂度较高，且现阶段的技术还不能达到。因此，为了简化该问题而又不失去过多的系统性能，而是识别出特定车辆、对特定车辆进行相应的控制，其他车辆根据车辆跟驰理论跟随特定车辆行驶的过程，其中，识别出控制区域内的特定车辆的具体步骤如下：The fuel-saving Internet of Vehicles-based vehicle trajectory smoothing control method does not control all vehicles in the control area, because such calculation and solution complexity is relatively high, and the technology at the present stage cannot achieve it. Therefore, in order to simplify the problem without losing too much system performance, but to identify the specific vehicle and control the specific vehicle accordingly, other vehicles follow the process of the specific vehicle according to the car-following theory, where the control The specific steps for specific vehicles in the area are as follows:
步骤二一、通过DSRC通信方式检测当前车辆是否到达控制区域，若已到达，则利用GPS定位方法获取当前车辆的位置、速度和加速度信息；否则重复此步骤继续通过DSRC通信方式检测当前车辆是否到达控制区域；Step 21: Detect whether the current vehicle has arrived at the control area through the DSRC communication method, and if it has arrived, use the GPS positioning method to obtain the position, speed and acceleration information of the current vehicle; otherwise repeat this step and continue to detect whether the current vehicle has arrived through the DSRC communication method control area;
步骤二二、交叉口控制中心根据步骤二一获得的当前车辆的实时位置、速度和加速度信息，预测车辆的行驶轨迹，同时根据信号配时信息，判断当前车辆是否符合特定车辆识别遵循的规则，Step 22. The intersection control center predicts the vehicle's driving trajectory according to the real-time position, speed and acceleration information of the current vehicle obtained in step 21. At the same time, according to the signal timing information, it judges whether the current vehicle meets the rules for specific vehicle identification.
若不符合，则当前车辆正常通过，不对车辆进行控制；If not, the current vehicle will pass normally and the vehicle will not be controlled;
若符合，则对当前车辆进行相应的车辆轨迹控制。If so, the corresponding vehicle trajectory control is performed on the current vehicle.
其中，信号配时信息是指交通信号的红灯时长与绿灯时长之和。Among them, the signal timing information refers to the sum of the red light duration and the green light duration of the traffic signal.
具体实施方式六：Specific implementation method six:
与具体实施方式五不同的是，本实施方式的面向节油的基于车联网的车辆轨迹平滑控制方法，步骤三所述计算速度建议值，并根据速度建议值对步骤二确定出的特定车辆进行车辆轨迹控制的过程为，The difference from Embodiment 5 is that in the fuel-saving Internet of Vehicles-based vehicle trajectory smoothing control method of this embodiment, the speed recommendation value is calculated in step 3, and the specific vehicle determined in step 2 is determined according to the speed recommendation value. The process of vehicle trajectory control is as follows:
步骤三一、交叉口控制中心根据车辆信息和信号配时，利用可变速度限制方法，平滑车辆行驶轨迹，计算速度建议值；Step 31. According to the vehicle information and signal timing, the intersection control center uses the variable speed limit method to smooth the vehicle trajectory and calculate the suggested speed value;
步骤三二、检测当前车辆是否到达减速区；Step 32, detecting whether the current vehicle has reached the deceleration zone;
若是，则通过车载App为当前车辆提供速度建议值，提醒驾驶员将当前车辆速度减速到规定的速度；If so, provide a speed suggestion value for the current vehicle through the vehicle App, and remind the driver to slow down the current vehicle speed to the specified speed;
若否，则继续按当前车辆原始行驶状态行驶；If not, continue to drive according to the original driving state of the current vehicle;
步骤三三、检测当前车辆是否到达加速区；Step 33, detecting whether the current vehicle has reached the acceleration zone;
若是，则通过车载App为当前车辆提供速度建议值，提醒驾驶员将当前车辆速度加速到规定的速度；If so, provide a speed suggestion value for the current vehicle through the vehicle App, and remind the driver to accelerate the current vehicle speed to the specified speed;
若否，则继续按当前车辆原始行驶状态行驶。If not, then continue to travel by the original driving state of the current vehicle.
具体实施方式七：Specific implementation mode seven:
与具体实施方式一、二、四或六不同的是，本实施方式的面向节油的基于车联网的车辆轨迹平滑控制方法，步骤三所述计算速度建议值的过程为：Different from specific embodiments 1, 2, 4 or 6, the process of calculating the recommended speed value in step 3 of the fuel-saving Internet of Vehicles-based vehicle trajectory smoothing control method in this embodiment is as follows:
图4为车辆轨迹平滑示意图。图中，Figure 4 is a schematic diagram of vehicle trajectory smoothing. In the figure,
首先，设控制区域总长度为L，缓冲区长L1，减速区长L2，加速区长L3；信号周期时长为C，绿灯时长为Tg，红灯时长为Tr；车辆进入控制区域的时间为tin；Firstly, suppose the total length of the control area is L, the length of the buffer zone is L1 , the length of the deceleration area is L2 , and the length of the acceleration area is L3 ; the duration of the signal cycle is C, the duration of the green light is Tg, and the duration of the red light is Tr; The time is tin ;
根据图4中的时空关系可得：According to the space-time relationship in Figure 4, we can get:
c1-t1＝td+tu+ta+t′uc1 -t1 =td +tu +ta +t′u
式中，t1为当前车辆到达减速区的时间；td为当前车辆减速花费的时长；tu为当前车辆减速后匀速运行的时长；ta为当前车辆加速花费的时长；t′u为当前车辆加速后匀速运行的时长；c1为周期结束时间；In the formula, t1 is the time when the current vehicle reaches the deceleration zone; td is the time spent by the current vehicle to decelerate; tu is the time for the current vehicle to run at a constant speed after deceleration; ta is the time for the current vehicle to accelerate; t′u is The running time of the current vehicle at a constant speed after acceleration; c1 is the end time of the cycle;
式中，对应当前车辆通过缓冲区的部分；对应当前车辆通过减速区的部分；对应当前车辆通过加速区的部分；vmax表示减速区或者加速区路段允许的最大车速；v0表示进入缓冲区时的初始速度；vL表示速度限制值；In the formula, Corresponding to the part where the current vehicle passes through the buffer zone; Corresponding to the part where the current vehicle passes through the deceleration zone; Corresponding to the part where the current vehicle passes through the acceleration zone; vmax indicates the maximum vehicle speed allowed in the deceleration zone or section of the acceleration zone; v0 indicates the initial speed when entering the buffer zone; vL indicates the speed limit value;
最后，利用Runge-Kutta求解得速度限制值vL。Finally, the speed limit value vL is obtained by using Runge-Kutta solution.
具体实施方式八：Specific implementation mode eight:
与具体实施方式二不同的是，本实施方式的面向节油的基于车联网的车辆轨迹平滑控制方法，所述GPS定位方法涉及的定位精度小于1米。The difference from the second specific embodiment is that in the fuel-saving Internet-of-Vehicles-based vehicle trajectory smoothing control method of this embodiment, the positioning accuracy involved in the GPS positioning method is less than 1 meter.
本发明还可有其它多种实施例，在不背离本发明精神及其实质的情况下，本领域技术人员当可根据本发明作出各种相应的改变和变形，但这些相应的改变和变形都应属于本发明所附的权利要求的保护范围。The present invention can also have other various embodiments, without departing from the spirit and essence of the present invention, those skilled in the art can make various corresponding changes and deformations according to the present invention, but these corresponding changes and deformations are all Should belong to the scope of protection of the appended claims of the present invention.
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610264789.0ACN105741585B (en) | 2016-04-25 | 2016-04-25 | The track of vehicle smooth control method based on car networking towards fuel-economizing |
| Application Number | Priority Date | Filing Date | Title |
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| CN201610264789.0ACN105741585B (en) | 2016-04-25 | 2016-04-25 | The track of vehicle smooth control method based on car networking towards fuel-economizing |
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| CN105741585A CN105741585A (en) | 2016-07-06 |
| CN105741585Btrue CN105741585B (en) | 2018-08-28 |
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| CN201610264789.0AExpired - Fee RelatedCN105741585B (en) | 2016-04-25 | 2016-04-25 | The track of vehicle smooth control method based on car networking towards fuel-economizing |
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