CN108961753A - A kind of speed bootstrap technique based on bus or train route communication - Google Patents
A kind of speed bootstrap technique based on bus or train route communication Download PDFInfo
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- CN108961753A CN108961753A CN201810784956.3A CN201810784956A CN108961753A CN 108961753 A CN108961753 A CN 108961753A CN 201810784956 A CN201810784956 A CN 201810784956A CN 108961753 A CN108961753 A CN 108961753A
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- G—PHYSICS
- G08—SIGNALLING
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- G08G1/00—Traffic control systems for road vehicles
- G08G1/01—Detecting movement of traffic to be counted or controlled
- G08G1/0104—Measuring and analyzing of parameters relative to traffic conditions
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/01—Detecting movement of traffic to be counted or controlled
- G08G1/0104—Measuring and analyzing of parameters relative to traffic conditions
- G08G1/0125—Traffic data processing
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/07—Controlling traffic signals
- G08G1/08—Controlling traffic signals according to detected number or speed of vehicles
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/07—Controlling traffic signals
- G08G1/081—Plural intersections under common control
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Abstract
The invention discloses a kind of speed bootstrap techniques based on bus or train route communication, comprising: the phase and residual time length information of acquisition vehicle operation data and signal lamp；The vehicle operation data includes displacement, speed, acceleration；Based on the signal lamp phase and residual time length information that have obtained and vehicle operation data, using the constraint relationship between speed and time, distance, the vehicle pass-through state after speed boot section is entered to vehicle is prejudged；Speed pilot model is established, the guidance speed of vehicle is calculated.The present invention communicates the residual time length for obtaining the phase of signal lamp by bus or train route, consider that vehicle enters distance behind speed boot section, intersection anticipation model is established in the constraint of time, on this basis, it is proposed a kind of vehicle speed bootstrap technique, by the way that the guidance speed of decision is transferred to vehicle dynamic model, control throttle, braking make vehicle to guide speed to travel, and realize that vehicle is not parking and pass through signalized intersections.
Description
Technical field
The invention belongs to intelligent transportation fields, and in particular to a kind of speed bootstrap technique based on bus or train route communication, it can be with
Pass through signalized intersections for vehicle to be not parking in bus or train route communication scenes.
Background technique
With the crowd's quantity rapid growth for using automobile, automobile has caused some traffic pressures, traffic accident, congestion etc.
Problem, the bus or train route collaboration occurred in recent years is the new way for solving some traffic problems.In bus or train route collaborative processes, vehicle can
The information for obtaining surrounding roadside device is communicated by bus or train route, realize the interaction of information between bus or train route and is shared, and is provided for driver
More effective information, convenient for grasping the real-time road of surrounding.Based on bus or train route communicate obtain Intersections state and
Residual time length, reasonable suggestion speed can be provided to driver by carrying out speed guidance to vehicle, guaranteed that vehicle is not parking and passed through
Signalized intersections improve the traffic efficiency of road.Therefore research is had highly important based on the speed guidance method that bus or train route communicates
Realistic meaning.
Under bus or train route cooperative surroundings, speed bootstrap technique is intended to according to this vehicle real time running information and ambient enviroment, vehicle etc.
Information provides optimal speed suggestion for vehicle and then guides vehicle driving, both at home and abroad for the speed guidance side of intersection
Method has correlative study.The transit time that RakhaH A et al. calculates vehicle judges whether to need to carry out acceleration and deceleration, in needs
In the case of determine acceleration and deceleration time, speed guidance function is gone out by linear computational method decision.XiaH et al. has studied one kind
Optimal velocity curve method guides vehicle is not parking to calculate by intersection with traditional Dynamic Programming by optimal velocity curve
Method is faster compared to calculating speed.Yang Xiaoguang et al. proposes a kind of time delays of vehicle in the case where speed dynamic in intersection controls
Research method, the results showed that this method substantially reduces communication delay compared with the method without guidance control.Yu Qian cloud tints et al. mentions
The control method for having gone out different road conditions economic speeds under a kind of car networking environment, has studied economic speed control law.Pacify real etc.
People drives for green energy conservation, proposes a kind of speed dynamic control method, dynamic guiding speed can be provided for driver and is built
View, and carry out information in trackside setting variable message board and show.Jin Qiu think of et al. comprehensively considers the upstream and downstream of intersection, research
Track optimizing of the vehicle in intersection establishes track optimizing algorithm and ecological driving model, and it is real to have carried out Matlab emulation
It tests.
However in existing speed bootstrap technique, auto model is reduced to a particle or a vector mostly, suddenly
Control and the dynamic characteristic for having omited vehicle, focus on theoretic research, and actual motion effect can not be learnt.Another aspect vehicle
Bus or train route communication in fast bootstrap technique is the optimal state under complete simulation environment, there is no time delay etc., is difficult to meet reality
Border situation.Therefore, the residual time length for obtaining the phase of signal lamp is communicated the present invention is based on the bus or train route of hardware in loop, considers vehicle
Distance, the constraint of time establish intersection anticipation model and propose a kind of vehicle on this basis after into speed boot section
Speed bootstrap technique, by the way that the guidance speed of decision is transferred to vehicle dynamic model, control throttle, braking make vehicle
To guide speed to travel, realizes that vehicle is not parking and pass through signalized intersections.
Summary of the invention
In view of this, to solve the above-mentioned problems, the present invention provides a kind of speed bootstrap technique based on bus or train route communication.This
Method provides a solution for the autonomous positioning in realization mobile robot in engineering indoors environment, and method is simple
It is easy, real-time is good, precision is high, under indoor environment have preferable applicability.
To achieve the above object and other purposes, the present invention provide a kind of speed bootstrap technique based on bus or train route communication, packet
Include following steps:
Step 1. acquires the phase and residual time length information of vehicle operation data and signal lamp；The vehicle operation data
Including displacement, speed, acceleration；
Step 2. based on the signal lamp phase and residual time length information that have obtained and vehicle operation data, using speed and
The constraint relationship between time, distance, the vehicle pass-through state after speed boot section is entered to vehicle prejudge；
Step 3. establishes speed pilot model according to step 1 and step 2, calculates the guidance speed of vehicle.
Preferably, the vehicle pass-through state includes at the uniform velocity passing through, accelerating to pass through and slow down to pass through.
Preferably, if v0tgrem> L or v0trrem< L judges vehicle pass-through state then at the uniform velocity to pass through；Wherein, v0It indicates
Speed when vehicle enters speed boot section, L indicate the length of speed boot section, tgremIndicate green light remaining time, trremIt indicates
Red light remaining time.
Preferably, ifJudge vehicle pass-through state then to accelerate to pass through；Wherein,
v0Indicate speed when vehicle enters speed boot section, L indicates the length of speed boot section, tgremIndicate green light remaining time, tAdd
Indicate that vehicle accelerates to time used in road speed limit, t as initial velocityIt is even to addIndicate the time driven at a constant speed after vehicle accelerates,
amaxIndicate maximum acceleration, vlimitIndicate road speed limit.
Preferably, ifThen judge that vehicle pass-through state passes through to slow down；Wherein,
v0Indicate speed when vehicle enters speed boot section, L indicates the length of speed boot section, tgremIndicate green light remaining time, tAdd
Indicate that vehicle accelerates to time used in road speed limit, t as initial velocityIt is even to addIndicate the time driven at a constant speed after vehicle accelerates,
amaxIndicate maximum acceleration, tSubtractSpeed is decelerated to low speed v when indicating vehicle by entering speed boot section1Time used,
aminIndicate maximum deceleration, tIt is even to subtractIndicate the time driven at a constant speed after vehicle deceleration, vlimitIndicate road speed limit.
Preferably, ifThen judge that vehicle pass-through state passes through to slow down；Wherein, v0Table
Show speed when vehicle enters speed boot section, L indicates the length of speed boot section, trremIndicate red light remaining time, tSubtractIt indicates
Speed is decelerated to low speed v when vehicle is by entering speed boot section1Time used, aminIndicate maximum deceleration, tIt is evenVehicle
The time driven at a constant speed after deceleration.
Preferably, vehicle gives it the gun after speed guides, target vehicle speed are as follows:
Wherein, vG addsIndicate guidance speed, a indicates that the acceleration of vehicle, t indicate that vehicle enters time of speed boot section to intersection
The time of stop line.
Preferably, vehicle Reduced Speed Now after speed guides, target vehicle speed are as follows:
Wherein, vG subtractsIndicate guidance speed, a indicates that the acceleration of vehicle, t indicate that vehicle enters time of speed boot section to intersection
The time of stop line.
By adopting the above-described technical solution, the present invention has the advantage that:
The residual time length for obtaining the phase of signal lamp is communicated the present invention is based on the bus or train route of hardware in loop, considers that vehicle enters vehicle
Distance, the constraint of time establish intersection anticipation model and propose a kind of vehicle speed on this basis behind fast boot section
Bootstrap technique, by the way that the guidance speed of decision is transferred to vehicle dynamic model, control throttle, braking make vehicle to guide
Speed traveling realizes that vehicle is not parking and passes through signalized intersections.
Other advantages, target and feature of the invention will be illustrated in the following description to a certain extent, and
And to a certain extent, based on will be apparent to those skilled in the art to investigating hereafter, Huo Zheke
To be instructed from the practice of the present invention.Target and other advantages of the invention can be realized by following specification
And acquisition.
Detailed description of the invention
To make the objectives, technical solutions, and advantages of the present invention clearer, below in conjunction with attached drawing to the present invention make into
The detailed description of one step:
Fig. 1 is general frame figure of the V2X communication equipment hardware in ring experiment porch；
Fig. 2 is current anticipation model flow figure；
Fig. 3 is that signalized intersections bicycle speed guides schematic diagram；
Fig. 4 is the flow diagram of the speed bootstrap technique communicated based on bus or train route.
Specific embodiment
Illustrate embodiments of the present invention below by way of specific specific example, those skilled in the art can be by this specification
Other advantages and efficacy of the present invention can be easily understood for disclosed content.The present invention can also be by addition different specific
Embodiment is embodied or practiced, and the various details in this specification can also not carried on the back based on different viewpoints and application
From carrying out various modifications or alterations under spirit of the invention.
It please refers to Fig.1 to Fig.4.It should be noted that diagram provided in the present embodiment only illustrates this in a schematic way
The basic conception of invention, only shown in schema then with related component in the present invention rather than package count when according to actual implementation
Mesh, shape and size are drawn, when actual implementation kenel, quantity and the ratio of each component can arbitrarily change for one kind, and its
Assembly layout kenel may also be increasingly complex.
The present invention provides a kind of speed bootstrap technique based on bus or train route communication, specifically includes the following steps:
Step 1: step 1. acquires the phase and residual time length information of vehicle operation data and signal lamp；The vehicle row
Sailing data includes displacement, speed, acceleration.
Step 2: step 2. is utilized based on the signal lamp phase and residual time length information that have obtained and vehicle operation data
The constraint relationship between speed and time, distance, the vehicle pass-through state after speed boot section is entered to vehicle prejudge.
The present invention mainly studies single car and passes through the scene that Two-phases signal intersection speed guides, when vehicle can obtain
The relevant information of signal lamp is got, and enters speed guidance field, passes through current anticipation model and corresponding speed guidance side
Method provides guidance speed for driver.In order to be conducive to the solution of bicycle speed pilot model, the present invention is in following constraint condition
The lower foundation for carrying out speed pilot model:
1. only considering a vehicle, surrounding vehicles, bicycle and the influence of pedestrian are put aside；
2. vehicle has adjusted lane before entering speed guidance field, it is not related to lane-change behavior.
3. vehicle has vehicle-carrying communication unit, and can carry out wireless communication with the communication unit of traffic lights.
4. driver can carry out speed according to the suggestion speed that intersection speed guiding method provides in speed guidance field
Degree adjustment.
When vehicle enters speed boot section, the distance of signal lamp phase, residual time length and vehicle to stop line is to determine value,
It can use the constraint relationship between speed and time, distance and establish current anticipation model.Due to the phase of different moments signal lamp
Position is different, and phase residual time length is not also identical, and the result that vehicle pass-through prejudges is divided into following three types.
1. at the uniform velocity passing through
Speed is v when vehicle enters speed boot section0, the length of speed boot section is L.The phase of current signal light is green
Lamp, and green light remaining time tgremAbundance, vehicle can pass through intersection with present speed traveling, that is, meet:
v0tgrem> L
The phase of current signal light is red light, but red light remaining time trremShorter, vehicle can with current speed traveling
To pass through intersection in next green light period, that is, meet:
v0trrem< L
In both cases, vehicle, which continues traveling with oneself current speed, not parking to pass through signal cross
Mouthful, therefore current anticipation result is at the uniform velocity to pass through.
2. acceleration passes through
If vehicle enters speed boot section in green light phase, but when being unsatisfactory for first formula in 1., then it represents that vehicle
At the uniform velocity stop line can not can be reached in next red light cycle by intersection, parking waiting is needed to pass through.It at this time can be with
Consider vehicle with maximum acceleration amaxIt is driven at a constant speed after accelerating to road speed limit, passes through signal cross before green light terminates
Mouthful.There is result of study to show driver's acceptable peak acceleration amax=2.5m/s2, therefore speed of the invention is drawn
It leads in strategy, maximum acceleration value a when accelerationmax=2.0m/s2, maximum deceleration value a when decelerationmin=-2.5m/s2.Vehicle
Time used in road speed limit is accelerated to as initial velocity are as follows:
The time that vehicle drives at a constant speed after accelerating are as follows:
tAdd even=tgrem-tAdd
When vehicle can then be met when the travel distance of green light residual time length is greater than L by intersection stop line:
Current anticipation result is to accelerate to pass through at this time.
3. deceleration passes through
If vehicle enters speed boot section in green light phase, when being both unsatisfactory for first formula in 1., also it is unsatisfactory for 2.
Middle third formula, then it represents that vehicle no matter at the uniform velocity or accelerate stop line can be all reached during red light, need stop etc.
To then it is contemplated that vehicle is with maximum deceleration aminIt decelerates to certain speed to drive at a constant speed, be opened in next green light period
Pass through intersection after beginning.Vehicle is decelerated to low speed v appropriate by initial velocity1Time used are as follows:
The time driven at a constant speed after vehicle deceleration are as follows:
tSubtract even=tgrem+tr-tSubtract
Wherein, trIt is the time of red light phase.
When vehicle is in remaining long green light time and next red light duration, total travel distance then can be under when being less than L
One green light period by intersection stop line, that is, meets:
There is also a kind of situation, vehicle is unsatisfactory for second formula in 1. when red light phase enters speed boot section,
I.e. vehicle at the uniform velocity can not reach stop line by intersection, during red light and need to wait for parking, at this time it is also contemplated that first slowing down
After drive at a constant speed, pass through intersection in the next green light period.The vehicle deceleration time is the same as above formula tSubtract, after vehicle deceleration at the uniform velocity
The time of traveling are as follows:
tIt is even=trrem-tSubtract
Wherein, trremIt is red light residual time length.
When operating range of the vehicle in remaining red light duration be less than L, then can pass through friendship in the next green light period
Prong stop line meets:
The current anticipation result of both the above situation is all to slow down to pass through.
It is how not parking by signalized intersections that above procedure qualitatively analyzes vehicle, establishes under bus or train route communication environment and hands over
The current anticipation model of prong speed guidance field.
Step 3. establishes speed pilot model according to step 1 and step 2, calculates the guidance speed of vehicle.
Prevailing state after entering speed boot section to vehicle prejudges, on this basis, it is also necessary to carry out to vehicle
Rationally accurately speed guidance avoids waiting in intersection parking.
The present invention provides corresponding speed pilot model for different current anticipation results.If vehicle enters speed and draws
After leading area, no matter signal lamp phase is red light or green light, anticipation result is all at the uniform velocity to pass through, then can draw without speed
It leads, vehicle is travelled with entering speed when speed boot section；If vehicle enters speed boot section in green light phase, in advance
Sentence result to accelerate to pass through, then the speed accelerated to vehicle guides, if anticipation result is to slow down to pass through, to vehicle into
The speed guidance that row slows down；If vehicle enters speed boot section in red light phase, anticipation result is to slow down to pass through, then to vehicle
The guidance of the speed slowed down.Under conditions of vehicle is communicated with signal lamp, using it is not parking by signalized intersections as target,
Establish speed pilot model.
The not parking driving process by signalized intersections of vehicle is broadly divided into two stages, and 1. changes in vehicle speed is to drawing
Guide-car's speed；2. vehicle is to guide speed to drive through signalized intersections.Therefore vehicle pass through intersection stop line at the time of are as follows:
Wherein, TstopAt the time of being that vehicle passes through signalized intersections stop line, T0When being that vehicle enters speed boot section
It carves, v0It is the speed that vehicle enters speed boot section, vgIt is guidance speed, a is the acceleration (deceleration) of vehicle, and L is speed
The length of boot section,It is time of the changes in vehicle speed to guidance speed,It is vehicle to guide speed
Degree was travelled to the time of stop line.
If the current anticipation result of vehicle is to accelerate to pass through, vehicle gives it the gun after speed guides, target carriage
Speed are as follows:
If the current anticipation result of vehicle is to slow down to pass through, vehicle Reduced Speed Now after speed guides, target carriage
Speed are as follows:
Above in two formulas, t is that vehicle enters the time of speed boot section to the time of intersection stop line:
T=Tstop-T0
For can speed up by vehicle, green light phase residual time length when t is into speed boot section；For green light
Period enters speed boot section, and needs the vehicle passed through in next green light period that slows down, and t is when entering speed boot section
Green light phase residual time length and the sum of red light cycle；For entering speed boot section during red light, need to slow down following
Green light during the vehicle that passes through, red light phase residual time length when t is into speed boot section.
According to the variation tendency of vehicle speed of operation after guidance, vehicle is divided into two parts:
1. initial velocity can be higher than by the vehicle of signal with one voice, target vehicle speed but be lower than road speed limit by giving it the gun,
Road speed limit is taken as 20m/s in the present embodiment:
v0< vG adds≤vlimit
2. Reduced Speed Now can should be lower than initial speed by the vehicle of signal with one voice, target vehicle speed:
vG subtracts< v0
In order to verify to the present invention, the collaborative truck experiment porch that the present embodiment relies on is one and is integrated with work
It stands, the experiment porch of the comprehensive software and hardware combining of Prescan and Matlab/Simulink associative simulation environment.It is flat using this
The traffic simulation software Prescan of platform can carry out traffic scene modeling, and establish the higher auto model of emulator, in real time
The current driving information of vehicle, the i.e. longitude and latitude of vehicle, speed are obtained, acceleration, course angle etc., also available trackside is set
Standby information etc., and in Matlab/Simulink add vehicle control algolithm, complete building for software environment.
The V2X communication equipment of experiment porch uses actual 4G module and Zigbee module, uses 4G module in the present invention
It is communicated.During the practical networking of 4G module, allow hardware in loop experiment porch as an independent constant public network IP, then
It is linked among Internet.When experiment porch enabling network interface card carries out wireless communication, system, which first carries out checking, obtains IP address.
After experiment porch is logical obtains address, traffic lights/vehicle in Prescan by data be packaged by serial ports send to
4G module is immediately sent the data that the 4G module receives by network, another 4G module is by received data
It returns to other vehicles in Prescan again by serial ports, establishes and pass through reality between signal lamp and vehicle in Prescan
Border communication module is bi-directionally connected, and entire V2X communication equipment builds completion in the experiment porch of ring.
Calculated guidance velocity amplitude is transferred to the executing agency of vehicle in Prescan, to export air throttle appropriate
Aperture and braking.Since the vehicle dynamic model in Prescan has more accurate parameter, fidelity is higher, the present invention
In, vehicle dynamic model is using the Dynamics_Simple model in Prescan, the air throttle system that executing agency is exported
Dynamic or brake pressure inputs to vehicle dynamic model, controls the traveling behavior of vehicle, so that vehicle is according to guidance speed row
It sails, it is not parking to pass through signalized intersections.
Finally, it is stated that the above examples are only used to illustrate the technical scheme of the present invention and are not limiting, although referring to compared with
Good embodiment describes the invention in detail, those skilled in the art should understand that, it can be to skill of the invention
Art scheme is modified or replaced equivalently, and without departing from the objective and range of the technical program, should all be covered in the present invention
Protection scope in.
Claims (8)
1. a kind of speed bootstrap technique based on bus or train route communication, which comprises the following steps:
Step 1. acquires the phase and residual time length information of vehicle operation data and signal lamp；The vehicle operation data includes
Displacement, speed, acceleration；
Step 2. based on the signal lamp phase and residual time length information that have obtained and vehicle operation data, using speed and when
Between, the constraint relationship between distance, the vehicle pass-through state after speed boot section is entered to vehicle prejudges；
Step 3. establishes speed pilot model according to step 1 and step 2, calculates the guidance speed of vehicle.
2. a kind of speed bootstrap technique based on bus or train route communication according to claim 1, which is characterized in that the vehicle is logical
Row state includes at the uniform velocity passing through, accelerating to pass through and slow down to pass through.
3. a kind of speed bootstrap technique based on bus or train route communication according to claim 2, which is characterized in that if v0tgrem> L
Or v0trrem< L judges vehicle pass-through state then at the uniform velocity to pass through；Wherein, v0Indicate speed when vehicle enters speed boot section, L
Indicate the length of speed boot section, tgremIndicate green light remaining time, trremIndicate red light remaining time.
4. a kind of speed bootstrap technique based on bus or train route communication according to claim 2, which is characterized in that ifJudge vehicle pass-through state then to accelerate to pass through；Wherein, v0Indicate that vehicle enters vehicle
Speed when fast boot section, L indicate the length of speed boot section, tgremIndicate green light remaining time, tAddIndicate vehicle by initial speed
Degree accelerates to time used in road speed limit, tIt is even to addIndicate the time driven at a constant speed after vehicle accelerates, amaxIndicate maximum acceleration
Degree, vlimitIndicate road speed limit.
5. a kind of speed bootstrap technique based on bus or train route communication according to claim 2, which is characterized in that ifThen judge that vehicle pass-through state passes through to slow down；Wherein, v0Indicate that vehicle enters vehicle
Speed when fast boot section, L indicate the length of speed boot section, tgremIndicate green light remaining time, tAddIndicate vehicle by initial speed
Degree accelerates to time used in road speed limit, tIt is even to addIndicate the time driven at a constant speed after vehicle accelerates, amaxIndicate maximum acceleration
Degree, tSubtractSpeed is decelerated to low speed v when indicating vehicle by entering speed boot section1Time used, aminIndicate maximum deceleration
Degree, tIt is even to subtractIndicate the time driven at a constant speed after vehicle deceleration, vlimitIndicate road speed limit.
6. a kind of speed bootstrap technique based on bus or train route communication according to claim 2, which is characterized in that ifThen judge that vehicle pass-through state passes through to slow down；Wherein, v0Indicate that vehicle enters speed guidance
Speed when area, L indicate the length of speed boot section, trremIndicate red light remaining time, tSubtractIndicate that vehicle is guided by entering speed
Speed is decelerated to low speed v when area1Time used, aminIndicate maximum deceleration, tIt is evenDriven at a constant speed after vehicle deceleration when
Between.
7. a kind of speed bootstrap technique based on bus or train route communication according to claim 4, which is characterized in that vehicle passes through vehicle
It gives it the gun after speed guidance, target vehicle speed are as follows:Wherein, vG addsIndicate guidance speed
Degree, a indicate that the acceleration of vehicle, t indicate that vehicle enters the time of speed boot section to the time of intersection stop line.
8. a kind of speed bootstrap technique based on bus or train route communication according to claim 5 or 6, which is characterized in that vehicle warp
Cross Reduced Speed Now after speed guides, target vehicle speed are as follows:Wherein, vG subtractsIndicate guidance
Speed, a indicate that the acceleration of vehicle, t indicate that vehicle enters the time of speed boot section to the time of intersection stop line.
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