CN110260872A - The dynamic based on GPS is overtaken other vehicles Trajectory Planning System under a kind of bus or train route cooperative surroundings - Google Patents

Abstract

The invention discloses a GPS-based dynamic overtaking trajectory planning system in a vehicle-road collaborative environment, which includes a vehicle-mounted terminal, a vehicle-mounted positioning module, and roadside equipment. The sending module in the vehicle terminal sends the above information to the roadside equipment; the vehicle-mounted terminal includes a display module, a transmitting module, a receiving module, and a vehicle-mounted navigation, wherein the transmitting module in the vehicle-mounted terminal transmits the lane information and The system startup command is transmitted to the roadside equipment, the receiving module in the vehicle terminal receives the overtaking trajectory plan sent by the roadside equipment, and the display module displays the overtaking trajectory on the screen of the vehicle terminal; the central calculation module in the roadside equipment obtains the most The best overtaking trajectory scheme, the sending module of the roadside equipment sends the best overtaking trajectory scheme to the vehicle terminal.

Description

A dynamic overtaking trajectory planning system based on GPS in a vehicle-road collaborative environment

technical field

The invention relates to the field of intelligent traffic information engineering, in particular to a GPS-based dynamic overtaking track planning system in a vehicle-road collaborative environment.

Background technique

The basic idea of the overtaking trajectory planning system is to use the theory of vehicle-road coordination, network communication, GPS positioning and other technologies to realize the function of overtaking trajectory planning for vehicles on long straight roads, thereby greatly improving road utilization and reducing vehicles due to car-following and queuing. delays due to behavior.

Car following is a common driving state of vehicles on the road. In this driving state, the delay of the vehicle in front at a lower speed on the road is easily transmitted to the rear, causing a certain delay to the following vehicle, which reduces the traffic efficiency of the road network and the utilization rate of the road. Existing studies are mostly theoretical methods, which lack of full use of data such as the position and state parameters of moving vehicles, and are difficult to apply in practice. In the vehicle-road collaborative environment, the GPS sensor can be used to obtain information such as the position and speed of the vehicle in real time, and the information is transmitted to the roadside equipment through wireless communication technology. The roadside equipment performs priority according to the vehicle's demand for overtaking Overtaking trajectory planning. For this reason, the present invention proposes an intelligent overtaking trajectory planning system based on the vehicle-road coordination theory, using GPS sensors and control logic.

Contents of the invention

The purpose of the present invention is to provide a GPS-based dynamic overtaking trajectory planning system in a vehicle-road collaborative environment, so as to realize prompting and selection of overtaking behavior trajectory, and improve overtaking safety and road utilization rate.

In order to achieve the above object, the technical scheme adopted in the present invention is:

A GPS-based dynamic overtaking trajectory planning system in a vehicle-road collaborative environment, characterized in that it includes a vehicle-mounted terminal installed in the vehicle, a vehicle-mounted positioning module, and roadside equipment installed on the roadside, wherein:

The roadside equipment includes a central computing module, and a receiving module, a sending module and a storage module connected to the central computing module;

The vehicle-mounted terminal includes vehicle-mounted navigation, and a receiving module, a transmitting module and a display module connected to the vehicle-mounted navigation;

The vehicle positioning module includes an interconnected GPS sensor and a sending module;

In the vehicle-mounted terminal, the vehicle-mounted navigation sends the lane information and system startup instructions required for the safe driving of the vehicle to the roadside equipment through the connected sending module; at the same time, in the vehicle-mounted positioning module, the GPS sensor obtains the position, speed, and acceleration information data of the vehicle Then send it to the roadside equipment through the connected sending module;

The central calculation module in the roadside equipment is equipped with a dynamic overtaking trajectory planning algorithm program. The central calculation module receives the system startup command issued by the vehicle terminal, the lane information required for safe driving of the vehicle, and receives the information issued by the vehicle positioning module through the connected receiving module. Vehicle position, speed, acceleration information data, and the central computing module stores the system startup command, lane information required for safe driving of the vehicle, vehicle position, speed, acceleration information data in the storage module, and the dynamic overtaking trajectory in the central computing module After the planning algorithm program reads the system startup command from the storage module, it reads the lane information, vehicle position, speed, and acceleration information data required for safe driving of the vehicle from the storage module, and finally the dynamic overtaking trajectory planning algorithm program according to the safe driving of the vehicle The required lane information, vehicle position, speed, and acceleration information data are calculated to obtain the best overtaking trajectory plan information, and the central calculation module sends the best overtaking trajectory plan information to the vehicle terminal through the connected sending module;

The vehicle navigation of the vehicle terminal receives the overtaking trajectory plan sent by the roadside equipment through the connected receiving module, and the vehicle navigation sends the overtaking trajectory scheme to the display module for display.

The GPS-based dynamic overtaking trajectory planning system in a vehicle-road collaborative environment is characterized in that: the vehicle navigation in the vehicle-mounted terminal converts the best overtaking trajectory scheme information into dynamic image data and voice data, and the vehicle-mounted terminal passes through the display module. Display corresponding dynamic images and play corresponding voice prompts.

The GPS-based dynamic overtaking trajectory planning system in a vehicle-road collaborative environment is characterized in that: the workflow of the dynamic overtaking trajectory planning algorithm program is as follows:

(1) The overtaking priority is included in the system startup command. After the system is started, it first generates a guidance scheme according to the vehicle overtaking priority order, that is, the overtaking vehicle with a high priority first generates the best overtaking trajectory scheme information, and the priority of the vehicle can be Preset as needed;

(2) Divide the vehicle priority: set the overtaking vehicle as Bi, the overtaking vehicle priority as p(B _i ), the overtaking vehicle priority p(B _i ) and the overtaking quantity Q _i , overtaking distance s _{i ,} and allowable overtaking space m It is related to _i , i=1, 2, 3..., where the overtaking vehicle priority p(B _i ) is inversely proportional to the overtaking quantity Q _i and the overtaking distance _si , and is proportional to the allowable overtaking space m _i , that is, p(B _i )=F(Q _i ,s _i ,m _i ), for each possible lane-changing position, it is called a possible lane-changing point; where, F(Q _i ,s _i ,m _i ) is the number of overtaking Q _i , the overtaking probability distribution function of the overtaking distance s _i and the allowable overtaking space m _i , and determine the vehicle priority according to the size of the probability distribution function;

(3) Determining the number of overtaking vehicles Q _i : according to the position of the vehicle obtained by the vehicle positioning module, the roadside equipment obtains the number of vehicles that the overtaking vehicle _Bi needs to exceed, that is, the number of overtaking vehicles Q _i ;

(4) Determine the overtaking distance s _i : Assuming the overtaken vehicle is A, when the overtaking vehicle B _i only overtakes a single overtaken vehicle A, the formula for calculating the overtaking distance s _i is:

When the overtaking vehicle B _i overtakes multiple overtaken vehicles A, the formula for calculating the overtaking distance s _i is:

In the formulas (1) and (2), s ₁ is the distance traveled by the overtaking vehicle B to accelerate and change lanes; s ₂ is the distance traveled by the overtaking vehicle B _i to merge at a constant speed; h _A and h _B are the safe distance between vehicles for car-following, respectively; h _i is the safe inter-vehicle distance of the i-th vehicle gap; l _A and l _B are the body lengths of the overtaking vehicle B and the overtaken vehicle A respectively; l _i is the body length of the i-th vehicle; is the initial speed of the overtaking vehicle B _i at the beginning of lane change, a is the acceleration of the overtaking vehicle B _i , and the overtaking speed of the overtaking vehicle B _i v _A is the speed of the overtaken vehicle A (assuming that the speed of the vehicle remains unchanged);

(5) Determine the allowable overtaking space m _i : obtain the dynamic information around the overtaking vehicle through the GPS positioning system, and obtain the allowable overtaking space m _i after analysis and processing;

(6) According to the number of overtaking vehicles Q _i , overtaking distance _si and allowable overtaking space m _i obtained in steps (3), (4), and (5), judge the priority p(B _i of all overtaking vehicles through step (2) ), vehicles with higher priority will generate overtaking trajectories first. When the overtaking condition m _i >s _i is satisfied, the possible lane change point is marked as 1, and when it is not satisfied, the node is marked as 0, and the connection of all possible lane change points marked as 1 is the best overtaking trajectory.

Compared with the prior art, the present invention has the advantages of:

(1) The present invention calculates the safety distance required for vehicle overtaking and the recommended driving speed through the control program in the overtaking trajectory planning system, and generates the overtaking trajectory, so as to realize the safe driving of overtaking vehicles, reduce vehicle delays on the road, and improve road traffic ability. The invention relieves traffic congestion to a certain extent and improves road transportation efficiency.

(2) The present invention can realize real-time monitoring, real-time transmission of guidance information, and can make real-time changes according to current traffic conditions, with strong flexibility.

(3) Based on the vehicle-road collaborative environment, the present invention connects the vehicle-mounted GPS device with the remote control module to realize remote real-time monitoring of the working status of the system.

Description of drawings

Fig. 1 is the calculation flow chart of the system of the present invention.

Fig. 2 is a block diagram of system modules of the present invention.

Fig. 3 is a schematic diagram of an overtaking scene in the present invention.

Detailed ways

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

As shown in Figure 2, a GPS-based dynamic overtaking trajectory planning system in a vehicle-road collaborative environment includes a vehicle-mounted terminal installed in the vehicle, a vehicle-mounted positioning module, and roadside equipment installed on the roadside, wherein:

The roadside equipment includes a central computing module, and a receiving module, a sending module and a storage module connected to the central computing module;

The vehicle-mounted terminal includes vehicle-mounted navigation, and a receiving module, a transmitting module and a display module connected to the vehicle-mounted navigation;

The vehicle positioning module includes an interconnected GPS sensor and a sending module;

As shown in Figure 1, in the vehicle-mounted terminal, the vehicle-mounted navigation sends the lane information and system startup instructions required for safe driving of the vehicle to the roadside equipment through the connected sending module; at the same time, in the vehicle-mounted positioning module, the GPS sensor obtains the vehicle's position and speed , The acceleration information data is sent to the roadside equipment through the connected sending module;

The central calculation module in the roadside equipment is equipped with a dynamic overtaking trajectory planning algorithm program. The central calculation module receives the system startup command issued by the vehicle terminal, the lane information required for safe driving of the vehicle, and receives the information issued by the vehicle positioning module through the connected receiving module. Vehicle position, speed, acceleration information data, and the central computing module stores the system startup command, lane information required for safe driving of the vehicle, vehicle position, speed, acceleration information data in the storage module, and the dynamic overtaking trajectory in the central computing module After the planning algorithm program reads the system startup command from the storage module, it reads the lane information, vehicle position, speed, and acceleration information data required for safe driving of the vehicle from the storage module, and finally the dynamic overtaking trajectory planning algorithm program according to the safe driving of the vehicle The required lane information, vehicle position, speed, and acceleration information data are calculated to obtain the best overtaking trajectory plan information, and the central calculation module sends the best overtaking trajectory plan information to the vehicle terminal through the connected sending module;

The vehicle navigation of the vehicle terminal receives the overtaking trajectory scheme sent by the roadside equipment through the connected receiving module, and the vehicle navigation sends the overtaking trajectory scheme to the display module for display;

The vehicle-mounted navigation in the vehicle-mounted terminal converts the optimal overtaking trajectory scheme information into dynamic image data and voice data, and the vehicle-mounted terminal displays corresponding dynamic images and plays corresponding voice prompts through the display module.

In the present invention, the workflow of the dynamic overtaking trajectory planning algorithm program is as follows:

(1) The overtaking priority is included in the system startup command. After the system is started, it first generates a guidance scheme according to the vehicle overtaking priority sequence, that is, the overtaking vehicle with a high priority generates the best overtaking trajectory scheme information first, and the priority of the vehicle can be Pre-set according to vehicle category or management needs, such as ambulances, fire trucks, police cars, etc. are the first priority; small passenger cars are the second priority; box trucks are the third priority, etc.;

(2) Divide the vehicle priority: set the overtaking vehicle as Bi, the overtaking vehicle priority as p(B _i ), the overtaking vehicle priority p(B _i ) and the overtaking quantity Q _i , overtaking distance s _{i ,} and allowable overtaking space m It is related to _i , i=1, 2, 3..., where the overtaking vehicle priority p(B _i ) is inversely proportional to the overtaking quantity Q _i and the overtaking distance _si , and is proportional to the allowable overtaking space m _i , that is, p(B _i )=F(Q _i ,s _i ,m _i ), for each possible lane-changing position, it is called a possible lane-changing point; where, F(Q _i ,s _i ,m _i ) is the number of overtaking Q _i , the overtaking probability distribution function of the overtaking distance s _i and the allowable overtaking space m _i , and determine the vehicle priority according to the size of the probability distribution function;

(3) Determining the number of overtaking vehicles Q _i : according to the position of the vehicle obtained by the vehicle positioning module, the roadside equipment obtains the number of vehicles that the overtaking vehicle _Bi needs to exceed, that is, the number of overtaking vehicles Q _i ;

(4) Determine the overtaking distance s _i : Let the overtaken vehicle be A;

As shown in Figure 3, the position of vehicle 1 represents the starting position of the vehicle before the overtaking behavior occurs, and the dotted line represents the overtaking trajectory. In order to ensure that No. 1 vehicle B _i can successfully complete the overtaking process, the following conditions should be met:

A. Before overtaking, there should be enough safe headway distance between the overtaking vehicle B _i and the overtaken vehicle A, so as to prevent rear-end collision or oblique collision when the overtaken vehicle suddenly decelerates or brakes suddenly;

B. During the overtaking process of the overtaking vehicle B _i , the driving distance is greater than the sum of the driving distance of the overtaken vehicle in the original lane, the relevant safety distance and the length of the vehicle;

C. During the overtaking process, the overtaking speed must meet the speed limit conditions of the overtaking lane and the reasonable acceleration of the vehicle;

D. After the overtaking is over, there should be sufficient headway distance between the overtaken vehicle A and the overtaking vehicle B _i to prevent rear-end collision or oblique collision when the overtaking vehicle suddenly decelerates or brakes suddenly;

Taking only overtaking bicycles as an example, the distance traveled by the overtaking vehicle during the overtaking process should satisfy the following relationship:

s _B =s ₁ +s ₂ ≥ s _A +h _A +h _B +l _A +l _B ,

In the formula: s _B is the distance traveled by the overtaking vehicle B _i in the whole overtaking process; s ₁ is the distance traveled by the overtaking vehicle _B to accelerate and change lanes; s ₂ is the distance traveled by the overtaking vehicle B _i to merge at a constant speed; The distance traveled by vehicle A; h _A , h _B are the following safety distances between vehicles; h _i is the safety distance of the i-th vehicle gap; l _A , l _B are the overtaking vehicle B _i and the overtaken vehicle A respectively body length; l _i is the body length of the i-th vehicle;

If the overtaking vehicle B _i wants to overtake the vehicle A safely, the distance traveled by the overtaking vehicle B _i during the overtaking process should satisfy the above relationship. The overtaking process of the overtaking vehicle B _i can be divided into two stages:

(1) During the acceleration and lane change phase, the overtaking vehicle _Bi starts to change lanes at the initial speed Accelerate to overtaking speed The acceleration is a. The travel time of this section is t ₁ , and the travel distance is s ₁ ;

(2) In the stage of merging at a constant speed, the overtaking vehicle _Bi takes the overtaking speed Drive to the original lane at a constant speed and complete an overtaking process. The travel time of this section is t ₂ , and the travel distance is s ₂ ;

To sum up, we can get:

t=t ₁ +t ₂ ,

s _B =s ₁ +s ₂ ,

in:

The total traveling distance s _{A of the overtaken vehicle A} :

Substituting the above formula into:

In the formula, h _B is the minimum safe distance between vehicle B _i and vehicle A when following;

In order to ensure sufficient safety, this system only considers the minimum driving distance that must be maintained between vehicle B _i and vehicle A when the overtaken vehicle A suddenly stops, then:

In the formula: t _a is the time from the driver’s reaction to the start of braking, which is affected by many factors, and generally takes 1.3-2.4s; a _max is the maximum acceleration of the vehicle B _i , which is mainly related to the adhesion coefficient of the road surface, and satisfies the formula a=fg (g is the gravitational acceleration, the value is 9.8m/s ² ; f is the adhesion coefficient of the road surface, generally between 0.2 and 0.8); d ₀ is the safety margin, and the general value range is 2 to 5m;

To sum up, the distance traveled by the overtaking vehicle _Bi during the overtaking process is:

If the overtaking vehicle B _i needs to surpass multiple consecutive overtaken vehicles, similar to the above-mentioned overtaking single vehicle, the overtaking distance needs to consider the following situations:

It is approximately considered that each overtaken vehicle travels the same distance within the overtaking time, then the travel distance of each overtaken vehicle is:

In the same way:

So the overtaking distance is:

(5) Determine the allowable overtaking space m _i : obtain the dynamic information around the overtaking vehicle through the GPS positioning system, and obtain the allowable overtaking space m _i after analysis and processing;

(6) According to the number of overtaking vehicles Q _i , overtaking distance _si and allowable overtaking space m _i obtained in steps (3), (4), and (5), judge the priority p(B _i of all overtaking vehicles through step (2) ), vehicles with higher priority will generate overtaking trajectories first. When the overtaking condition m _i >s _i is satisfied, the possible lane change point is marked as 1, and when it is not satisfied, the node is marked as 0, and the connection of all possible lane change points marked as 1 is the best overtaking trajectory.

Claims (3)

1. the dynamic based on GPS is overtaken other vehicles Trajectory Planning System under a kind of bus or train route cooperative surroundings, it is characterised in that: including being set to vehicle Car-mounted terminal, vehicle positioning module in, and the roadside device of trackside is set, in which:

Roadside device includes central computing module, and connects the receiving module, sending module and storage mould of central computing module Block；

Car-mounted terminal includes vehicle mounted guidance, and receiving module, sending module and the display module of connection vehicle mounted guidance；

Vehicle positioning module includes GPS sensor and sending module interconnected；

In the car-mounted terminal, vehicle mounted guidance by lane information needed for vehicle safe driving and is by the sending module of connection Enabled instruction of uniting is sent to roadside device；Simultaneously in vehicle positioning module, GPS sensor obtains the position of vehicle, speed, acceleration It is sent by the sending module of connection to roadside device after spending information data；

Central computing module in roadside device is provided with trajectory planning algorithm program of dynamically overtaking other vehicles, and central computing module passes through company Lane information needed for the receiving module connect receives the system enabled instruction of car-mounted terminal sending, vehicle safe driving, Yi Jijie Return the vehicle to the garage and knock off the vehicle location for carrying locating module sending, speed, acceleration information data, and is referred to system starting by central computing module Enable, lane information needed for vehicle safe driving, vehicle location, speed, acceleration information data storing in a storage module, in Centre computing module in dynamic overtake other vehicles trajectory planning algorithm program from memory module read system enabled instruction after, then from storage mould Lane information, vehicle location, speed, acceleration information data needed for reading vehicle safe driving in block, finally by dynamically surpassing Wheel paths planning algorithm program lane information according to needed for vehicle safe driving, vehicle location, speed, acceleration information data It calculates to obtain and most preferably overtake other vehicles track scheme information, central computing module will most preferably overtake other vehicles transmission of the track scheme information by connection Module is sent to car-mounted terminal；

Receiving module of the vehicle mounted guidance of car-mounted terminal by connection, the track scheme of overtaking other vehicles that reception roadside device issues, and by Vehicle mounted guidance will overtake other vehicles track scheme be sent into display module show.

2. the dynamic based on GPS is overtaken other vehicles Trajectory Planning System under a kind of bus or train route cooperative surroundings according to claim 1, special Sign is: track scheme information of most preferably overtaking other vehicles is converted to dynamic image data and voice number by the vehicle mounted guidance in car-mounted terminal According to car-mounted terminal shows corresponding dynamic image by display module and plays corresponding voice prompting.

3. the dynamic based on GPS is overtaken other vehicles Trajectory Planning System under a kind of bus or train route cooperative surroundings according to claim 1, special Sign is: the dynamic overtake other vehicles trajectory planning algorithm program workflow it is as follows:

(1) priority of overtaking other vehicles is included in system enabled instruction, raw according to vehicle cut-ins priority orders first after system starting At boot scheme, i.e. the high passing vehicle of priority is preferentially produced track scheme information of most preferably overtaking other vehicles, wherein the priority of vehicle It can preset as needed；

(2) it divides vehicle priority: setting passing vehicle as B_i, passing vehicle priority is p (B_i), passing vehicle priority p (B_i) With the quantity Q that overtakes other vehicles_i, passing distance s_i, allow space m of overtaking other vehicles_iIt is related, i=1,2,3 ..., wherein passing vehicle priority p (B_i) and the quantity Q that overtakes other vehicles_i, passing distance s_iIt is inversely proportional, and allows space m of overtaking other vehicles_iIt is directly proportional, i.e. p (B_i)=F (Q_i,s_i,m_i), it is right In the position of each possible lane change, a referred to as possible lane change point；Wherein, F (Q_i,s_i,m_i) it is about the quantity Q that overtakes other vehicles_i, overtake other vehicles Distance s_iWith allow space m of overtaking other vehicles_iProbability distribution function, vehicle priority is determined according to the size of probability-distribution function；

(3) the quantity Q that overtakes other vehicles is determined_i: the position of vehicle is obtained according to the vehicle positioning module, roadside device is received according to institute The quantity of vehicle positioning module information obtains passing vehicle B_iThe required vehicle fleet size for being more than, that is, quantity of overtaking other vehicles Q_i；

(4) passing distance s is determined_i: it sets and is exceeded vehicle as A, as passing vehicle B_iOnly surmount individually when being exceeded vehicle A, overtakes other vehicles Distance s_iCalculation formula are as follows:

As passing vehicle B_iSurmount it is multiple be exceeded vehicle be A when, passing distance s_iCalculation formula are as follows:

In formula (1), (2), s₁Accelerate lane-change operating range to surmount vehicle vehicle B；s₂For passing vehicle B_iAt the uniform velocity and road traveling away from From；h_A、h_BRespectively with safe spacing of speeding between vehicle；h_iFor the safe distance between vehicles in i-th of vehicle gap；l_A、l_BIt respectively overtakes other vehicles vehicle B and the length of wagon for being exceeded vehicle A；l_iFor the length of wagon of the i-th vehicle；For passing vehicle B_iIt is first when lane-change starts Beginning speed, a are passing vehicle B_iAcceleration, passing vehicle B_iSpeed of overtaking other vehiclesv_ATo be exceeded vehicle A's Speed (assuming that the vehicle speed is constant)；

(5) determination allows space m of overtaking other vehicles_i: multidate information around passing vehicle is obtained by GPS positioning system, is located by analysis Reason, obtains allowing space m of overtaking other vehicles_i；

(6) according to step (3), (4), (5) resulting quantity Q that overtakes other vehicles_i, passing distance s_iWith allow space m of overtaking other vehicles_i, pass through step (2) judge the priority p (B of all passing vehicles_i), the high vehicle of priority is preferentially produced track of overtaking other vehicles.As the condition m that overtakes other vehicles_i> s_iWhen meeting, which is denoted as 1, when being unsatisfactory for, node is denoted as 0, it is all be denoted as 1 possibility lane change point It is connected as track of most preferably overtaking other vehicles.