The invention belongs to the technical field of intelligent control of networked vehicles under an Internet of Vehicles system, and particularly relates to a double-layer collaborative optimization method for ramp merging of networked vehicles. According to the method, the balance between the calculation load and the optimality is considered, and the optimality is improved to a greater extent andthe calculation amount is reduced to the maximum extent through the form of an upper-layer optimization model and a lower-layer analytical solution; an upper-layer scheduling optimization model and alower-layer scheduling optimization model of intelligent networked vehicle ramp merging cooperative control are adopted. The upper layer determines and allocates the time for each intelligent networked vehicle to enter a merging area, and the lower layer determines the specific motion trail of each intelligent networked vehicle, the improvement of the traffic efficiency and the energy utilizationrate of ramp merging is facilitated, and through lower-layer calculation, the intelligent networked vehicles which cannot meet the minimum time interval return to the upper-layer scheduling again forscheduling calculation, so that the system has robustness.
本发明属于车联网体系下网联车辆的智能控制技术领域,具体涉及一种网联车辆匝道合并的双层协同优化方法。本发明考虑在计算负荷和最优性之间存在权衡,通过上层最优化模型和下层解析解的形式较大程度地提高了最优性和最大限度地降低了计算量;采用智能网联车辆匝道合并协同控制的上下两层调度优化模型,上层决定和分配每辆智能网联车进入合并区域的时间,下层确定每辆智能网联车的具体运动轨迹,有助于匝道合并的交通效率和能源利用率的提高,通过下层计算,满足不了最小时间间隔的智能网联车辆将重新返回上层调度进行调度计算,使系统具有鲁棒性。
Double-layer collaborative optimization method for ramp merging of networked vehicles
一种网联车辆匝道合并的双层协同优化方法
2020-10-16
Patent
Elektronische Ressource
Chinesisch
Taylor & Francis Verlag | 2017
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