CN109993965B - Target speed calculation method and device, MEC server and storage medium - Google Patents
Target speed calculation method and device, MEC server and storage medium Download PDFInfo
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- CN109993965B CN109993965B CN201810001615.4A CN201810001615A CN109993965B CN 109993965 B CN109993965 B CN 109993965B CN 201810001615 A CN201810001615 A CN 201810001615A CN 109993965 B CN109993965 B CN 109993965B
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- G—PHYSICS
- G08—SIGNALLING
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- G08G1/00—Traffic control systems for road vehicles
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- G08G1/0104—Measuring and analyzing of parameters relative to traffic conditions
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- G—PHYSICS
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- 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
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- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
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Abstract
The embodiment of the invention provides a target speed calculation method, a mobile edge calculation server and a storage medium. The target speed calculation method includes: determining whether an (i + 1) th vehicle adjacent to the ith vehicle meets a preset boundary condition, wherein i is a positive integer; when the (i + 1) th vehicle meets the preset boundary condition, determining that the (i) th vehicle is a boundary for dividing a vehicle group; dividing the vehicle group based on the boundary; and calculating the target speed of the vehicles in the vehicle group by the vehicle group according to the first risk threshold corresponding to the vehicle group.
Description
Technical Field
The present invention relates to the field of information technology, and in particular, to a target velocity calculation method, a mobile edge calculation server, and a storage medium.
Background
With the rapid development of road traffic, a vehicle speed guiding scheme exists at present, the vehicle speed guiding scheme is used for multiple purposes near a traffic light intersection, and a suggested speed is issued to a vehicle according to the phase of a traffic light at the intersection, so that the vehicle can pass through the intersection without waiting.
For the whole road section, the driving state of the rear vehicle is influenced by the change of the vehicle speed, particularly on urban roads with dense vehicles, the influence is transmitted from vehicle to vehicle, similar to chain reaction, and finally, certain influence is caused on the traffic state of a certain area. In the conventional art, when calculating the speed of a guided vehicle, a target speed of each vehicle is generally calculated from the front to the rear directly based on the situation such as the distance between adjacent vehicles. Because of the strong association relationship, the calculation must be realized by the same device or the same calculation group, which results in large calculation amount of a single computer, overlarge association between the front and back calculation results, and only sequential calculation, thereby causing the problems of large calculation complexity, large time delay and the like.
Disclosure of Invention
In view of the above, embodiments of the present invention are directed to a target speed calculation method, a mobile edge calculation server and a storage medium, which at least partially solve the above problems.
In order to achieve the purpose, the technical scheme of the invention is realized as follows:
in a first aspect, an embodiment of the present invention provides a target speed calculation method, including:
determining whether an (i + 1) th vehicle adjacent to the ith vehicle meets a preset boundary condition, wherein i is a positive integer;
when the (i + 1) th vehicle meets the preset boundary condition, determining that the (i) th vehicle is a boundary for dividing a vehicle group;
dividing the vehicle group based on the boundary;
and calculating the target speed of the vehicles in the vehicle group by the vehicle group according to the first risk threshold corresponding to the vehicle group.
Optionally, the determining whether the i +1 th vehicle adjacent to the i-th vehicle satisfies a predetermined boundary condition includes at least one of:
determining whether the (i + 1) th vehicle has been classified into a constructed vehicle group;
determining whether i +1 is greater than a numerical upper limit;
determining whether a distance between the (i + 1) th vehicle and the 1 st vehicle is greater than a distance threshold;
determining whether relative condition information between the i +1 th vehicle and the i-th vehicle satisfies a predetermined grouping condition.
Optionally, the determining whether the relative condition information between the i +1 th vehicle and the i-th vehicle satisfies a predetermined clustering condition includes at least one of:
determining whether a risk of collision between the (i + 1) th vehicle and the ith vehicle is less than a second risk threshold;
determining whether an inter-vehicle distance between the i +1 th vehicle and the i-th vehicle is greater than a first distance threshold.
Optionally, the determining whether the relative condition information between the i +1 th vehicle and the i-th vehicle satisfies a predetermined clustering condition includes:
and if the number of the vehicles added into the group to be built exceeds the lower numerical limit, determining whether the relative condition information between the (i + 1) th vehicle and the ith vehicle meets a preset grouping condition.
Optionally, the calculating, by the vehicle separation group, a target speed of a vehicle in the vehicle group according to the first risk threshold corresponding to the vehicle group includes:
when determining that the vehicle risk between the vehicle group Gn and the vehicle group Gm connected vehicle pair does not exceed the first risk threshold value, calculating the target speed of the vehicle Vm in the Gm according to the current speed of the vehicle Vn; wherein the Gm is a vehicle group behind the Gn; the Vn is a vehicle in the Gm; vm is a vehicle located behind and adjacent to Vn in the Gm;
and calculating the target speed of the rest vehicles in the Gm according to the target speed of the Vm.
Optionally, the calculating a target speed of the vehicle Vm located within the vehicle group Gm when it is determined that the vehicle risk between the pair of linked vehicles in the vehicle group Gn and the vehicle group Gm does not exceed the first risk threshold comprises:
calculating an estimated speed Vn' of the Vn after the time t according to the current speed and the acceleration of the Vn adjacent to the Vm in the Gn;
determining the maximum allowable speed Vm 'of the Vm after t based on the first risk threshold and the vn';
determining the target acceleration of Vm according to Vm';
and calculating the target speed of Vm according to the target acceleration.
Optionally, the calculating an estimated speed Vn' of Vn after a time t according to the current speed and acceleration of Vn adjacent to Vm in Gn includes:
calculating the estimated speed of the Vn after the time t by using a formula Vn + an t, wherein Vn is the current speed of the Vn; the an is the acceleration of the Vn;
the calculating the target acceleration of Vm according to the speed relation comprises:
if vm ' ═ vn ', the target acceleration am is calculated using am ═ v ' -vm)/t.
Alternatively, the target speed v is calculated using the following formula:
am is not less than amin and not more than amax, vn + an x t-amin x t is not less than vm and not more than vn + an x t-amax x t;
v is less than or equal to min (vm, vr); the vr is the road speed limit; the amin is the minimum acceleration of the Vm; the amax is the maximum acceleration of Vm.
Optionally, the calculating, by the vehicle separation group, a target speed of a vehicle in the vehicle group according to the first risk threshold corresponding to the vehicle group includes:
calculating an estimated speed Vx' of Vx after time t according to the current speed and the target acceleration of the Vx in the vehicle group;
determining the maximum target speed Vx 'of a vehicle Vx +1 after the Vx after t based on a second threshold value between vehicles in the same vehicle group and the Vx';
calculating the target acceleration of Vx +1 according to the speed relation;
and calculating the target speed of Vx +1 according to the target acceleration.
Optionally, the calculating, by the vehicle separation group, a target speed of a vehicle in the vehicle group according to the first risk threshold corresponding to the vehicle group includes:
and calculating the target speed of the vehicles in the vehicle group by the vehicle group according to the first risk threshold by utilizing a Mobile Edge Computing (MEC) server.
Optionally, the method further comprises:
the MEC server receives first preset information reported by vehicles in a corresponding vehicle group, wherein the first preset information comprises: at least one of vehicle motion state information and vehicle attribute parameters;
and calculating the driving risk among the vehicles according to at least one of the vehicle motion state information and the vehicle attribute parameters.
Optionally, the method further comprises:
interacting second predetermined information with a peripheral MEC server, wherein the second predetermined information comprises: the vehicle group identification comprises vehicle group identification, first preset information and vehicle identification of at least marginal vehicles in a vehicle group corresponding to the vehicle group identification, wherein the first preset information comprises: at least one of vehicle motion state information and vehicle attribute parameters.
Optionally, the interacting of the second predetermined information with the peripheral MEC server specifically includes at least one of:
interacting the second preset information with the peripheral MEC server according to a scheduling instruction of the regional server;
according to the position of the vehicle and the coverage range of the MEC server, sending the first preset information of the vehicle beyond the coverage range and the vehicle identification to a peripheral MEC server;
and according to the coverage range of the vehicle group and the MEC server, sending the second preset information of the vehicle group beyond the coverage range to a peripheral MEC server.
In a second aspect, an embodiment of the present invention provides a target speed calculation apparatus, including:
a first determination unit configured to determine whether an i +1 th vehicle adjacent to an i-th vehicle satisfies a predetermined boundary condition, where i is a positive integer;
a second determining unit configured to determine that the i-th vehicle is a boundary dividing a vehicle group when the i + 1-th vehicle satisfies the predetermined boundary condition;
a dividing unit configured to divide the vehicle group based on the boundary;
and the calculating unit is used for calculating the target speed of the vehicles in the vehicle group according to the first risk threshold corresponding to the vehicle group.
In a third aspect, an embodiment of the present invention provides a server, including: a transceiver, a memory, a processor, and a computer program stored on the memory and executed by the processor;
the processor is connected with the transceiver and the memory respectively, and is used for executing the target speed calculation method provided by one or more technical schemes by executing the computer program.
In a fourth aspect, an embodiment of the present invention provides a computer storage medium, where a computer program is stored, and the computer program is executed to implement one or more target speed calculation methods provided in the technical solutions.
According to the target speed calculation method, the mobile edge calculation server and the storage medium provided by the embodiment of the invention, before the target speed of the vehicle is carried out, the vehicle meeting the preset boundary condition is judged, so that the boundary vehicle or the edge vehicle for dividing the vehicle group is obtained, then the vehicle group is divided based on the boundary, and the target speed of the vehicle in the vehicle group is calculated based on the vehicle group.
On the first hand, through vehicle group division, the target speed of each vehicle is calculated based on the vehicle group, thereby avoiding chain reflection of vehicle target speed calculation without dividing the vehicle group in the prior art, and reducing continuous iteration of speeds between a large number of front and rear vehicles, thereby simplifying the calculation of the target speed.
In the second aspect, through vehicle group division, different vehicle groups can calculate the target speed in the vehicle groups through different servers, so that the distributed calculation of the vehicle target speed is realized, the rapid calculation of the target speed of the vehicle can be realized, and the calculation delay is reduced.
In a third aspect, in this embodiment, the boundaries of the vehicle groups are corresponding vehicles, and are not forcibly split based on fixed geographic boundaries and the like, so that vehicles with large mutual influence on speed can be divided into one vehicle group, thereby avoiding the problem that the vehicle group is divided unreasonably due to mechanical division of the vehicle group, and further, the target speed is low in calculation accuracy, and having the characteristic of high calculation accuracy.
Drawings
Fig. 1 is a schematic flow chart of a first target speed calculation method according to an embodiment of the present invention;
fig. 2 is a schematic flow chart illustrating a process of determining boundaries of vehicle group division according to an embodiment of the present invention;
FIG. 3 is a schematic view of a vehicle cluster according to an embodiment of the present invention;
FIG. 4 is a flowchart illustrating a second target speed calculation method according to an embodiment of the present invention;
FIG. 5 is a schematic diagram of a server connection for calculating a target speed of a vehicle according to an embodiment of the present invention;
FIG. 6 is a schematic structural diagram of a target speed calculation apparatus according to an embodiment of the present invention;
fig. 7 is a schematic structural diagram of a server according to an embodiment of the present invention.
Detailed Description
The technical solution of the present invention is further described in detail with reference to the drawings and the specific embodiments of the specification.
As shown in fig. 1, the present embodiment provides a target speed calculation method, including:
step S110: determining whether an (i + 1) th vehicle adjacent to the ith vehicle meets a preset boundary condition, wherein i is a positive integer;
step S120: when the (i + 1) th vehicle meets the preset boundary condition, determining that the (i) th vehicle is a boundary for dividing a vehicle group;
step S130: dividing the vehicle group based on the boundary;
step S140: and calculating the target speed of the vehicles in the vehicle group by the vehicle group according to the first risk threshold corresponding to the vehicle group.
The present embodiment may be applied to various computing devices such as a server that calculates the traveling speed of a vehicle. The target speed may be a suggested speed of vehicle travel, or a target value of vehicle speed adjustment.
In the present embodiment, a vehicle in the vicinity of a vehicle that has already joined one group to be divided is joined to the group to be divided in steps S110 to S130, and it is necessary to determine a vehicle that divides a different group as a boundary of the group before dividing the group. In the present embodiment, if the i +1 th vehicle satisfies the predetermined boundary condition, the i-th vehicle is defined as a boundary vehicle, and a vehicle group is divided.
Fig. 2 is a schematic view showing a method of determining a boundary and dividing a vehicle group.
Step S1: selecting a vehicle Vi;
step S2: finding a surrounding vehicle Vs;
step S3: judging whether Vs meets a preset boundary condition, if yes, step S6, and if not, entering step S4;
step S4: a nearby vehicle Vs' that seeks a week Vs;
step S5: judging whether Vs' meets a predetermined boundary condition, if yes, entering step S6; if not, returning to the step of searching for the surrounding vehicles;
step S6: and dividing the vehicle group according to the determined boundary.
In specific implementation, the 1 st vehicle is selected, then the 1 st vehicle and the adjacent surrounding vehicles are firstly judged whether the predetermined boundary condition is met or not, and the vehicles which are not consistent with the continuous searching of the surrounding vehicles which are already added to the searched vehicle are not met until the predetermined boundary condition is judged to be met. Such division of the vehicle group is not limited to the division of the vehicle group in a certain area, but is performed by using a certain vehicle as a boundary of the division of the vehicle group.
Several alternatives for determining whether the i +1 th vehicle meets the predetermined boundary condition are provided below:
the first alternative is as follows:
determining whether the (i + 1) th vehicle has been classified into a constructed vehicle group. If the (i + 1) th vehicle is already a vehicle in other constructed vehicle groups, obviously the boundary of other vehicle groups is reached, and in order to avoid the problem that one vehicle belongs to different vehicle groups, the current ith vehicle is a boundary vehicle;
the second option is:
determining whether i +1 is greater than a numerical upper limit; the upper limit of the number of vehicles included in one vehicle group is preset, so in this embodiment, it is determined whether i +1 is greater than the upper limit, and if so, it is obvious that the ith vehicle is a boundary vehicle.
The optional mode three:
determining whether a distance between the (i + 1) th vehicle and the 1 st vehicle is greater than a distance threshold. In order to ensure that the area covered by the vehicles in one vehicle group is not too large, it is determined whether the distance between the i +1 st vehicle and the 1 st vehicle is greater than a distance threshold. Usually, the 1 st vehicle is the 1 st vehicle added to the vehicle group to be divided, and is also the core vehicle of the vehicle group, and is generally located in the middle area of the vehicle group.
The optional mode three:
determining whether relative condition information between the i +1 th vehicle and the i-th vehicle satisfies a predetermined grouping condition.
The relative condition information may be indicated by parameters such as inter-vehicle distance and/or collision risk between the i +1 th vehicle and the i-th vehicle. For example, the determining whether the relative condition information between the i +1 th vehicle and the i-th vehicle satisfies a predetermined grouping condition includes at least one of:
determining whether a risk of collision between the (i + 1) th vehicle and the ith vehicle is less than a second risk threshold;
determining whether an inter-vehicle distance between the i +1 th vehicle and the i-th vehicle is greater than a first distance threshold.
If the distance between two adjacent vehicles is large enough, it means that the risk of collision between the two vehicles is small enough, the vehicles are distributed very sparsely, and can be divided into different vehicle groups, so the vehicle group division is performed by regarding the ith vehicle as a boundary vehicle and as a boundary for dividing the vehicle group.
In some embodiments, the risk of collision is evaluated from the risk of collision, the risk of collision is related to parameters such as inter-vehicle distance between two vehicles, driving speed, braking capability, and the like, and if the risk of collision between two vehicles is small enough, it is obvious that the two vehicles are distributed sparsely or will be distributed sparsely, the two vehicles can be divided into two vehicle groups.
Alternatively, for example, in determining whether there is a risk of collision between vehicles, it may be evaluated by calculating a time before change TH.
The time headway refers to the time interval between the head ends of two adjacent vehicles passing through a certain section in a vehicle queue running on the same lane. The headway represents the time difference between the front ends of two vehicles passing through the same place, and can be generally calculated by dividing the headway distance between the two vehicles by the speed of the rear vehicle. The headway represents the maximum reaction time that the driver of the rear vehicle has when the front vehicle is braking, and therefore it does not fluctuate with changes in speed. Under an ideal state, when the headway TH of the vehicle on the road reaches the allowed minimum headway (THmin), the vehicle is in a safe state and the road passing efficiency is highest. That is, at this time, the vehicles travel at the same speed v, and the distance between the vehicles is maintained at a safe distance (Smin) determined by the braking level of the vehicles and the road conditions (i.e., the vehicles do not collide with the preceding vehicles when braking). In this embodiment, THmin is one of the first risk thresholds.
Optionally, the step S120 may include:
and if the number of the vehicles added into the group to be built exceeds the lower numerical limit, determining whether the relative condition information between the (i + 1) th vehicle and the ith vehicle meets a preset grouping condition.
When the boundary is determined by using the relative condition information between the vehicles, the condition that the vehicles which are determined to be capable of joining the vehicle group are not less than the lower numerical limit and less than the upper numerical limit at present needs to be met. If the current number of vehicles is lower than the lower numerical limit, it is necessary to ensure that the number of vehicles is not less than the lower numerical limit in this embodiment in order to avoid the phenomenon that the number of vehicles in one vehicle group is too small and the number of divided vehicle groups is too large.
Fig. 3 is a schematic view of a vehicle group according to an embodiment of the present invention. One circle in fig. 3 represents one vehicle group. In fig. 3, a vehicle Va and a vehicle Vb are adjacent vehicles but belong to a vehicle group, where the vehicle Va is a boundary vehicle and can be used to divide the vehicle group.
The determination of the vehicle within the vehicle group is completed in step S130, and a vehicle group identification is assigned to the vehicle group for identifying the vehicle group. In fig. 3, three vehicle groups are shown, that is, a vehicle group C +1, a vehicle group C +2, and the like, and in fig. 3, the vehicle groups are numbered in the traveling direction of the vehicle groups in the order of front to back, and in a concrete implementation, the number of the vehicle group is not limited to that shown in fig. 3, and the number of the vehicle group is one of the vehicle group marks. In other embodiments, the identification of the vehicle group may also be determined from an identification of a server that performs vehicle target speed calculations within the vehicle group, for example, the vehicle group identification may include: a first part: a server identifier of a server for calculating a target speed of a vehicle in the vehicle group, a second part, a number of the vehicle groups managed by the server, and the like. Therefore, if the calculated target speed is the MEC server, the MEC server at the upper level of the MEC server is called as an area server, the calculation, the monitoring and the like of the target speed of the current vehicle group by which the MEC server carries out can be determined according to the vehicle group identification, the vehicle group can be determined to be the second vehicle group currently managed by the MEC server according to the vehicle group identification, and therefore the area server can read a lot of required information through the vehicle group identification, when the MEC server carries out information interaction with the area server, some information does not need to be reported, and signaling overhead can be reduced. In short, the vehicle group identification is various, and is not limited to any one of the above.
Further, as shown in fig. 4, the step S140 may include:
step S141: when determining that the vehicle risk between the vehicle group Gn and the vehicle group Gm connected vehicle pair does not exceed the first risk threshold value, calculating the target speed of the vehicle Vm in the Gm according to the current speed of the vehicle Vn; wherein the Gm is a vehicle group behind the Gn; the Vn is a vehicle in the Gm; vm is a vehicle located behind and adjacent to Vn in the Gm;
step S142: and calculating the target speed of the rest vehicles in the Gm according to the target speed of the Vm.
In this embodiment, the coupled vehicle pair is two adjacent vehicles on the same lane in different vehicle groups.
In fig. 3, a vehicle Va of a vehicle group C and a vehicle b of a vehicle group C +1 are a pair of coupled vehicles. To avoid a collision, the speed of the rear vehicle is related to the speed of the front vehicle. In the present embodiment, the target speed Vm is calculated from the current traveling speed of Vn. If the speed of a vehicle in a vehicle group close to the preceding vehicle group is determined, the speed of other vehicles behind the vehicle can be calculated one by one based on the target speed of the vehicle.
Further, the method is carried out. The step S141 may include:
calculating an estimated speed Vn' of the Vn after the time t according to the current speed and the acceleration of the Vn adjacent to the Vm in the Gn;
determining the maximum allowable speed Vm 'of the Vm after t based on the first risk threshold and the vn';
determining the target acceleration of Vm according to Vm';
and calculating the target speed of Vm according to the target acceleration.
The maximum allowable speed may be understood as a speed at which Vm and Vn do not collide right or a collision risk is smaller than a specific probability, and therefore, the maximum allowable speed is referred to in this embodiment as a maximum allowable speed.
In some embodiments, the calculating an estimated speed Vn' of Vn after a time t according to the current speed and acceleration of Vn adjacent to Vm in Gn includes: calculating the estimated speed of the Vn after the time t by using a formula Vn + an t, wherein Vn is the current speed of the Vn; the an is the acceleration of the Vn. The calculating the target acceleration of Vm according to the speed relation comprises: if vm ' ═ vn ', the target acceleration am is calculated using am ═ v ' -vm)/t.
Vm 'Vn' in the present embodiment may be a speed at which Vm and Vn do not just collide.
Alternatively, the target speed v is calculated using the following formula:
am is not less than amin and not more than amax, vn + an x t-amin x t is not less than vm and not more than vn + an x t-amax x t;
v is less than or equal to min (vm, vr); the vr is the road speed limit; the amin is the minimum acceleration of the Vm; the amax is the maximum acceleration of Vm.
In some embodiments, the step S140 may include:
calculating an estimated speed Vx' of Vx after time t according to the current speed and the target acceleration of the Vx in the vehicle group;
determining the maximum target speed Vx 'of a vehicle Vx +1 after the Vx after t based on a second threshold value between vehicles in the same vehicle group and the Vx';
calculating the target acceleration of Vx +1 according to the speed relation;
and calculating the target speed of Vx +1 according to the target acceleration.
The calculation of the target velocities of two vehicles in front of and behind a vehicle cluster in the embodiment of the present invention may be similar to the calculation of the velocities between two vehicles in different vehicle clusters, and is not repeated here.
Optionally, the step S140 may include: and calculating the target speed of the vehicles in the vehicle group by the vehicle group according to the first risk threshold value by using the calculating MEC server.
It is the MEC server that performs the target speed calculation in the present embodiment. The MEC servers are typically many and distributed in different regions. In this embodiment, the MEC server is used to calculate the target speed of the vehicle in the vehicle group, so that distributed calculation of multiple MEC servers can be realized. One MEC server may calculate the speed of a plurality of vehicle groups, or may calculate the speed of one vehicle group.
In the embodiment, due to the fact that the vehicle group is divided, compared with the method that a plurality of parts are divided for calculation based on the driving state of the vehicle, and each single calculation obviously improves the calculation speed of the target speed of the following vehicle compared with the calculation in sequence from front to back, so that the calculation time delay is reduced, the problems of high complexity and the like caused by the number of iterations are reduced, and the method has the advantages of being simple in calculation and high in calculation speed. On the other hand, the MEC server is adopted for calculation, the characteristics that the MEC server is close to a vehicle and the like are fully utilized, once a transmission path of which the target speed can be very end is calculated and transmission nodes which can pass through as few as possible are calculated, the target speed which is recommended to run can be sent to the vehicle-mounted equipment, and therefore time delay for obtaining the target speed is reduced compared with the vehicle-mounted equipment.
In some embodiments, when the MEC server performs the target speed calculation, it is necessary to acquire a lot of information of the vehicle, for example, driving condition information, vehicle attribute parameters, road surface condition information, and the like, and it is necessary to perform information interaction with the vehicle-mounted device of the vehicle.
In a specific implementation process, the possible division of the vehicle group can be performed periodically, and the vehicle group is divided again once every preset time.
Further, the method further comprises:
the MEC server receives first preset information reported by vehicles in a corresponding vehicle group, wherein the first preset information comprises: at least one of vehicle motion state information and vehicle attribute parameters;
and calculating the driving risk among the vehicles according to at least one of the vehicle motion state information and the vehicle attribute parameters.
The vehicle running state information may include: one or more of position information, current speed, current acceleration, heading, etc. parameters related to the current driving condition.
The vehicle attribute parameters may include: vehicle size, vehicle mass, coefficient of friction of the tires of the vehicle, vehicle type, etc., which all affect the braking capability of the vehicle, can be used to calculate the risk of collision between vehicles. For example, if the inertia is large as the vehicle size and the vehicle mass increase, the risk of collision with the vehicle ahead during braking is large, and for example, the tire friction coefficient can also be used for calculating the sliding distance during braking. If the truck may be loaded with cargo, the cargo may slip off during braking, which may cause a risk to surrounding vehicles, so the vehicle attribute parameters may also need to be considered in this embodiment.
In some embodiments, the MEC server further stores a vehicle Identifier (ID) of the vehicle, which is used to distinguish the vehicle, and the vehicle ID is stored corresponding to the group identifier of the vehicle group in which the vehicle is located. The vehicle ID may be a license plate number of the vehicle, or may be a unique identifier that is specifically assigned to the vehicle by the MEC server.
Optionally, the method further comprises:
interacting second predetermined information with a peripheral MEC server, wherein the second predetermined information comprises: and the vehicle group mark corresponds to the first preset information and the vehicle mark of at least the edge vehicle in the vehicle group.
Information interaction can also be carried out among different MEC servers. In this embodiment, the second predetermined information may include: the information of the vehicle group or the information of some vehicles in the group, for example, the first predetermined information of the boundary vehicle and the vehicle identifier.
Therefore, different MEC servers are conveniently grouped to calculate the target speed of the vehicle.
In some embodiments, the computing network is a layered architecture comprising: an MEC server located at a border of an area, further comprising: two MEC servers may be connected with a zone server, which may be considered to be a higher level MEC server than the MEC server.
As shown in fig. 4, the area server and the MEC server 1 and the MEC server 2, respectively, and the MEC server 1 and the MEC server 2 each store therein a vehicle database in which information on the vehicle group and information on vehicles in the vehicle group can be stored. The data exchange between the MEC server 1 and the MEC server 2 may be performed by a regional server.
The regional server may be configured to schedule the computing resources, for example, determine the number of vehicle groups calculated by the MEC server according to the coverage area and the current load amount of the MEC server, and calculate the target speed of the vehicles in which vehicle groups are located.
Therefore, in some embodiments, the interacting of the second predetermined information with the peripheral MEC server specifically includes at least one of:
interacting the second preset information with the peripheral MEC server according to a scheduling instruction of the regional server;
according to the position of the vehicle and the coverage range of the MEC server, sending the first preset information of the vehicle beyond the coverage range and the vehicle identification to a peripheral MEC server;
and according to the coverage range of the vehicle group and the MEC server, sending the second preset information of the vehicle group beyond the coverage range to a peripheral MEC server.
In this embodiment, the area server may be a server higher than the MEC server, and is a server set in a certain area. The region server sends a scheduling instruction to the MEC server, where the scheduling instruction may be used for information interaction between one MCE server and a peripheral MCE server.
The coverage area of one MEC server is limited, in this embodiment, the MEC server may further determine whether the corresponding vehicle in the vehicle group is maintained within the coverage area of the MEC server, and if the coverage area of the corresponding vehicle in the vehicle group is exceeded, the corresponding MEC server needs to be notified of the first predetermined information. In some embodiments, the MEC may determine, according to the driving route of the vehicle, which peripheral MEC server the coverage area to be entered by the vehicle belongs to, and send the first predetermined information of the corresponding vehicle to the determined peripheral MEC server.
In some embodiments, the MEC may broadcast the first reservation information of the corresponding vehicle to a plurality of MEC servers located in the vicinity of the MEC server, and in this case, if the corresponding vehicle does enter its coverage after one MEC server receives the broadcast information, the MEC server may perform processing such as monitoring of various states of the vehicle based on the first reservation information, for example, join the MEC server to a vehicle group managed by the MEC server, and determine the speed of the vehicle located in front of the MEC server based on the speed of the vehicle.
In some embodiments, an MEC may further determine whether a vehicle group monitored by the MEC exceeds its coverage, and if the vehicle group monitored by the MEC exceeds its coverage, notify the corresponding MEC server of the second predetermined information of the vehicle group, or notify a plurality of MEC servers around the MEC server in a broadcast manner, and the MEC server receiving the information determines whether to use the information according to the vehicle group monitored by the MEC server.
There are various ways to determine whether a fleet of vehicles is out of coverage of an MEC server, and several alternatives are provided below:
if the edge vehicle of one vehicle group drives out the coverage range of one MEC server, the vehicle group can be considered to be beyond the coverage range of the MEC server;
if vehicles with a first preset proportion in a vehicle group drive out of the coverage range of an MEC server, the vehicle group can be considered to be beyond the coverage range of the MEC server;
if vehicles with a second predetermined proportion in one vehicle group enter the coverage area of another MEC server, the vehicle group can be considered to be beyond the coverage area of the MEC server.
In some embodiments, the first predetermined ratio and the second predetermined ratio may be preset values, and values of the first predetermined ratio and the second predetermined ratio may be the same or different. In this embodiment, the first predetermined ratio is preferably greater than the second predetermined ratio.
As shown in fig. 6, the present embodiment provides a target speed calculation apparatus including:
a first determination unit 110 for determining whether an i +1 th vehicle adjacent to an i-th vehicle satisfies a predetermined boundary condition, where i is a positive integer;
a second determining unit 120 configured to determine that the i +1 th vehicle is a boundary dividing a vehicle group when the i +1 th vehicle satisfies the predetermined boundary condition;
a dividing unit 130 configured to divide the vehicle group based on the boundary;
the calculating unit 140 is configured to calculate a target speed of a vehicle in the vehicle group according to the first risk threshold corresponding to the vehicle group.
The target speed calculation device in the present embodiment may be applied to apparatuses of target speeds of various vehicles, for example, an MEC server or other servers than an MEC server.
The first determining unit 110, the second determining unit 120, the dividing unit 130 and the calculating unit 140 may all correspond to one or more processors in a server; the processor may be a central processing unit, microprocessor, digital signal processor, application processor, programmable array or application specific integrated circuit, or the like.
The processor may implement the implementation of the various functional units through the execution of computer programs, application programs, or operating system specific functional functions or components.
In the embodiment, the target speed calculation device can determine the boundary for dividing the vehicle group based on the predetermined boundary condition, and in the implementation of the invention, the boundary is the corresponding vehicle, but not the geographical boundary, and the like, so that the calculation of the vehicle target speed of the vehicle group can be realized, the problems of large calculation amount, high calculation complexity and the like of a single device caused by continuous speed iteration are avoided, the calculation rate of the target speed is improved, the calculation delay is reduced, and the calculation accuracy is higher.
Optionally, the first determining unit 110 is configured to perform at least one of:
determining whether the (i + 1) th vehicle has been classified into a constructed vehicle group;
determining whether i +1 is greater than a numerical upper limit;
determining whether a distance between the (i + 1) th vehicle and the 1 st vehicle is greater than a distance threshold;
determining whether relative condition information between the i +1 th vehicle and the i-th vehicle satisfies a predetermined grouping condition.
Further, the determining unit is specifically configured to determine whether the risk of collision between the i +1 th vehicle and the i-th vehicle is less than a second risk threshold; determining whether an inter-vehicle distance between the i +1 th vehicle and the i-th vehicle is greater than a first distance threshold.
Optionally, the first determining unit 110 is specifically configured to determine whether the relative condition information between the i +1 th vehicle and the i-th vehicle meets a predetermined grouping condition if the number of vehicles joining the to-be-built vehicle group exceeds a numerical lower limit.
Optionally, the calculating unit 140 is specifically configured to calculate a target speed of the vehicle Vm located in the vehicle group Gm according to the current speed of the vehicle Vn when it is determined that the risk of the vehicle between the pair of linked vehicles between the vehicle group Gn and the vehicle group Gm does not exceed the first risk threshold; wherein the Gm is a vehicle group behind the Gn; the Vn is a vehicle in the Gm; vm is a vehicle located behind and adjacent to Vn in the Gm; and calculating the target speed of the rest vehicles in the Gm according to the target speed of the Vm.
Optionally, the determining unit is specifically configured to calculate an estimated speed Vn' of the Vn after a time t according to a current speed and an acceleration of the Vn adjacent to the Vm in Gn; determining the maximum allowable speed Vm 'of the Vm after t based on the first risk threshold and the vn'; determining the target acceleration of Vm according to Vm'; and calculating the target speed of Vm according to the target acceleration.
Further, the calculating unit 140 may be configured to calculate an estimated speed of Vn after the time t, using a formula Vn' ═ Vn + an × t, where Vn is a current speed of Vn; the an is the acceleration of the Vn; if vm ' ═ vn ', the target acceleration am is calculated using am ═ v ' -vm)/t.
Further, the target speed v is calculated using the following formula:
am is not less than amin and not more than amax, vn + an x t-amin x t is not less than vm and not more than vn + an x t-amax x t;
v is less than or equal to min (vm, vr); the vr is the road speed limit; the amin is the minimum acceleration of the Vm; the amax is the maximum acceleration of Vm.
The calculating unit 140 is specifically configured to calculate an estimated speed Vx' of Vx after a time t elapses according to a current speed and a target acceleration of Vx in the vehicle group; determining the maximum target speed Vx 'of a vehicle Vx +1 after the Vx after t based on a second threshold value between vehicles in the same vehicle group and the Vx'; calculating the target acceleration of Vx +1 according to the speed relation; and calculating the target speed of Vx +1 according to the target acceleration.
The calculating unit 140 is further specifically configured to calculate, by using the mobile edge calculation MEC server, the target speed of the vehicle in the vehicle group according to the first risk threshold.
Optionally, the apparatus further comprises:
a first communication unit, which may correspond to a communication interface, configured to receive, by the MEC server, first predetermined information reported by vehicles in a corresponding vehicle group, where the first predetermined information includes: at least one of vehicle motion state information and vehicle attribute parameters;
the calculating unit 140 is specifically configured to calculate driving risks between vehicles according to at least one of the vehicle motion state information and the vehicle attribute parameters.
The device further comprises:
a second communication unit, which may correspond to a communication interface, and which may be configured to interact with a peripheral MEC server with second predetermined information, where the second predetermined information includes: the vehicle group identification comprises vehicle group identification, and first preset information and vehicle identification of at least marginal vehicles in a vehicle group corresponding to the vehicle group identification, wherein the first preset information comprises: at least one of vehicle motion state information and vehicle attribute parameters.
Optionally, the second communication unit is specifically configured to perform at least one of the following: interacting the second preset information with the peripheral MEC server according to a scheduling instruction of the regional server;
according to the position of the vehicle and the coverage range of the MEC server, sending the first preset information of the vehicle beyond the coverage range and the vehicle identification to a peripheral MEC server;
and according to the coverage range of the vehicle group and the MEC server, sending the second preset information of the vehicle group beyond the coverage range to a peripheral MEC server.
As shown in fig. 7, an embodiment of the present invention provides a server, which may be an edge server or other server capable of calculating a target speed, including: a transceiver 210, a memory 220, a processor 230, and a computer program stored on the memory 220 and executed by the processor 230;
the processor 230 is connected to the transceiver 210 and the memory 220, respectively, and configured to execute the target speed calculation method provided by one or more of the foregoing technical solutions by executing the computer program.
In the present embodiment, the transceiver 210 may correspond to various communication interfaces, such as a wired interface or a wireless interface. The wired interface is divided into a cable interface and an optical cable interface, and the wireless interface is divided into various antennas with information transceiving functions.
The memory 220 may include: a storage medium may be used to store various information. The storage medium can be a random access storage medium, a read-only storage medium, a flash memory, a solid state disk or a mechanical hard disk, etc.
The processor 230 may be a central processing unit, a microprocessor, a digital signal processor, an application processor, a programmable array, an application specific integrated circuit, etc., may be connected to the transceiver and the memory through various buses, may be used to control the information transceiving of the transceiver and/or the information reading and writing of the memory, and may implement the target speed calculation method according to one or more of the foregoing technical solutions through the execution of computer executable codes such as a computer program.
In the server provided by the embodiment of the invention, the boundary for dividing the vehicle group is determined through the determination of the edge vehicle, the vehicle group is divided based on the boundary, so that the target speed of the vehicle is calculated based on the vehicle group, and the server has the characteristics of small calculation amount and simple calculation.
The server provided by the present embodiment may be the aforementioned MEC server, for example, the MEC server 1 and/or the MEC server 2 shown in fig. 5.
An embodiment of the present invention provides a computer storage medium, where a computer program is stored, and the computer program is capable of implementing a target speed calculation method provided in one or more of the foregoing technical solutions after being executed.
And the aforementioned computer storage media include: various media capable of storing program codes, such as a removable storage device, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk, may be selected as the non-transitory storage medium.
Several specific examples are provided below in connection with any of the above embodiments:
example 1:
the target speed calculation method of the vehicle provided by the example can be applied to the internet of vehicles. The vehicle networking system adopts V2X and Mobile Edge Computing (MEC technology, to ensure driving safety and improve traffic efficiency). V2X is a general name of V2V (vehicle), V2I (infrastructure), V2N (network) and V2P (peedestrian), and X can be regarded as representing everting, and vehicles communicate with vehicles, road side facilities, networks, pedestrians and the like to exchange information with each other, so that various applications of human-vehicle-road cooperation are realized, and traffic safety and efficiency are improved.
The MEC server may utilize a wireless access network to provide services and cloud computing functions required by telecommunication user network Technology (IT) nearby, thereby creating a telecommunication-level service environment with high performance, low latency, and high bandwidth, accelerating the fast download of various contents, services, and applications in the network, and enabling consumers to enjoy uninterrupted high-quality network experience. In an example, the MEC provides a V2X-based internet of vehicle service functionality.
An MEC server: deployed on an operator base station or other physical location, can access a range of vehicles, providing marginal computing capability.
The regional server: and accessing a plurality of MEC servers to realize the functions of data exchange, service function coordination and the like among the MEC servers. That is, the V2X edge computing nodes communicate with each other, exchanging vehicle information and computed data.
Whether collision risks exist among vehicles can be evaluated by calculating the headway TH.
The headway refers to the time interval between two consecutive vehicle headways passing through a section in a vehicle train running on the same lane. The headway represents the time difference between the front ends of two vehicles passing through the same place, and can be generally calculated by dividing the headway distance between the two vehicles by the speed of the rear vehicle. The headway represents the maximum reaction time that the driver of the rear vehicle has when the front vehicle is braking, and therefore it does not fluctuate with changes in speed.
Under an ideal state, when the headway TH of the vehicle on the road reaches the allowed minimum headway THmin, the vehicle is in a safe state and the road passing efficiency is highest. That is, at this time, the vehicles travel at the same speed v, and the distance between the vehicles is maintained at a safe distance Smin, which is determined by the braking level of the vehicles and the road conditions (i.e., the vehicles do not collide with the preceding vehicles when braking).
The two vehicles Vn and Vm used to calculate the risk can be referred to as a vehicle pair [ Vn, Vm ].
The present example proposes a velocity suggestion method based on Moving Edge Computation (MEC). The method comprises the following steps: and determining a vehicle group calculation boundary to divide the vehicle group, and calculating a recommended travel speed between the vehicle groups based on the divided vehicle groups.
The method is limited by conditions such as calculation complexity, calculation resource expenditure and the like, and the number of vehicles in each vehicle group is limited when the vehicle groups are divided. Let the vehicle group be Gi, the maximum number of vehicles in the group be Nvmax, and the minimum number of vehicles in the group be Nvmin.
The vehicles in a certain area are divided into vehicle groups G ═ { G1, G2, …, Gn }, and Nvmin ≦ n ≦ Nvmax.
Inside the fleet, the risk (characterized by headway or other parameters) between the vehicle pair [ Vn, Vn +1] can be calculated.
The vehicles can interact with each other, and the vehicles can form a vehicle group chain.
The vehicle pairs between the vehicle group Gn and the vehicle group Gm are [ Vn, Vm ], [ Vn +1, Vm +1] …; the vehicle is called as a coupled vehicle between Gn and Gm, Vn +1 … Vm and Vm +1 ….
Finally, the interaction between the vehicle groups is reflected in the interaction of the pair of vehicles constituted by the linked vehicles of the two vehicle groups, that is, the risk between the vehicle groups, that is, the risk between these pairs of vehicles.
The vehicle group division and the interaction between the vehicle groups are shown in fig. 3. The in-loop vehicles may be considered as being divided into a cluster of vehicles with interactions between the clusters.
Therefore, it can be considered that the vehicle risk in the vehicle group and the inter-vehicle group risk calculation method are unified and are both risks of calculating the vehicle to vehicle.
And controlling the inter-vehicle group risk D in a certain area within a threshold DTH, namely, reversely pushing the overall running speed v of the vehicle group. The risk { Dj } between the coupled vehicles between the two vehicle groups is calculated, and the inter-vehicle group risk D ═ max ({ Dj }).
Thus, the suggestion of the overall running speed of a certain vehicle group Gn is obtained.
During calculation, calculating the risk between G1 and G2 by taking a certain vehicle group G1 in the area as a starting point to obtain the suggested speed of G2; the risk between G2, G3 is then calculated, resulting in a suggested speed of G3. And so on. Then, the suggested speed is taken as a control target, and the vehicle speed suggestion in the vehicle group is given.
The vehicle group division method may be adopted as follows.
Before dividing the vehicle group, the vehicle group calculation boundary is determined. The vehicle group calculation boundary means that when the calculation satisfies the condition, the calculation of the current vehicle group boundary is stopped. The pair of vehicles is a connected vehicle of two vehicle groups.
The risk calculation of vehicles in the vehicle group is carried out by taking a road as a constraint and extending along the road direction, and a plurality of boundaries exist. For example, for a road without an entrance, the vehicle group has two boundaries along the road direction.
The details are as follows.
1. Other vehicles in the vehicle pair belong to another determined vehicle group, and Vm belongs to Gm; the risk between the vehicle groups [ Gn, Gm ] at this time can be evaluated by the risk between the pair of coupled vehicles [ Vn, Vm ], [ Vn +1, Vm +1] ….
2. The vehicles exceed the space range R, at the moment, the current vehicle forms a vehicle group Gn, and the nearby vehicles form a vehicle group Gm; the risk between the vehicle groups [ Gn, Gm ] at this time can be evaluated by the risk between the vehicle pairs [ Vn, Vm ], [ Vn +1, Vm +1] ….
3. The calculated number of vehicles Nc > Nvmax; at this time, the vehicle group Gn is completed, the next vehicle group Gm is established, and the risk between the vehicle groups [ Gn, Gm ] can be evaluated by the risk between the pair of vehicles [ Vn, Vm ], [ Vn +1, Vm +1] ….
4. Nvmin is less than or equal to Nvmax, and the risk of the current calculation vehicle pair [ Vi, Vi +1] is less than a threshold DTH. At this time, the establishment of the vehicle group Gn is completed, the establishment of the next vehicle group Gm is continued, and the risk between the vehicle groups [ Gn, Gm ] can be evaluated by the risk between the pair of vehicles [ Vn, Vm ], [ Vn +1, Vm +1] … (at this time, the inter-vehicle group risk is smaller than the threshold DTH).
A constraint on the velocity v is suggested. When the speed v is recommended to meet the risk of the rear vehicle and the front vehicle, effective measures can be taken to eliminate the risk. There are many calculation methods, the simplest being the use of kinematic formulas.
The suggested speed needs to be integrated into the road conditions. The road surface friction coefficient f, the road gradient α, the vehicle condition (such as the tires), etc. directly affect the vehicle maximum acceleration and deceleration. And considering the feeling of the driver during acceleration and deceleration, setting the maximum acceleration as amax and the maximum deceleration as amin.
If there is a risk of collision between the vehicles Vn, Vm, the rear vehicle can avoid the collision by braking. Assuming that two vehicles do one-dimensional linear motion, the speed Vn of the front vehicle is Vn, and the acceleration is an; taking a collision avoidance measure for the rear vehicle Vm, wherein the speed is Vm, and the acceleration is am; the distance between the two vehicles is S.
Suppose that the time t, Vn and Vm do not exactly collide. The front vehicle Vn speed Vn' ═ Vn + an × t; at this point Vm speed Vm ' is vn ' and then am is (vn ' -Vm)/t.
And am is not less than amin and not more than amax, and vn + an x t-amin x t is not less than vm and not more than vn + an x t-amax x t.
At the same time, the suggested speed V is smaller than the road speed limit vr. I.e. v is less than or equal to min (vm, vr).
Thus, the recommended speed v of the vehicle group G in which Vm is located is obtained.
In the vehicle networking system, a vehicle is provided with a communication device, a satellite positioning device, an acceleration measuring device and the like, and by using the devices, the communication of an MEC server and the acquisition of the motion state (position, speed, acceleration, course and the like) of the vehicle can be completed; at the same time, the vehicle stores vehicle parameters and a unique vehicle ID. The motion state of the vehicle, vehicle parameters (vehicle size, vehicle type, friction coefficient of tires, etc.), and vehicle ID are reported to the MEC server periodically.
The MEC server maintains a vehicle database locally. The database stores vehicle Identification (ID), vehicle motion state, and vehicle parameters, and also stores the calculation result, and stores a vehicle group ID corresponding to the vehicle ID.
The MEC servers communicate with each other. And a certain MEC server sends the vehicle IDs of the first and the last vehicles { V } of a certain vehicle group and the corresponding vehicle group IDs to the peripheral MEC servers according to a certain strategy, and the MEC servers store the vehicle IDs and the corresponding vehicle group IDs in a local database.
If a certain vehicle in the vehicles { V } does not belong to any vehicle group, the MEC server sends a message to the MEC server holding the vehicle information, and the information is cleared.
And information transmission between the MEC servers can be uniformly scheduled by the regional servers.
Further, the MEC server database stores information of peripheral MEC servers, the information includes coverage of the MEC server and the peripheral MEC servers, and the information can be updated in real time. And the MEC server judges whether the vehicle crosses the coverage edge of the MEC server or not according to the vehicle position and the coverage range of the MEC server, and if so, information comprising the vehicle ID and the belonging vehicle group ID (the vehicle group ID is null, and represents that the vehicle does not belong to any vehicle group) is sent to one or more MEC servers which the vehicle possibly enters.
Thus, when a vehicle group is established, the MEC server can inquire the information of vehicles which do not access the MEC server. Also, if two vehicle clusters are located at two MEC servers at the time, respectively, a linked vehicle pair can be acquired by this method for subsequent calculation.
In the several embodiments provided in the present application, it should be understood that the disclosed apparatus and method may be implemented in other ways. The above-described device embodiments are merely illustrative, for example, the division of the unit is only a logical functional division, and there may be other division ways in actual implementation, such as: multiple units or components may be combined, or may be integrated into another system, or some features may be omitted, or not implemented. In addition, the coupling, direct coupling or communication connection between the components shown or discussed may be through some interfaces, and the indirect coupling or communication connection between the devices or units may be electrical, mechanical or other forms.
The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, that is, may be located in one place, or may be distributed on a plurality of network units; some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.
In addition, all the functional units in the embodiments of the present invention may be integrated into one processing module, or each unit may be separately used as one unit, or two or more units may be integrated into one unit; the integrated unit can be realized in a form of hardware, or in a form of hardware plus a software functional unit.
Those of ordinary skill in the art will understand that: all or part of the steps for implementing the method embodiments may be implemented by hardware related to program instructions, and the program may be stored in a computer readable storage medium, and when executed, the program performs the steps including the method embodiments.
The above description is only for the specific embodiments of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art can easily conceive of the changes or substitutions within the technical scope of the present invention, and all the changes or substitutions should be covered within the scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the appended claims.
Claims (14)
1. A target velocity calculation method applied to a mobile edge calculation MEC server, the method comprising:
determining whether an (i + 1) th vehicle adjacent to the ith vehicle meets a preset boundary condition, wherein i is a positive integer;
when the (i + 1) th vehicle meets the preset boundary condition, determining that the (i) th vehicle is a boundary for dividing a vehicle group;
dividing a vehicle group based on the boundary, wherein the ith vehicle and the (i + 1) th vehicle belong to different vehicle groups;
calculating a target speed of the vehicles in the vehicle group according to a first risk threshold value between the vehicle group represented by the ith vehicle and the vehicle group represented by the (i + 1) th vehicle, and the method comprises the following steps:
when determining that the vehicle risk between the vehicle group Gn and the vehicle group Gm connected vehicle pair does not exceed the first risk threshold value, calculating the target speed of the vehicle Vm in the Gm according to the current speed of the vehicle Vn; wherein the Gm is a vehicle group behind the Gn; the Vn is a vehicle within the Gn; vm is a vehicle located behind and adjacent to Vn in the Gm;
and calculating the target speed of the rest vehicles in the Gm according to the target speed of the Vm.
2. The method of claim 1, the determining whether an i +1 th vehicle adjacent to the i-th vehicle satisfies a predetermined boundary condition, comprising at least one of:
determining whether the (i + 1) th vehicle has been classified into a constructed vehicle group;
determining whether i +1 is greater than a numerical upper limit;
determining whether a distance between the (i + 1) th vehicle and the 1 st vehicle is greater than a distance threshold;
determining whether relative condition information between the i +1 th vehicle and the i-th vehicle satisfies a predetermined grouping condition.
3. The method of claim 2,
the determining whether the relative condition information between the i +1 th vehicle and the i-th vehicle satisfies a predetermined grouping condition includes at least one of:
determining whether a risk of collision between the (i + 1) th vehicle and the ith vehicle is less than a second risk threshold;
determining whether an inter-vehicle distance between the i +1 th vehicle and the i-th vehicle is greater than a first distance threshold.
4. The method of claim 2,
the determining whether the relative condition information between the i +1 th vehicle and the i-th vehicle satisfies a predetermined grouping condition includes:
and if the number of the vehicles added into the group to be built exceeds the lower numerical limit, determining whether the relative condition information between the (i + 1) th vehicle and the ith vehicle meets a preset grouping condition.
5. The method of claim 1,
calculating a target speed of a vehicle Vm located within a vehicle group Gm upon determining that a vehicle risk between a pair of coupled vehicles within the vehicle group Gm does not exceed the first risk threshold, comprising:
calculating an estimated speed Vn' of the Vn after the time t according to the current speed and the acceleration of the Vn adjacent to the Vm in the Gn;
determining the maximum allowable speed Vm 'of the Vm after t based on the first risk threshold and the vn';
determining the target acceleration of Vm according to Vm';
and calculating the target speed of Vm according to the target acceleration.
6. The method of claim 5,
the step of calculating the estimated speed Vn' of the Vn after the time t according to the current speed and the acceleration of the Vn adjacent to the Vm in the Gn comprises the following steps:
calculating the estimated speed of the Vn after the time t by using a formula Vn' = Vn + an x t, wherein the Vn is the current speed of the Vn; the an is the acceleration of the Vn;
the determining the target acceleration of Vm comprises:
if vm ' = vn ', the target acceleration am is calculated using am = (vn ' -vm)/t.
7. The method of claim 6,
the target speed v is calculated using the following formula:
am is not less than amin and not more than amax, vn + an x t-amax x t is not less than vm and not more than vn + an x t-amin x t;
v is less than or equal to min (vm, vr); the vr is the road speed limit; the amin is the minimum acceleration of the Vm; the amax is the maximum acceleration of Vm.
8. The method according to any one of claims 1 to 4,
the calculating the target speed of the vehicles in the vehicle group according to the first risk threshold value between the vehicle group characterized by the ith vehicle and the vehicle group characterized by the (i + 1) th vehicle by the vehicle separation group comprises:
calculating an estimated speed Vx' of Vx after time t according to the current speed and the target acceleration of the Vx in the vehicle group;
determining the maximum target speed Vx 'of a vehicle Vx +1 after the Vx after t based on a second threshold value between vehicles in the same vehicle group and the Vx';
calculating the target acceleration of Vx +1 according to the speed relation;
and calculating the target speed of Vx +1 according to the target acceleration.
9. The method of claim 1,
the method further comprises the following steps:
the MEC server receives first preset information reported by vehicles in a corresponding vehicle group, wherein the first preset information comprises: at least one of vehicle motion state information and vehicle attribute parameters;
and calculating the driving risk among the vehicles according to at least one of the vehicle motion state information and the vehicle attribute parameters.
10. The method of claim 1,
the method further comprises the following steps:
interacting second predetermined information with a peripheral MEC server, wherein the second predetermined information comprises: the vehicle group identification comprises vehicle group identification, first preset information and vehicle identification of at least marginal vehicles in a vehicle group corresponding to the vehicle group identification, wherein the first preset information comprises: at least one of vehicle motion state information and vehicle attribute parameters.
11. The method of claim 10,
the interaction of the second predetermined information with the peripheral MEC server specifically comprises at least one of the following steps:
interacting the second preset information with the peripheral MEC server according to a scheduling instruction of the regional server;
according to the position of the vehicle and the coverage range of the MEC server, sending the first preset information of the vehicle beyond the coverage range and the vehicle identification to a peripheral MEC server;
and according to the coverage range of the vehicle group and the MEC server, sending the second preset information of the vehicle group beyond the coverage range to a peripheral MEC server.
12. A target speed calculation apparatus applied to an MEC server, the apparatus comprising:
a first determination unit configured to determine whether an i +1 th vehicle adjacent to an i-th vehicle satisfies a predetermined boundary condition, where i is a positive integer;
a second determining unit configured to determine that the i-th vehicle is a boundary dividing a vehicle group when the i + 1-th vehicle satisfies the predetermined boundary condition;
a dividing unit configured to divide a vehicle group based on the boundary, wherein the ith vehicle and the (i + 1) th vehicle belong to different vehicle groups;
the calculating unit is used for calculating the target speed of the vehicles in the vehicle group according to the first risk threshold value between the vehicle group represented by the ith vehicle and the vehicle group represented by the (i + 1) th vehicle, and comprises the following steps:
when determining that the vehicle risk between the vehicle group Gn and the vehicle group Gm connected vehicle pair does not exceed the first risk threshold value, calculating the target speed of the vehicle Vm in the Gm according to the current speed of the vehicle Vn; wherein the Gm is a vehicle group behind the Gn; the Vn is a vehicle within the Gn; vm is a vehicle located behind and adjacent to Vn in the Gm;
and calculating the target speed of the rest vehicles in the Gm according to the target speed of the Vm.
13. An MEC server, comprising: a transceiver, a memory, a processor, and a computer program stored on the memory and executed by the processor;
the processor, connected to the transceiver and the memory respectively, is configured to execute the target speed calculation method provided in any one of claims 1 to 11 by executing the computer program.
14. A computer storage medium storing a computer program which, when executed, is capable of implementing the target speed calculation method provided in any one of claims 1 to 11.
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