CN110648549A - Traffic guidance method, device and system based on vehicle-road cooperation and storage medium - Google Patents
Traffic guidance method, device and system based on vehicle-road cooperation and storage medium Download PDFInfo
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- CN110648549A CN110648549A CN201910905670.0A CN201910905670A CN110648549A CN 110648549 A CN110648549 A CN 110648549A CN 201910905670 A CN201910905670 A CN 201910905670A CN 110648549 A CN110648549 A CN 110648549A
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- G—PHYSICS
- G08—SIGNALLING
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- G08G1/00—Traffic control systems for road vehicles
- G08G1/09—Arrangements for giving variable traffic instructions
- G08G1/0962—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages
- G08G1/0967—Systems involving transmission of highway information, e.g. weather, speed limits
- G08G1/096766—Systems involving transmission of highway information, e.g. weather, speed limits where the system is characterised by the origin of the information transmission
- G08G1/096783—Systems involving transmission of highway information, e.g. weather, speed limits where the system is characterised by the origin of the information transmission where the origin of the information is a roadside individual element
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- G—PHYSICS
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- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/07—Controlling traffic signals
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- G—PHYSICS
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- G08G—TRAFFIC CONTROL SYSTEMS
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Abstract
The embodiment of the invention discloses a traffic guidance method, equipment, a system and a storage medium based on vehicle-road cooperation. Wherein the method comprises the following steps: by means of a vehicle-road cooperation technology, vehicle information including the positions, speeds, directions and the like of at least two vehicles on a lane change area is acquired in real time through intelligent terminal perception or vehicle-road communication perception of road side equipment; then, determining a lane change guidance scheme with the shortest predicted transit time of each target vehicle according to the vehicle information, wherein the lane change guidance scheme assumes that the corresponding target vehicle changes lanes from a road section in a specified range, and the target vehicle is at least one of at least two vehicles; and finally, prompting the target vehicle to change the road from the road section in the specified range recommended by the corresponding road changing guidance scheme. If the scheme is adopted, the lane change can be completed in a short time, the traffic jam is relieved, the condition that the jam is aggravated because the lane change is concentrated on an improper road section is avoided, and the overall traffic condition of a larger regional range is further improved.
Description
Technical Field
The invention relates to the technical field of intelligent traffic, in particular to a traffic guidance method, traffic guidance equipment, a traffic guidance system and a storage medium based on vehicle-road cooperation.
Background
With the continuous development of electronic devices, communication technologies, new generation internet and other technologies, intelligent transportation, especially a vehicle-road cooperation system, is widely popularized and applied. The vehicle-road cooperative system can realize vehicle-vehicle and vehicle-road dynamic real-time information interaction, and carries out vehicle active safety control and road cooperative management on the basis of full-time space dynamic traffic information acquisition and fusion, thereby having important significance for realizing effective cooperation of human and vehicle roads, ensuring traffic safety and improving traffic efficiency.
On the other hand, it is known that the exit area of a highway is an area with high probability of traffic jam, and often becomes a bottleneck of road traffic. At present, most of traffic guiding methods adopted for solving the problem are used for guiding vehicles in a downstream area to exit from other exits with shorter transit time according to a larger area traffic flow obtained by section detection, and shunting traffic flow pressure, so that the situation that subsequent traffic flows enter an exit road area with congestion and cause more serious congestion is avoided.
However, this traffic guidance method does not take any guidance measures in the exit area where traffic congestion has occurred, and cannot improve the current congestion level in the exit area and shorten the transit time for a vehicle that has been in the exit area to change lanes to an exit ramp.
Disclosure of Invention
In order to solve the above problems, embodiments of the present invention creatively provide a traffic guidance method, device, system and storage medium based on vehicle-road coordination.
According to a first aspect of the embodiments of the present invention, there is provided a traffic guidance method based on vehicle-road cooperation, including: acquiring vehicle information on a lane change area in real time, wherein the vehicle information comprises the positions, speeds and directions of at least two vehicles; determining a lane change guidance scheme with the shortest predicted transit time corresponding to each target vehicle according to the vehicle information, wherein the lane change guidance scheme assumes that the corresponding target vehicle changes lanes from a road section in a specified range, and the target vehicle is at least one of at least two vehicles; and prompting the target vehicle to change the road from the road section in the specified range recommended by the corresponding road changing guidance scheme.
According to one possible implementation manner of the embodiment of the present invention, the obtaining of the vehicle information on the lane change area in real time further includes: the vehicle information on the lane change area is acquired by receiving the vehicle information acquired by the electronic equipment with the sensing device in real time, wherein the electronic equipment with the sensing device comprises vehicle-mounted equipment or road side equipment.
According to one possible implementation manner of the embodiment of the present invention, determining, according to the vehicle information, a lane change guidance scheme that is corresponding to each target vehicle and has the shortest predicted transit time, where the lane change guidance scheme assumes that the corresponding target vehicle changes lanes from a road segment in a specified range, where the target vehicle is at least one of at least two vehicles, includes: acquiring at least two lane change guidance schemes for each target vehicle, wherein the lane change guidance schemes assume that the corresponding target vehicles change lanes from a road section in a specified range; and calculating the predicted passing time of each lane change guidance scheme according to the lane change guidance scheme and the vehicle information, and determining a lane change guidance scheme with the shortest predicted passing time from at least two lane change guidance schemes as the corresponding lane change guidance scheme of the target vehicle.
According to one possible implementation manner of the embodiment of the invention, the calculating of the predicted passing time of each lane change guidance scheme according to the lane change guidance scheme and the vehicle information comprises the following steps: calculating the current local traffic flow by combining a local map according to the vehicle information, wherein the local traffic flow comprises vehicle density, vehicle average speed and vehicle flow; predicting vehicle influx flow and vehicle influx number according to the lane change induction scheme and the current local traffic flow, and calculating to obtain the local traffic flow after lane change; and calculating the predicted passing time of each lane change induction scheme according to the local traffic flow after lane change.
According to one possible implementation manner of the embodiment of the present invention, determining, according to the vehicle information, a lane change guidance scheme that is corresponding to each target vehicle and has the shortest predicted transit time, where the lane change guidance scheme assumes that the corresponding target vehicle changes lanes from a road segment in a specified range, where the target vehicle is at least one of at least two vehicles, includes: and predicting the lane change guidance scheme with the shortest predicted transit time corresponding to each target vehicle through a lane change guidance scheme decision model according to the vehicle information, wherein the lane change guidance scheme assumes that the corresponding target vehicle changes the lane from the road section in the specified range.
According to a possible implementation manner of the embodiment of the present invention, the prompting the target vehicle to change lanes from the road segment in the specified range recommended by the corresponding lane change guidance scheme further includes: and prompting the target vehicle to change the road from the road section in the specified range recommended by the corresponding road changing guidance scheme by sending prompt information to the vehicle-mounted equipment and the road side prompting device.
According to a second aspect of an embodiment of the present invention, an apparatus for performing a traffic guidance method based on vehicle-road coordination, wherein the apparatus includes: the system comprises a vehicle information acquisition unit, a lane changing unit and a lane changing control unit, wherein the vehicle information acquisition unit is used for acquiring vehicle information on a lane changing area in real time, and the vehicle information comprises the positions, speeds and directions of at least two vehicles; the lane change guidance scheme determining unit is used for determining a lane change guidance scheme with the shortest predicted transit time of each target vehicle according to the vehicle information, and the lane change guidance scheme assumes that the corresponding target vehicle changes lanes from a road section in a specified range, wherein the target vehicle is at least one of at least two vehicles; and the information prompting unit is used for prompting the target vehicle to change the road from the road section in the specified range recommended by the corresponding lane change guidance scheme.
According to one possible implementation manner of the embodiment of the present invention, the apparatus further includes: the receiving unit is used for acquiring the vehicle information on the lane change area by receiving the vehicle information acquired by the electronic equipment with the sensing device in real time, and the electronic equipment with the sensing device comprises vehicle-mounted equipment or road side equipment.
According to a possible implementation manner of the embodiment of the present invention, the lane change guidance scheme determining unit of the apparatus includes: the lane change guidance scheme acquisition subunit is used for acquiring at least two lane change guidance schemes for each target vehicle, and the lane change guidance schemes assume that the corresponding target vehicles change lanes from the road section in the specified range; and the calculation subunit is used for calculating the predicted passing time of each lane change guidance scheme according to the lane change guidance schemes and the vehicle information, and determining one lane change guidance scheme with the shortest predicted passing time from at least two lane change guidance schemes as the corresponding lane change guidance scheme of the target vehicle.
According to a possible implementation manner of the embodiment of the present invention, the calculation subunit of the lane change inducement scheme determination unit is further configured to: calculating the current local traffic flow by combining a local map according to the vehicle information, wherein the local traffic flow comprises vehicle density, vehicle average speed and vehicle flow; predicting vehicle influx flow and vehicle influx number according to the lane change induction scheme and the current local traffic flow, and calculating to obtain the local traffic flow after lane change; and calculating the predicted passing time of each lane change induction scheme according to the local traffic flow after lane change.
According to a possible implementation manner of the embodiment of the present invention, the lane change guidance scheme determining unit of the apparatus includes: and the guidance scheme decision model prediction subunit is used for predicting the lane change guidance scheme with the shortest predicted transit time corresponding to each target vehicle through the lane change guidance scheme decision model according to the vehicle information, and the lane change guidance scheme assumes that the corresponding target vehicle changes lanes from the road section in the specified range.
According to one possible implementation manner of the embodiment of the present invention, the apparatus further includes: and the sending unit is used for prompting the target vehicle to change the road from the road section in the specified range recommended by the corresponding road changing guidance scheme by sending the prompting information to the vehicle-mounted equipment and the road side prompting device.
According to a third aspect of the embodiment of the invention, the traffic guidance system based on vehicle-road cooperation comprises a processor and a memory, wherein the memory stores computer program instructions, and the computer program instructions are used for executing the traffic guidance method based on vehicle-road cooperation of the embodiment of the invention when being executed by the processor.
According to a fourth aspect of the embodiments of the present invention, a storage medium stores program instructions thereon, wherein the program instructions are used for executing the traffic guidance method based on vehicle-road cooperation of the embodiments of the present invention when the program instructions are run.
The embodiment of the invention utilizes a vehicle-road cooperation technology, and obtains vehicle information on a lane change area in real time through intelligent terminal perception or vehicle-road communication perception of road side equipment, wherein the vehicle information comprises the positions, speeds, directions and the like of at least two vehicles; then, determining a lane change guidance scheme with the shortest predicted transit time of each target vehicle according to the vehicle information, wherein the lane change guidance scheme assumes that the corresponding target vehicle changes lanes from a road section in a specified range, and the target vehicle is at least one of at least two vehicles; and finally, prompting the target vehicle to change the road from the road section in the specified range recommended by the corresponding road changing guidance scheme. Compared with the large-area average traffic flow acquired in the prior art, the vehicle information in the local area can provide more accurate traffic information, and is helpful for traffic guidance of the exit area where congestion occurs. According to the embodiment of the invention, the lane change is carried out according to the road sections in different lane change areas, namely the road sections within the specified range from the lane change terminal, so that the research results of different influences on the traffic jam degree and the traffic time are generated, a lane change induction scheme with the shortest predicted traffic time is determined during the implementation of the invention, and the target vehicle is prompted to change the lane from the road section recommended by the scheme. The target vehicle can complete lane changing in a short time and is driven out from an exit on the assumption that the target vehicle can change lanes according to the prompt, so that traffic jam is relieved, the situation that the traffic jam is further aggravated due to concentrated lane changing in an unsuitable area is avoided, and the overall traffic condition of a larger area range is improved.
It is to be understood that the teachings of the present invention need not achieve all of the above advantages, but rather that specific embodiments may achieve specific technical effects, and that other embodiments of the present invention may achieve other advantages not mentioned above.
Drawings
The above and other objects, features and advantages of exemplary embodiments of the present invention will become readily apparent from the following detailed description read in conjunction with the accompanying drawings. In the accompanying drawings, several embodiments of the invention are shown by way of illustration and not limitation:
in the drawings, the same or corresponding reference numerals indicate the same or corresponding parts.
Fig. 1 is a schematic flow chart illustrating an implementation of a traffic guidance method based on vehicle-road coordination according to an embodiment of the present invention;
FIG. 2 is a schematic diagram of a lane-change induction scheme according to an embodiment of the present invention;
FIG. 3 is a flow chart illustrating calculation of estimated transit time for lane change inducement schemes according to an exemplary embodiment of the present invention;
fig. 4 is a schematic diagram showing a composition structure of the apparatus according to the embodiment of the present invention.
Detailed Description
The principles and spirit of the present invention will be described with reference to a number of exemplary embodiments. It is understood that these embodiments are given solely for the purpose of enabling those skilled in the art to better understand and to practice the invention, and are not intended to limit the scope of the invention in any way. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the invention to those skilled in the art.
The embodiment of the invention can be applied to the exit area of the expressway, and is particularly suitable for the situation of imminent congestion or congestion already occurring. The inventor researches and researches various factors influencing the congestion degree and the passing time of an exit area of an expressway aiming at the phenomenon that the exit of the expressway is easy to cause traffic congestion. The inventor finds that: for an exit area with large traffic flow and even traffic jam, different road sections are selected for lane changing, so that different extrusion can be generated on the traffic flow of an exit ramp, and different influences can be further generated on the jam degree and the passing time of the area. However, most people do not realize this, and in the absence of corresponding guidance, the vehicle driver often changes the road from the road section far upstream or far downstream according to personal behavior habits, so that a certain area in the exit ramp is easily intensively and severely squeezed, the congestion degree of the exit area is further increased, and the passing time of the individual vehicle is prolonged.
If more accurate vehicle information in the exit area can be acquired, a reasonable lane change guidance scheme is formulated, a scene that vehicles change lanes from different road sections is simulated by a scientific method, a lane change guidance scheme with the shortest predicted transit time is determined, and a user is prompted to change lanes according to a lane change interval recommended by the lane change guidance scheme, so that the congestion degree of the exit area can be effectively improved, and the transit time of individual vehicles is shortened.
Based on the above inventive concept, the inventor creatively provides a traffic guidance method, device, system and storage medium based on vehicle-road cooperation.
The technical solution of the present invention is further elaborated below with reference to the drawings and the specific embodiments.
Fig. 1 is a schematic flow chart illustrating an implementation of a traffic guidance method based on vehicle-road coordination according to an embodiment of the present invention. Referring to fig. 1, a traffic guidance method based on vehicle-road coordination according to an embodiment of the present invention includes: an operation 110 of acquiring vehicle information on a lane change area in real time, the vehicle information including positions, speeds, and directions of at least two vehicles; an operation 120 of determining, according to the vehicle information, a lane change guidance scheme in which the predicted transit time of each target vehicle is the shortest, the lane change guidance scheme assuming that the corresponding target vehicle changes lanes from a road segment in a specified range, wherein the target vehicle is at least one of the at least two vehicles; in operation 130, the target vehicle is prompted to change lanes from the road segments within the specified range recommended by the corresponding lane change inducement scheme.
Wherein, in one example, the vehicle information of operation 110 primarily refers to dynamic information of all individual vehicles on the roadway area, including the location, speed, direction, and the like of each vehicle. In another example, the vehicle information of operation 110 refers to dynamic information of a portion (e.g., X vehicles, X being an integer) of individual vehicles on the lane area. Here, the location refers to the geographic coordinates of the location where the individual vehicle is located; speed refers to the speed per hour of an individual vehicle; the direction refers to a vector generated by the movement of the position of the individual vehicle, i.e. a vector pointing from the point where the previous position was located to the point where the current position was located. Here, the way of acquiring vehicle information on the lane change area in real time is mainly directly acquired through an intelligent sensing device of road side equipment, such as a camera, a sensor, a detector and the like; or the vehicle information acquired by other electronic equipment in real time can be received through the vehicle-road communication sensing device. Here, the collection of the vehicle information contributes to obtaining traffic flow information of which the local area is more accurate, and is a very important information supplement.
In operation 120, the target vehicle is a vehicle to be guided by the traffic guidance method based on vehicle-road coordination according to the embodiment of the present invention, and may be a specific individual vehicle, or all vehicles or a part of vehicles (greater than or equal to two) on the road segment. As a collective concept, "target vehicle" means all individual vehicles to be guided, and may be at least one. The lane change guidance scheme mainly refers to selecting a lane change section in a specified range to recommend to a certain target vehicle, and assuming that the target vehicle can change lanes from the recommended road section. A road change segment is here generally a segment of road where a road change can be made following traffic instructions. To specify this road segment, a method of specifying a distance from the lane change end point, such as "changing the lane at a distance of 50 meters to 100 meters from the lane change end point" is generally used. The lane change guidance scheme determined here is proposed based on the research results of the inventor, and is an important factor capable of influencing the local traffic jam degree and the traffic time, and is also an important basis of traffic guidance decision. The lane change guidance schemes of different target vehicles can be the same or different, and specifically, the prediction results of the lane change guidance schemes are used as the standard.
Prompting each target vehicle to change the lane from the road section in the specified range recommended by the corresponding lane change guidance scheme in operation 130, mainly by means of road side equipment, such as a variable information display screen, a loudspeaker and the like, to directly prompt; or indirectly to the target vehicle by sending information to other devices. Here, the information to be presented may be image or voice, and any information manner capable of accurately indicating the recommended lane change area may be adopted.
According to a possible implementation manner of the embodiment of the present invention, the obtaining of the vehicle information on the lane change area in real time further includes: the vehicle information on the lane change area is acquired by receiving the vehicle information acquired by the electronic equipment with the sensing device in real time, wherein the electronic equipment with the sensing device comprises vehicle-mounted equipment or road side equipment. The vehicle-road cooperation technology is mainly used for carrying out information interaction with other electronic equipment with sensing devices through various communication modes built in road side equipment, a vehicle-road communication sensing device and the like, and receiving vehicle information collected by the equipment in real time.
According to a possible implementation manner of the embodiment of the present invention, determining, according to the vehicle information, a lane change guidance scheme that is corresponding to each target vehicle and has the shortest predicted transit time, where the lane change guidance scheme assumes that the corresponding target vehicle changes lanes from a road segment in a specified range, where the target vehicles are at least one, includes: acquiring at least two lane change guidance schemes for each target vehicle, wherein the lane change guidance schemes assume that the corresponding target vehicles change lanes from a road section in a specified range; and calculating the predicted passing time of each lane change guidance scheme according to the lane change guidance scheme and the vehicle information, and determining a lane change guidance scheme with the shortest predicted passing time from at least two lane change guidance schemes as the corresponding lane change guidance scheme of the target vehicle.
The lane change induction scheme can be a preset fixed scheme according to human experience; the method can also be a variable scheme generated in real time in other modes, such as a lane change induction scheme generated by combining artificial intelligence or an image recognition technology with real-time road conditions. The road segment ranges specified by different lane change inducement schemes may or may not overlap.
When the predicted passing time of each lane change induction scheme is calculated, the predicted passing time can be calculated by using a plurality of formulas and predicted values, or the predicted passing time can be obtained by using a certain prediction model. Here, it should be noted that the difference between the estimated transit times according to the lane change induction schemes varies according to the current congestion level. When the road conditions are good and the traffic flow is small, the expected passing time obtained according to each lane changing induction scheme has no great difference and can pass quickly; when the traffic flow is large due to extreme congestion, the predicted passing time obtained according to each lane change guidance scheme is not greatly different, and the passing time is long. Therefore, when the expected passing time obtained according to each lane change guidance scheme is different, the better time of the embodiment of the invention has larger meaning and better effect when the embodiment of the invention is used for carrying out intervention based on the traffic guidance method of vehicle-road cooperation.
According to a possible implementation manner of the embodiment of the invention, the calculating the predicted passing time of each lane change guidance scheme according to the lane change guidance scheme and the vehicle information comprises the following steps: calculating the current local traffic flow by combining a local map according to the vehicle information, wherein the local traffic flow comprises vehicle density, vehicle average speed and vehicle flow; predicting vehicle influx flow and vehicle influx number according to the lane change induction scheme and the current local traffic flow, and calculating to obtain the local traffic flow after lane change; and calculating the predicted passing time of each lane change induction scheme according to the local traffic flow after lane change. The local map mentioned here may be a preset local static map, or may be a local map obtained in real time by other means, such as real-time image extraction obtained by a sensing device of the road side device.
According to a possible implementation manner of the embodiment of the present invention, determining, according to the vehicle information, a lane change guidance scheme that is corresponding to each target vehicle and has the shortest predicted transit time, where the lane change guidance scheme assumes that the corresponding target vehicle changes lanes from a road segment in a specified range, where the target vehicle is at least one of at least two vehicles, includes: and predicting the lane change guidance scheme with the shortest passing time corresponding to each target vehicle through a lane change guidance scheme decision model according to the vehicle information, wherein the lane change guidance scheme assumes that the corresponding target vehicle changes the lane from the road section in the specified range.
The lane change guidance scheme decision model receives vehicle information of a lane change area as input, and sets a predicted transit time function according to the model, such as f (x), wherein x is a recommended lane change position in the lane change guidance scheme, and x is solved so that the predicted transit time f (x) of the lane change guidance scheme is the shortest. And outputting x, wherein the lane change from the x position is the lane change induction scheme with the shortest lane change time.
Similarly, the lane change induction scheme decision model can also be a better model obtained through training of historical traffic data and based on machine learning. And receiving vehicle information as input, and directly outputting the lane change guidance scheme with the shortest predicted transit time.
According to a possible implementation manner of the embodiment of the present invention, the prompting the target vehicle to change lanes from the road segment in the specified range recommended by the lane change guidance scheme further includes: and prompting the target vehicle to change the road from the road section in the specified range recommended by the corresponding road changing guidance scheme by sending prompt information to the vehicle-mounted equipment and the road side prompting device. Similar to the acquisition of the vehicle information, as an option, the road side device may also perform information interaction with the vehicle-mounted device through a plurality of built-in communication modes, a vehicle-road communication sensing device, and the like by using a vehicle-road cooperation technology. This embodiment may even further provide personalized services, providing lane-change inducement schemes tailored to each individual vehicle for the location of that vehicle. The roadside guidance device here is usually a variable information display screen, and other guidance devices such as a microphone may be used.
An application example of how to determine a lane change guidance scheme with the shortest expected transit time from a plurality of lane change guidance schemes by using the traffic guidance method based on vehicle-road coordination according to the embodiment of the present invention is described in detail with reference to fig. 2 and 3.
As shown in fig. 2, the embodiment of the present invention is applied to an exit section of an expressway, and has a lane change X and an exit ramp Y. The lane change is further divided into a lane change sub-area x0, a lane change sub-area x1, a lane change sub-area x2, a lane change sub-area x3 and a lane change sub-area x4 by combining with a local map. Correspondingly, the exit ramp is further divided into a traffic sub-area y1, a traffic sub-area y2 and a traffic sub-area y 3.
The following are 3 lane change induction schemes obtained in the examples of the present invention:
scheme a: the target vehicles in the recommended lane changing sub-area x4 all change lanes from the lane changing sub-area x 3;
scheme b: the target vehicles in the recommended lane changing sub-area x4 respectively change lanes from the lane changing sub-areas x2 and x 3;
scheme c: the target vehicles at the recommended lane change sub-zone x4 make lane changes from the lane change sub-zones x1, x2, and x3, respectively.
Next, the embodiment of the present invention uses the steps shown in fig. 3 to calculate the predicted transit time after lane change according to the lane change induction scheme:
the current local traffic flow is calculated using the following formula, including vehicle density, vehicle average speed, and vehicle flow:
the section m is a traffic sub-region designated in fig. 2, and may be a lane change sub-region x0, a lane change sub-region x1, a lane change sub-region x2, a lane change sub-region x3, or a lane change sub-region x4, or may be a traveling sub-region y1, a traveling sub-region y2, or a traveling sub-region y 3; smThe vehicle set in the interval m is obtained; smIs SmThe vehicle of (1);
is the average velocity of interval m;
for vehicles smThe speed of (d); kmDensity in interval m; l ismIs the length of interval m; q. q.smThe traffic flow in the interval m. Wherein the vehicles are collected Sm、SmVehicle s inmAnd smSpeed of
The length L of the interval m is obtained by collecting the position, the speed and the direction of the vehicle in the vehicle informationmIt is extracted from the local map.
The density K of each traffic subarea interval m can be calculated by the methodmSum traffic flow qm. In the following description we will use Kx0Representing sub-areas of traffic x0Density, qx0Representing the traffic flow for sub-area x0, and so on.
the vehicle influx for each vehicle sub-area as shown in fig. 2 can be predicted by simple estimation based on a specific lane change induction scheme and the local traffic flow of the adjacent sub-area upstream before the lane change. In the embodiment of the invention, the method shown in table 1 is used for predicting the increased influx traffic of each vehicle sub-area after lane change.
TABLE 1
As can be seen from the above table, the scheme a will converge all traffic into the traffic sub-area y3, which will result in a sharp increase in the density and traffic flow of the area, and thus increase the congestion degree of the area, while the schemes b and c can divert the traffic flow of the traffic sub-area y3, and reduce the density of the area, thereby avoiding further deterioration of the congestion degree.
Next, the traffic flow of each vehicle sub-area after lane change is calculated by using the following formula:
KT＝min(Kmax，max(fk(m，At)，Kn-1))
wherein f isk(m, Δ t) is the predicted density of the interval m after the lane change Δ t is calculated according to the current traffic flow state, KmIs the real-time density of interval m; q. q.sm+1The traffic flow of the interval m +1, wherein the interval m +1 is an upstream road section immediately adjacent to the interval m; q. q.sm-1The traffic flow of the interval m-1, wherein the interval m-1 is a downstream road section immediately adjacent to the interval m; q. q.sm volume of incoming trafficIs the traffic volume that the interval m estimated according to the strategy would have imported. Since the interval m is affected by the downstream traffic flow, fkThe downstream density overflow R (m-1) was added to the calculation of (m, Δ t). KTMaximum interval density not exceeding the maximum density K limited by actual road structuremaxAnd the density of the region does not exceed the larger density of the predicted density of the region and the density of the downstream region. Km' is the predicted actual density for interval m after making the lane change Δ t. v. offIs the free flow velocity;
the average speed of the interval m after lane changing; q's'mThe traffic flow of the section m after lane changing;
and step 330, calculating the predicted passing time of each lane change induction scheme according to the local traffic flow after lane change.
The following formula can be adopted when calculating the predicted passing time after lane change according to the lane change induction scheme f:
wherein M is a set of intervals M corresponding to all the driving sub-areas shown in fig. 2, and does not include the lane change sub-area.
Further, based on the traffic guidance method based on vehicle-road cooperation, the embodiment of the invention also provides equipment. As shown in fig. 4, the apparatus 40 includes: a vehicle information obtaining unit 401, configured to obtain vehicle information on a lane change area in real time, where the vehicle information includes positions, speeds, and directions of at least two vehicles; a lane change guidance scheme determining unit 402, configured to determine, according to the vehicle information, a lane change guidance scheme in which the predicted transit time of each target vehicle is the shortest, where the lane change guidance scheme assumes that the corresponding target vehicle changes lanes from a road segment in a specified range, where the target vehicle is at least one of at least two vehicles; and an information prompting unit 403, configured to prompt the target vehicle to change lanes from the road segment in the specified range recommended by the corresponding lane change guidance scheme.
According to a possible implementation of the embodiment of the present invention, the apparatus 40 further includes: the receiving unit is used for acquiring the vehicle information on the lane change area by receiving the vehicle information acquired by the electronic equipment with the sensing device in real time, and the electronic equipment with the sensing device comprises vehicle-mounted equipment or road side equipment.
According to a possible implementation manner of the embodiment of the present invention, the lane-change inducing scheme determining unit 402 of the apparatus 40 includes: the lane change guidance scheme acquisition subunit is used for acquiring at least two lane change guidance schemes for each target vehicle, and the lane change guidance schemes assume that the corresponding target vehicles change lanes from the road section in the specified range; and the calculation subunit calculates the predicted passing time of each lane change guidance scheme according to the lane change guidance scheme and the vehicle information, and determines a lane change guidance scheme with the shortest predicted passing time from at least two lane change guidance schemes as the lane change guidance scheme of the corresponding target vehicle.
According to a possible implementation manner of the embodiment of the present invention, the calculation subunit of the lane change inducement scheme determination unit 402 is further configured to: calculating the current local traffic flow by combining a local map according to the vehicle information, wherein the local traffic flow comprises vehicle density, vehicle average speed and vehicle flow; predicting vehicle influx flow and vehicle influx number according to the lane change induction scheme and the current local traffic flow, and calculating to obtain the local traffic flow after lane change; and calculating the predicted passing time of each lane change induction scheme according to the local traffic flow after lane change.
According to a possible implementation manner of the embodiment of the present invention, the lane-change inducing scheme determining unit 402 of the apparatus 40 includes: and the guidance scheme decision model prediction subunit is used for predicting the lane change guidance scheme with the shortest predicted transit time corresponding to each target vehicle through the lane change guidance scheme decision model according to the vehicle information, and the lane change guidance scheme assumes that the corresponding target vehicle changes lanes from the road section in the specified range.
According to a possible implementation of the embodiment of the present invention, the apparatus 40 further includes: and the sending unit is used for prompting each target vehicle to change the road from the road section in the specified range recommended by the corresponding road changing guidance scheme by sending prompt information to the vehicle-mounted equipment and the road side prompting device.
The equipment provided by the embodiment of the invention is usually intelligent road side equipment based on a vehicle-road cooperation technology, is provided with an intelligent road side terminal sensing device and a vehicle-road communication sensing function device, can provide a communication means with low delay, high reliability and quick access, and can perform high-precision positioning, thereby becoming a hardware basis of the traffic guidance method based on the vehicle-road cooperation, and further exerting the technical benefits of the traffic guidance method based on the vehicle-road cooperation.
According to a third aspect of the embodiment of the invention, the traffic guidance system based on vehicle-road cooperation comprises a processor and a memory, wherein the memory stores computer program instructions, and the computer program instructions are used for executing the traffic guidance method based on vehicle-road cooperation of the embodiment of the invention when being executed by the processor.
According to a fourth aspect of the embodiments of the present invention, a storage medium stores program instructions thereon, wherein the program instructions are used for executing the traffic guidance method based on vehicle-road cooperation of the embodiments of the present invention when the program instructions are run.
Also, here it is to be noted that: the device embodiment for executing the traffic guidance method based on vehicle-road coordination, the traffic guidance system embodiment based on vehicle-road coordination, and the storage medium embodiment are similar to the foregoing method embodiments, and have similar beneficial effects to the method embodiments, and therefore, no further description is given. For technical details that are not disclosed in the embodiment of the device for executing the traffic guidance method based on vehicle-road coordination, the embodiment of the traffic guidance system based on vehicle-road coordination, and the embodiment of the storage medium of the present invention, please refer to the description of the embodiment of the method of the present invention for understanding, and therefore, for brevity, will not be described again.
It should be noted that, in this document, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other like elements in a process, method, article, or apparatus that comprises the element.
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 a unit is only one logical function 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; can be located in one place or 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 unit, or each unit may be separately regarded 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 realizing the method embodiments can be completed by hardware related to program instructions, the program can be stored in a computer readable storage medium, and the program executes the steps comprising the method embodiments when executed; and the aforementioned storage medium includes: various media that can store program codes, such as a removable Memory device, a Read Only Memory (ROM), a magnetic disk, or an optical disk.
Alternatively, the integrated unit of the present invention may be stored in a computer-readable storage medium if it is implemented in the form of a software functional module and sold or used as a separate product. Based on such understanding, the technical solutions of the embodiments of the present invention may be essentially implemented or a part contributing to the prior art may be embodied in the form of a software product, which is stored in a storage medium and includes several instructions for enabling a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the methods of the embodiments of the present invention. And the aforementioned storage medium includes: a removable storage device, a ROM, a magnetic or optical disk, or other various media that can store program code.
The above description is only an embodiment 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 changes or substitutions within the technical scope of the present invention, and all such changes or substitutions are included in the scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.
Claims (10)
1. A traffic guidance method based on vehicle-road coordination is characterized by comprising the following steps:
acquiring vehicle information on a lane change area in real time, wherein the vehicle information comprises the positions, speeds and directions of at least two vehicles;
determining a lane change guidance scheme with the shortest predicted transit time corresponding to each target vehicle according to the vehicle information, wherein the lane change guidance scheme assumes that the corresponding target vehicle changes lanes from a road section in a specified range, and the target vehicle is at least one of the at least two vehicles;
and prompting the target vehicle to change the road from the road section in the specified range recommended by the corresponding road change guidance scheme.
2. The method of claim 1, wherein the obtaining vehicle information on a lane-change area in real-time further comprises:
the method comprises the steps of obtaining vehicle information on a lane change area by receiving vehicle information collected in real time by electronic equipment with a sensing device, wherein the electronic equipment with the sensing device comprises vehicle-mounted equipment or road side equipment.
3. The method according to claim 1, wherein determining a lane-change inducement scheme with the shortest predicted transit time for each target vehicle according to the vehicle information, the lane-change inducement scheme assuming that the corresponding target vehicle changes lanes from a road segment in a specified range, wherein the target vehicle is at least one of the at least two vehicles, comprises:
acquiring at least two lane change guidance schemes for each target vehicle, wherein the lane change guidance schemes assume that the corresponding target vehicles change lanes from a road section in a specified range;
and calculating the predicted passing time of each lane change guidance scheme according to the lane change guidance scheme and the vehicle information, and determining a lane change guidance scheme with the shortest predicted passing time from the at least two lane change guidance schemes as the lane change guidance scheme of the corresponding target vehicle.
4. The method of claim 3, wherein calculating the predicted transit time for each lane change inducement scenario from the lane change inducement scenario and the vehicle information comprises:
calculating the current local traffic flow by combining a local map according to the vehicle information, wherein the local traffic flow comprises vehicle density, vehicle average speed and vehicle flow;
predicting vehicle influx flow and vehicle influx number according to the lane change induction scheme and the current local traffic flow, and calculating to obtain the local traffic flow after lane change;
and calculating the predicted passing time of each lane change induction scheme according to the local traffic flow after lane change.
5. The method according to claim 1, wherein determining a lane-change inducement scheme with the shortest predicted transit time for each target vehicle according to the vehicle information, the lane-change inducement scheme assuming that the corresponding target vehicle changes lanes from a road segment in a specified range, wherein the target vehicle is at least one of the at least two vehicles, comprises:
and predicting the lane change guidance scheme with the shortest predicted transit time corresponding to each target vehicle through a lane change guidance scheme decision model according to the vehicle information, wherein the lane change guidance scheme assumes that the corresponding target vehicle changes lanes from the road section in the specified range.
6. The method of claim 1, wherein prompting a target vehicle to change lanes from a road segment within a specified range recommended by a corresponding lane change inducement plan further comprises:
and prompting the target vehicle to change the road from the road section in the specified range recommended by the corresponding road changing guidance scheme by sending prompt information to the vehicle-mounted equipment and the road side prompting device.
7. An apparatus, characterized in that the apparatus comprises:
the system comprises a vehicle information acquisition unit, a lane changing unit and a lane changing control unit, wherein the vehicle information acquisition unit is used for acquiring vehicle information on a lane changing area in real time, and the vehicle information comprises the positions, the speeds and the directions of at least two vehicles;
a lane change guidance scheme determining unit, configured to determine, according to the vehicle information, a lane change guidance scheme in which a predicted transit time of each target vehicle is shortest, where the lane change guidance scheme assumes that the corresponding target vehicle changes a lane from a road segment in a specified range, where the target vehicle is at least one of the at least two vehicles;
and the information prompting unit is used for prompting the target vehicle to change the road from the road section in the specified range recommended by the corresponding road change inducing scheme.
8. The apparatus of claim 7, further comprising:
the receiving unit is used for acquiring vehicle information on the lane change area by receiving vehicle information acquired by electronic equipment with a sensing device in real time, and the electronic equipment with the sensing device comprises vehicle-mounted equipment or road side equipment.
9. A traffic guidance system based on vehicle-road coordination, comprising a processor and a memory, wherein the memory has stored therein computer program instructions for executing the traffic guidance method according to any one of claims 1 to 6 when the computer program instructions are executed by the processor.
10. A storage medium on which program instructions are stored, wherein the program instructions are operable when executed to perform a traffic guidance method according to any one of claims 1 to 6.
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