CN110782704B - 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 PDF

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CN110782704B
CN110782704B CN201911060676.9A CN201911060676A CN110782704B CN 110782704 B CN110782704 B CN 110782704B CN 201911060676 A CN201911060676 A CN 201911060676A CN 110782704 B CN110782704 B CN 110782704B
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vehicle
main road
ramp
target vehicle
road
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CN110782704A (en
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潘军
石梦凯
郑琪蓉
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Beijing Nebula Internet Technology Co ltd
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Beijing Nebula Internet Technology Co ltd
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    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/16—Anti-collision systems
    • G08G1/161—Decentralised systems, e.g. inter-vehicle communication
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/16—Anti-collision systems
    • G08G1/166—Anti-collision systems for active traffic, e.g. moving vehicles, pedestrians, bikes
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/16—Anti-collision systems
    • G08G1/167—Driving aids for lane monitoring, lane changing, e.g. blind spot detection

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  • General Physics & Mathematics (AREA)
  • Traffic Control Systems (AREA)

Abstract

The embodiment of the invention discloses a traffic guidance method, equipment and a system based on vehicle-road cooperation and a computer storage medium. The traffic guidance method based on the vehicle-road cooperation comprises the following steps: the method comprises the steps of obtaining driving state information of ramp vehicles and main road vehicles in a confluence region, wherein the driving state information comprises vehicle center positions, vehicle speeds and vehicle lengths; predicting whether a target vehicle collides with a main road vehicle in the process of driving from a ramp to the main road based on the driving state information, wherein the target vehicle is one of the ramp vehicles; generating lane change prompt information according to the prediction result, wherein if the prediction result is that the vehicle can collide with the main road vehicle, lane change early warning information is generated, and if the prediction result is that the vehicle cannot collide with the main road vehicle, lane change appropriate information is generated; and prompting the lane change prompting information to the target vehicle.

Description

Traffic guidance method, device and system based on vehicle-road cooperation and storage medium
Technical Field
The invention relates to the technical field of intelligent traffic, in particular to a traffic guidance method, equipment, a system and a computer storage medium based on vehicle-road cooperation.
Background
With the continuous development of electronic equipment, communication technology, new generation internet and other technologies, intelligent transportation, especially a vehicle-road cooperative system, is 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, the confluence area is used as a road section for lane changing from the vehicle on the road to the main road, and the vehicle on the road needs to find a proper time to insert from the front and rear vehicle gaps in the main road so as to successfully and safely complete lane changing. The selection of this timing is a laborious matter for the driver, and if the selection is not good, the following accidents are easy to happen: 1) only the distance between the front vehicle and the rear vehicle is kept, and the rear vehicle is neglected, so that rear-end collision accidents of the rear vehicle are caused; 2) only paying attention to whether the distance between the rear vehicle and the rear vehicle can be changed or not, and neglecting the position of the front vehicle to cause the rear-end collision accident of the front vehicle; 3) the lane change is not completed when the ramp terminal point is reached, so that the lane change is hurried, and the vehicle collides with the main road vehicle; 4) the vehicle rearview mirror has a blind area, and a vehicle behind cannot be seen, so that the lane changing and the vehicle behind collide. The first three accidents occur easily in driving novices or when driving is tired, while the fourth is a common problem.
Disclosure of Invention
In order to solve the above problems, embodiments of the present invention creatively provide a traffic guidance method, device, system and computer 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, the method including: acquiring running state information of ramp vehicles and main road vehicles in a confluence region, wherein the running state information comprises a vehicle center position, a vehicle speed and a vehicle length; predicting whether a target vehicle collides with a main road vehicle in the process of driving from a ramp to the main road based on the driving state information, wherein the target vehicle is one of ramp vehicles; generating lane change prompt information according to the prediction result, wherein if the prediction result is that the vehicle can collide with the main road, lane change early warning information is generated, and if the prediction result is that the vehicle cannot collide with the main road, lane change appropriate information is generated; and prompting lane change prompting information to the target vehicle.
According to a possible implementation manner of the embodiment of the invention, before predicting whether the target vehicle collides with the vehicle on the main road in the process of driving from the ramp to the main road, the method further includes: calculating the distance between the target vehicle and the ramp terminal according to the vehicle center position of the target vehicle; if the distance between the target vehicle and the ramp terminal is less than the preset distance, generating lane change prompt information for deceleration; and prompting lane change prompting information to the target vehicle.
According to one possible implementation manner of the embodiment of the present invention, predicting whether the target vehicle collides with the vehicle on the main road during the process of entering the main road from the ramp includes: and predicting whether the target vehicle collides with the main road vehicle when reaching a convergence point, wherein the convergence point is a position where the ramp and the main road are intersected.
According to one possible implementation manner of the embodiment of the invention, the predicting whether the target vehicle collides with the main road vehicle when reaching the merge point includes: calculating the time of the target vehicle reaching the merge point; traversing the vehicles of the main road from the downstream to the upstream from the merging point, and calculating the time of each vehicle reaching the merging point; determining a suspected colliding vehicle in the main road vehicle, wherein the time of the suspected colliding vehicle reaching the merging point is closest to the time of the target vehicle reaching the merging point; calculating the workshop time distance between the target vehicle and the suspected collision vehicle at the merging point, wherein the workshop time distance is obtained by subtracting the departure time of the first-arriving vehicle from the arrival time of the second-arriving vehicle; and predicting whether the target vehicle collides with the suspected colliding vehicle when reaching the merging point according to the workshop time distance.
According to one possible implementation manner of the embodiment of the present invention, predicting whether the target vehicle collides with the vehicle on the main road during the process of entering the main road from the ramp includes: and predicting whether the target vehicle can potentially collide with the front vehicle and/or the rear vehicle when changing the road from the ramp to the main road.
According to one possible implementation manner of the embodiment of the invention, the predicting whether the target vehicle can potentially collide with the front vehicle and/or the rear vehicle when changing the road from the ramp to the main road comprises: traversing main road vehicles from downstream to upstream from the ramp terminal, determining that a vehicle which is positioned at the downstream of the target vehicle and is closest to the target vehicle is a front vehicle when the target vehicle plans to change lanes, and determining that a vehicle at the upstream of the front vehicle is a rear vehicle; calculating the distance between the target vehicle and the front vehicle, and predicting whether the target vehicle can potentially collide with the front vehicle when changing the road from the ramp to the main road; and if the target vehicle does not have potential collision with the front vehicle when changing the road from the ramp to the main road, further calculating the distance between the target vehicle and the rear vehicle, and predicting whether the target vehicle has potential collision with the rear vehicle when changing the road from the ramp to the main road.
According to one possible implementation manner of the embodiment of the present invention, predicting whether the target vehicle collides with the vehicle on the main road during the process of entering the main road from the ramp includes: determining a ramp section where the target vehicle is located according to the relative positions of the vehicle center position of the target vehicle, the junction point and the ramp terminal point; if the target vehicle is located on a first ramp section, predicting whether the target vehicle collides with a main road vehicle when reaching a junction point, and if the prediction result is that the target vehicle collides with the main road vehicle, determining whether the target vehicle collides with the main road vehicle in the process of driving into the main road from the ramp, wherein the first ramp section is a ramp upstream section ending at the junction point; and if the target vehicle is located on a second ramp section, predicting whether the target vehicle can potentially collide with a front vehicle and/or a rear vehicle when the target vehicle changes the road from the ramp to the main road, and if the prediction result shows that the potential collision can occur, determining whether the target vehicle can collide with the vehicle on the main road in the process of driving the target vehicle into the main road from the ramp, wherein the second ramp section is a section starting from a junction to ending in the middle of the ramp.
According to one possible implementation manner of the embodiment of the invention, the prompting the early warning information to the target vehicle includes: and sending the early warning information to a roadside information prompting device and/or an information prompting device of the vehicle-mounted equipment, and prompting the early warning information to the target vehicle.
According to a second aspect of the embodiments of the present invention, there is provided a traffic guidance apparatus based on vehicle-road cooperation, the apparatus including: the information acquisition unit is used for acquiring the driving state information of the ramp vehicle and the main road vehicle in the confluence area, wherein the driving state information comprises the vehicle center position, the vehicle speed and the vehicle length; the collision risk prediction unit is used for predicting whether a target vehicle collides with a main road vehicle in the process of driving from a ramp to the main road, and the target vehicle is one of ramp vehicles; the lane change prompting information generating unit is used for generating lane change prompting information according to a prediction result, wherein if the prediction result is that the vehicle can collide with the main road, lane change early warning information is generated, and if the prediction result is that the vehicle cannot collide with the main road, lane change appropriate information is generated; and the information prompting unit is used for prompting lane change prompting information to the target vehicle.
According to one possible implementation manner of the embodiment of the present invention, the apparatus further includes: the distance calculation unit is used for calculating the distance between the target vehicle and the ramp terminal according to the vehicle center position of the target vehicle; the lane change prompt information generation unit of the equipment is also used for generating lane change prompt information for deceleration if the distance between the target vehicle and the ramp terminal is less than the preset distance; the information prompting unit of the equipment is also used for prompting lane change prompting information to the target vehicle.
According to a possible implementation manner of the embodiment of the present invention, the collision risk prediction unit is specifically configured to predict whether the target vehicle will collide with the main road vehicle when reaching a merge point, where the merge point is a position where a ramp and the main road intersect.
According to one possible implementation manner of the embodiment of the present invention, the collision risk prediction unit includes: the calculation module is used for calculating the time of the target vehicle reaching the sink point; the calculation module is also used for traversing the vehicles of the main road from the downstream to the upstream from the merging point and calculating the time of each vehicle reaching the merging point; the suspected colliding vehicle determining module is used for determining a suspected colliding vehicle in the main road vehicle, and the time of the suspected colliding vehicle reaching the merging point is closest to the time of the target vehicle reaching the merging point; the calculation module is also used for calculating the workshop time distance between the target vehicle and the suspected collision vehicle at the merging point, wherein the workshop time distance is the time of arrival of the later arrival vehicle minus the time of departure of the earlier arrival vehicle; and the prediction result determining module is used for predicting whether the target vehicle collides with the suspected colliding vehicle when reaching the merging point according to the workshop time distance.
According to one possible implementation manner of the embodiment of the invention, the collision risk prediction unit is specifically configured to predict whether the target vehicle will potentially collide with the front vehicle and/or the rear vehicle when changing the lane from the ramp to the main road.
According to one possible implementation manner of the embodiment of the present invention, the collision risk prediction unit includes: the front and rear vehicle determining module is used for traversing the main road vehicle from the downstream to the upstream from the ramp end point, determining that one vehicle which is positioned at the downstream of the target vehicle and is closest to the target vehicle is a front vehicle when the target vehicle plans to change lanes, and determining that one vehicle at the upstream of the front vehicle is a rear vehicle; the calculation module is used for calculating the distance between the target vehicle and the front vehicle and predicting whether the target vehicle can potentially collide with the front vehicle when changing the road from the ramp to the main road; the calculation module is also used for further calculating the distance between the target vehicle and the rear vehicle if the target vehicle does not have potential collision with the front vehicle when changing the road from the ramp to the main road, and predicting whether the target vehicle has potential collision with the rear vehicle when changing the road from the ramp to the main road.
According to a possible implementation manner of the embodiment of the present invention, the information prompting unit further includes an information sending module, configured to send the warning information to a roadside information prompting device and/or an information prompting device of the vehicle-mounted device, so as to prompt the warning information to the target vehicle.
According to a possible implementation manner of the embodiment of the present invention, the collision risk prediction unit is specifically configured to determine a ramp section where the target vehicle is located according to a vehicle center position of the target vehicle and relative positions of the merge point and the ramp end point; if the target vehicle is located on a first ramp section, predicting whether the target vehicle collides with a main road vehicle when reaching a junction point, and if the prediction result is that the target vehicle collides with the main road vehicle, determining whether the target vehicle collides with the main road vehicle in the process of driving into the main road from the ramp, wherein the first ramp section is a ramp upstream section ending at the junction point; and if the target vehicle is located on a second ramp road section, predicting whether the target vehicle can potentially collide with a front vehicle and/or a rear vehicle when the target vehicle changes the road from the ramp to the main road, and if the prediction result shows that the potential collision can occur, determining whether the target vehicle can collide with the main road vehicle in the process of driving the target vehicle into the main road from the ramp, wherein the second ramp road section is a road section from a junction point to a middle point.
According to a third aspect of the embodiments of the present invention, there is provided a traffic guidance system based on vehicle-road coordination, comprising a processor and a memory, wherein the memory stores therein computer program instructions, and the computer program instructions are executed by the processor for executing the above-described traffic guidance method.
According to a fourth aspect of embodiments of the present invention, there is provided a computer storage medium having stored thereon program instructions for executing the above-described traffic guidance method when executed.
The embodiment of the invention utilizes the road side information acquisition device and/or the vehicle-mounted equipment to acquire the driving state information of the ramp vehicle and the main road vehicle in the confluence area, wherein the driving state information comprises real-time interaction and information sharing of the road side equipment and the vehicle-mounted equipment through various road communication means, and the traffic risk possibly occurring in the process that the vehicles on the ramp drive into the main road from the ramp is pre-warned, so that the ramp vehicle is guided to smoothly complete lane change, and traffic accidents are avoided. The traffic risks which can be handled by the embodiment of the invention comprise: colliding with a main road vehicle when reaching the merge point; when the main road is switched to, collision occurs between the main road and the main road; when the road is changed to the main road, the vehicle collides with the rear vehicle; when approaching the end of the ramp, traffic accidents and the like are caused because of no timely deceleration.
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. Several embodiments of the invention are illustrated by way of example, and not by way of limitation, in the figures of the accompanying drawings and in which:
in the drawings, the same or corresponding reference numerals indicate the same or corresponding parts.
Fig. 1 is a schematic view of an application scenario of a traffic guidance method based on vehicle-road coordination according to an embodiment of the present invention;
fig. 2 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. 3 is a schematic specific flowchart of a traffic guidance method based on vehicle-road coordination according to an embodiment of the present invention applied to a vehicle-mounted device;
fig. 4 is a schematic specific flowchart of a traffic guidance method based on vehicle-road cooperation applied to roadside devices according to an embodiment of the present invention;
fig. 5 is a schematic structural diagram of a traffic guidance device based on vehicle-road coordination according to an 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 technical solution of the present invention is further elaborated below with reference to the drawings and the specific embodiments.
Fig. 1 is a schematic view of an application scenario of a traffic guidance method based on vehicle-road coordination according to an embodiment of the present invention. Referring to fig. 1, the traffic guidance method based on vehicle-road cooperation according to the embodiment of the present invention is mainly applied to a confluence area. The merging area is composed of the ramp 12 on which the target vehicle 11 is located and the main road 13 into which the target vehicle 11 is to enter.
During the change of the target vehicle 11 from the ramp 12 to the main road 13, the merge point 14 is reached first. The merging point 14 is located at the intersection of the ramp 12 and the main road 13, and is also the earliest point where a lane change can be performed. Before the merge point 14, the greatest traffic risk for the ramp vehicles 11 is that they may collide with the host vehicle when reaching the merge point 14. Therefore, the method for predicting whether the target vehicle will collide with the main road vehicle when the target vehicle 11 reaches the merge point 14 can be executed before the target vehicle 11 enters the merge point 14, so as to perform early warning on the target vehicle 11. Further, an information presentation device 15 for presenting to a ramp vehicle to which the vehicle-mounted device is not mounted may be provided at a position upstream of the merge point 14.
When the target vehicle 11 enters the lane-change area through the merge point, the greatest traffic risk is whether a potential collision will occur with a leading and/or trailing vehicle on the main road, as shown by leading and trailing vehicles 16 and 17, during or just after the lane-change. In this section, the method for predicting whether the target vehicle will potentially collide with the front vehicle and/or the rear vehicle when changing lanes from the ramp to the main road according to the embodiment of the present invention may be performed, so as to perform the early warning on the target vehicle 11. Meanwhile, when the distance between the target vehicle 11 and the ramp terminal 18 is less than 10 meters, the method for prompting the target vehicle to decelerate can be implemented, and traffic accidents caused by rush road changing are avoided.
Further, a roadside apparatus 19 that can communicate with the roadside information collection device 20, the vehicle-mounted apparatus mounted on the target vehicle 11, or the roadside information presentation device 15 by means of a communication unit in the vehicle-road cooperation system may be provided on the roadside of the merging area. The device is also provided with a traffic risk prediction module which can execute the traffic guidance method based on vehicle-road cooperation in the embodiment of the invention.
The traffic guidance method based on vehicle-road cooperation in the embodiment of the present invention may be applied to the vehicle-mounted device installed on the target vehicle 11 shown in fig. 1, and may also be applied to the roadside device 19.
When the traffic guidance method based on vehicle-road coordination according to the embodiment of the present invention is applied to the vehicle-mounted device installed on the target vehicle 11 shown in fig. 1, the vehicle-mounted device may obtain the driving state information of the vehicle, and receive the vehicle information of the main road sent by the roadside device 19 through the communication unit of the vehicle-road coordination system; executing a traffic guidance method based on vehicle-road cooperation in the embodiment of the invention; and converting the generated early warning information into characters to be displayed on a display screen of the vehicle-mounted equipment or converting the generated early warning information into sound to be played through a loudspeaker of the vehicle-mounted equipment.
When the traffic guidance method based on vehicle-road coordination according to the embodiment of the present invention is applied to the roadside device 19 shown in fig. 1, the roadside device 19 may receive information acquired by the roadside information acquisition device 20 through a communication unit of the vehicle-road coordination system, and/or receive information sent by a vehicle-mounted device installed on the target vehicle 11 to acquire driving state information of a ramp vehicle and a main road vehicle; executing a traffic guidance method based on vehicle-road cooperation in the embodiment of the invention; the warning information is sent to the roadside information prompting device 15 and/or an information prompting device on an on-board device installed on the target vehicle 11, and the warning information is prompted to the target vehicle 11.
In the scenario shown in fig. 1, different implementation manners of the traffic guidance method based on vehicle-road cooperation according to the embodiment of the present invention may be adopted in different road segments in combination with different advantages of the vehicle-mounted device and the roadside device 19, and the vehicle-mounted device and the roadside device are respectively applied to the vehicle-mounted device and the roadside device 19, so as to implement the combination of the preferred embodiments in the above application scenario.
For example, the ramp 12 may be divided into two sub-segments: a first ramp segment and a second ramp segment. The first ramp segment is a segment starting from the start position of the ramp and ending at the position shown by the merge point 14; the second ramp segment is a segment that begins at a location indicated by the merge point 14 and ends at a location indicated by the ramp end point 18.
On the first ramp road section, the first ramp vehicle at the upstream of the junction point can be selected as the target vehicle, the method for predicting whether the target vehicle collides with the main road vehicle when reaching the junction point is implemented on the road side equipment 19 by applying the traffic guidance method based on the cooperation of the vehicle and the road, and the ramp vehicle with the vehicle-mounted equipment and the ramp vehicle without the vehicle-mounted equipment are taken into consideration by sending the early warning information to the road side information prompting device 15 and/or the information prompting device on the vehicle-mounted equipment installed on the target vehicle 11.
In the second ramp section, if the target vehicle is provided with the vehicle-mounted device, the traffic guidance method based on vehicle-road cooperation can be applied to the vehicle-mounted device, a method for predicting whether the target vehicle can potentially collide with a front vehicle and/or a rear vehicle when changing lanes from the ramp to the main road is executed, and the target vehicle is accurately guided in a way that the vehicle-mounted device of the target vehicle broadcasts early warning information.
Meanwhile, if the target vehicle 11 is equipped with the on-board device, the target vehicle 11 can be prompted to decelerate when the distance between the target vehicle and the ramp end point is less than a predetermined distance, for example, 10 meters, so that the target vehicle 11 is prevented from hurrying at the ramp end point 18 to change lanes, and a traffic accident is avoided.
In the following, a flow of implementing a traffic guidance method based on vehicle-road coordination according to a first aspect of the embodiment of the present invention is described with reference to fig. 2. Referring to fig. 2, the method includes: operation 210, obtaining driving state information of the ramp vehicle and the main road vehicle in the confluence area, wherein the driving state information at least comprises a vehicle center position, a vehicle speed and a vehicle length; operation 220, predicting whether a target vehicle collides with a main road vehicle in a process of driving from a ramp to the main road based on the driving state information, wherein the target vehicle is one of ramp vehicles; operation 230, generating lane change prompting information according to the prediction result, wherein if the prediction result is that the vehicle on the main road will collide, lane change early warning information is generated, and if the prediction result is that the vehicle on the main road will not collide, lane change suitable information is generated; at operation 240, the target vehicle is prompted for lane change prompting information.
In operation 210, the vehicle length refers to a length measured from a front point of the head of the vehicle to a rear point of the tail of the vehicle, and the vehicle center position is a position of a half of the vehicle length from the front point of the head of the vehicle. Of course, the length and position need not be particularly precise and may have an error of less than 10 cm. The vehicle speed here refers to the speed per running of a single vehicle. When the traffic guidance method based on vehicle-road coordination is applied to the vehicle-mounted device, the vehicle-mounted device can obtain the driving state information of the vehicle of the main road through a built-in positioning device or a positioning device connected with the vehicle-mounted device, and obtain the driving state information of the vehicle of the main road in a mode that a communication unit of a vehicle-road coordination system receives information sent by the road-side device. When the traffic guidance method based on vehicle-road cooperation is applied to the road side equipment, the road side equipment mainly receives information sent by the road side information acquisition device in real time through the communication unit of the vehicle-road cooperation system to acquire the driving state information of the ramp vehicle and the main road vehicle. The roadside information acquisition device, such as a camera, a microwave or radar sensor and the like, can acquire images and microwave information of the outermost lane and the ramp of the main road in real time, and then extract driving state information of individual vehicles in the images through the information fusion extraction module. When the embodiment of the invention is applied to road side equipment, the running state information of the ramp vehicle can be obtained by receiving the information sent by the vehicle-mounted equipment installed on the ramp vehicle.
In operation 220, when the traffic guidance method based on vehicle-road coordination according to the embodiment of the present invention is applied to the vehicle-mounted device, the target vehicle is the own vehicle. When the traffic guidance method based on vehicle-road cooperation is applied to road-side equipment, a certain ramp vehicle can be selected as a target vehicle, such as a first ramp vehicle on the upstream of an influx point. Here, the process of the target vehicle entering the main road from the ramp includes: a process that the target vehicle runs at a ramp direction convergence point; starting the process of changing the path from the sink point to the main path; and finishing the process of changing lanes and smoothly driving on the main road for a period of time until the main road leaves the confluence area.
The warning message may be any form of text, image, or sound, in operation 230.
In operation 240, when the traffic guidance method based on vehicle-road coordination according to the embodiment of the present invention is applied to the vehicle-mounted device, the prompting is mainly implemented by an information prompting device, such as a display screen and a microphone, on the vehicle-mounted device. When the traffic guidance method based on vehicle-road cooperation is applied to road-side equipment, the prompt mainly prompts a target vehicle by sending the early warning information to a road-side information prompting device, such as a variable information display screen or a loudspeaker, and/or sending the early warning information to an information prompting device on vehicle-mounted equipment through a communication unit of a vehicle-road cooperation system.
According to a possible implementation manner of the embodiment of the invention, before predicting whether the target vehicle collides with the vehicle on the main road in the process of driving from the ramp to the main road, the method further includes: calculating the distance between the target vehicle and the ramp terminal according to the vehicle center position of the target vehicle; if the distance between the target vehicle and the ramp terminal is less than the preset distance, generating lane change prompt information for deceleration; and prompting lane change prompting information to the target vehicle.
Here, first, the distance of the target vehicle from the ramp end point is calculated based on the target vehicle center position information and the position information of the ramp end point. Once the distance from the target vehicle to the ramp end point is detected to be less than the preset distance, early warning information can be generated, for example, the target vehicle is prompted to slow down and change the ramp in advance when the vehicle approaches the ramp end point. Therefore, the target vehicle can be decelerated in advance to prepare for lane changing in advance, and various traffic accidents caused by rushing lane changing are avoided. The predetermined distance is set in advance, which is an empirical value generally summarized in terms of practical use. In an application of an embodiment of the invention, the predetermined distance is 10 meters according to the setting.
According to one possible implementation manner of the embodiment of the present invention, predicting whether the target vehicle collides with the vehicle on the main road during the process of entering the main road from the ramp includes: and predicting whether the target vehicle collides with the main road vehicle when reaching a convergence point, wherein the convergence point is a position where the ramp and the main road are intersected. As is well known, the merge point is a point of multiple accident, and if the ramp vehicle does not observe the main road vehicle, it is easy to collide with the main road vehicle at this position. At present, in the prior art, for example, a variable information screen on a road side or a vehicle-mounted device usually only simply prompts a main road vehicle and a ramp vehicle to observe a vehicle on the opposite lane at the position, so that collision risks cannot be accurately predicted, a driver can judge the collision risks only by personal experience, and accidents are easily caused by wrong judgment. The traffic guidance method based on the vehicle-road cooperation can utilize the driving state information of the target vehicle and the ramp vehicle, and accurately predict by using various prediction methods based on the modern traffic theory, so that the target vehicle can be assisted to make more accurate judgment. When the prediction result indicates that the collision possibly occurs between the merging point and the main road vehicle, the target vehicle can decelerate and crawl to avoid the possible collision risk. The prediction here may be performed by using a basic inter-vehicle time distance calculation method, or may be performed by using a traffic prediction model established by a machine learning method.
According to one possible implementation manner of the embodiment of the invention, the predicting whether the target vehicle collides with the main road vehicle when reaching the merge point includes: calculating the time of the target vehicle reaching the merge point; traversing the vehicles of the main road from the downstream to the upstream from the merging point, and calculating the time of each vehicle reaching the merging point; determining a suspected colliding vehicle in the main road vehicle, wherein the time of the suspected colliding vehicle reaching the merging point is closest to the time of the target vehicle reaching the merging point; calculating the workshop time distance between the target vehicle and the suspected collision vehicle at the merging point, wherein the workshop time distance is obtained by subtracting the departure time of the first-arriving vehicle from the arrival time of the second-arriving vehicle; and predicting whether the target vehicle collides with the suspected colliding vehicle when reaching the merging point according to the workshop time distance.
In this embodiment, the method of predicting whether the target vehicle will collide with the host vehicle when reaching the merge point is mainly performed by calculating the inter-vehicle time distance between the target vehicle and the vehicle suspected of colliding. The following explains how to implement and realize the method of predicting whether a target vehicle collides with a main road vehicle when reaching a merge point, by taking an application of the traffic guidance method based on vehicle-road cooperation to roadside devices as an example.
Firstly, the roadside device can receive information acquired by the roadside information acquisition device through a communication unit of the vehicle-road cooperation system and/or receive information sent by vehicle-mounted equipment installed on a target vehicle to acquire driving state information of a ramp vehicle and a main road vehicle. The driving state information includes a vehicle center position, a vehicle speed, and a vehicle length. In this embodiment, the first ramp vehicle upstream of the merge point may be selected as the target vehicle.
Next, it is possible to predict whether the target vehicle will collide with the host vehicle when it reaches the merge point in a specific procedure as shown in fig. 3:
step 310, calculating the time of the target vehicle reaching the sink point;
the calculation of the time to reach the entry point TAC is:
Figure BDA0002257849350000111
wherein D is the distance between the vehicle and the convergence point, L is the vehicle length, and V is the current speed of the vehicle. The time of the target vehicle reaching the merge point is assumed to be TAC calculated by the formulax。
Step 320, traversing the vehicles of the main road from the downstream to the upstream from the merging point, and calculating the time of each vehicle reaching the merging point;
time TAC of ith main road vehicle reaching sink pointiMay be obtained using the calculation shown in step 310.
Step 330, determining a suspected colliding vehicle in the main road vehicle, wherein the time of the suspected colliding vehicle reaching the merging point is closest to the time of the target vehicle reaching the merging point;
calculating the TACiMinus TACxThe absolute value of the obtained difference, and the i-th vehicle having the smallest absolute value of the obtained difference is the vehicle suspected of colliding. Assume that the suspected colliding vehicle is the y-th vehicle.
Step 340, calculating the inter-vehicle time distance between the target vehicle and the suspected collision vehicle at the merging point, wherein the inter-vehicle time distance is the time of arrival of the later arrival vehicle minus the time of departure of the earlier arrival vehicle;
according to the time of the target vehicle and the suspected collision vehicle reaching the merge point, the distance between the first arriving vehicle and the later arriving vehicle is determined, and the time interval between the target vehicle and the suspected collision vehicle can be calculated by subtracting the time of the first arriving vehicle from the time of the later arriving vehicle.
The calculation formula of the time TDC leaving the junction point is as follows:
Figure BDA0002257849350000121
assuming that the target vehicle is a rear-arriving vehicle and the suspected collision vehicle is a front-arriving vehicle, the calculation formula of the time-to-vehicle distance GTH is as follows:
GTH＝TACx-TDCy
and step 350, predicting whether the target vehicle collides with the suspected colliding vehicle when reaching the merging point according to the inter-vehicle time distance.
And when the GTH is less than or equal to 0, indicating that collision can occur when the vehicle continues to run at the current speed, and performing lane change early warning.
When the GTH is less than or equal to the time-distance safety threshold value of the workshop, the vehicle is indicated to continuously run at the current speed, and when two vehicles reach a convergence point, the situation is critical, and the lane change early warning is carried out;
when the GTH is greater than the time-to-vehicle safety threshold, no collision occurs.
The inter-vehicle time interval can be a designated empirical value, or can be a safer inter-vehicle time interval calculated according to the current vehicle speeds of the front and rear vehicles by using some calculation methods in modern traffic theory.
Then, the roadside device can generate early warning information according to the prediction result, for example, "the vehicle running at the existing speed may collide with the main road vehicle and please decelerate", and then send the early warning information to the roadside information prompting device and/or an information prompting device on the vehicle-mounted device installed on the target vehicle, so as to prompt the early warning information to the target vehicle.
According to one possible implementation manner of the embodiment of the present invention, predicting whether the target vehicle collides with the vehicle on the main road during the process of entering the main road from the ramp includes: and predicting whether the target vehicle can potentially collide with the front vehicle and/or the rear vehicle when changing the road from the ramp to the main road.
Whether the target vehicle is in potential collision with the front vehicle and/or the rear vehicle when changing the road from the ramp to the main road can be predicted by calculating the distance between the target vehicle and the front vehicle and/or the rear vehicle when changing the road and combining the vehicle speed of the front vehicle and/or the rear vehicle; the driving state information of the vehicle, the front vehicle and the rear vehicle can be directly input through any applicable traffic prediction model, and the traffic prediction model predicts and obtains a prediction result of whether the target vehicle can potentially collide with the front vehicle and/or the rear vehicle when changing the road from the ramp to the main road. When the prediction result is that potential collision with the front vehicle and/or the rear vehicle is possible, the target vehicle is prompted to be not a proper lane changing time at present, and the target vehicle can slow down to wait for the next proper time. Therefore, the potential collision of the target vehicle with the front vehicle and/or the rear vehicle when the target vehicle changes the road from the ramp to the main road due to human judgment errors or a rearview blind area can be avoided.
According to one possible implementation manner of the embodiment of the invention, the predicting whether the target vehicle can potentially collide with the front vehicle and/or the rear vehicle when changing the road from the ramp to the main road comprises: traversing main road vehicles from downstream to upstream from the ramp terminal, determining that a vehicle which is positioned at the downstream of the target vehicle and is closest to the target vehicle is a front vehicle when the target vehicle plans to change lanes, and determining that a vehicle at the upstream of the front vehicle is a rear vehicle; calculating the distance between the target vehicle and the front vehicle, and predicting whether the target vehicle can potentially collide with the front vehicle when changing the road from the ramp to the main road; and if the target vehicle does not have potential collision with the front vehicle when changing the road from the ramp to the main road, further calculating the distance between the target vehicle and the rear vehicle, and predicting whether the target vehicle has potential collision with the rear vehicle when changing the road from the ramp to the main road.
With reference to fig. 4, an application of the traffic guidance method based on vehicle-road coordination according to the embodiment of the present invention to a roadside device is taken as an example to explain how to implement and implement the method for predicting whether a target vehicle will potentially collide with a preceding vehicle and/or a following vehicle when changing lanes from a ramp to a main road.
Firstly, the vehicle-mounted equipment can acquire the running state information of the vehicle, and receive the vehicle information of the main road sent by the road side equipment through a communication unit of the vehicle-road cooperative system;
next, a specific procedure as shown in fig. 4 may be performed to predict whether the target vehicle will potentially collide with the preceding vehicle and/or the following vehicle when changing lanes from the ramp to the main road:
step 4010, determining a front vehicle and a rear vehicle, calculating a distance between the front vehicle and the rear vehicle, and calculating a distance between the front vehicle and the rear vehicle;
traversing main road vehicles from downstream to upstream from the ramp terminal, and determining that one vehicle which is positioned at the downstream and is closest to the target vehicle is a front vehicle when the target vehicle plans to change lanes; and one vehicle upstream of the front vehicle is the rear vehicle.
The distance between the self vehicle and the front vehicle and the distance between the self vehicle and the rear vehicle are calculated, and the distance is calculated mainly according to the vehicle center positions of the self vehicle, the front vehicle and the rear vehicle.
Step 4020, judging whether the distance between the own vehicle and the front vehicle is greater than a safe distance threshold value;
if the distance between the self vehicle and the front vehicle is greater than the safe distance threshold value, the self vehicle should not collide with the front vehicle, and step 4060 is executed; and if the distance between the self vehicle and the front vehicle is smaller than or equal to the safety distance threshold, continuing to the step 4030.
If the vehicle in front of the vehicle x is the vehicle 1, the safe distance threshold calculation formula is:
Figure BDA0002257849350000141
in the formula, L1Is the front vehicle length; l isxIs the x car length of the vehicle; v. of1Is the front vehicle speed; v. ofxIs the vehicle x speed; a is1·maxThe maximum deceleration of the front vehicle; a isx·maxIs the maximum deceleration of the vehicle x. DMMinimum value of
Figure BDA0002257849350000142
To ensure safety.
4030, further judging whether the distance between the self vehicle and the front vehicle is greater than the collision distance; if the distance between the self vehicle and the front vehicle is less than or equal to the collision distance, the potential risk of collision between the self vehicle and the front vehicle exists, and step 4050 is executed; if the distance between the host vehicle and the front yard vehicle is greater than the collision distance, proceed to step 4040.
Wherein the collision distance is
Figure BDA0002257849350000143
Step 4040, further judging whether the speed of the front vehicle is greater than the speed of the self vehicle; if the speed of the front vehicle is greater than the speed of the self vehicle, the self vehicle does not collide with the front vehicle, and step 4060 is executed; if the speed of the vehicle ahead is less than or equal to the speed of the vehicle ahead, there is a potential risk of collision between the vehicle and the vehicle ahead, and step 4050 is executed.
Step 4050, according to the previous steps, it is known that there is a potential risk of collision between the own vehicle and the preceding vehicle, and an early warning message of the risk of collision with the preceding vehicle is prompted, for example, "there is a risk of collision with the preceding vehicle on the main road, please slow down and wait for the next opportunity to merge".
4060, according to the previous steps, it is known that there is no potential risk of collision between the host vehicle and the front vehicle, and it can be further determined whether the distance between the host vehicle and the rear vehicle is greater than a distance safety threshold;
if the distance between the self vehicle and the rear vehicle is greater than the distance safety threshold, the self vehicle should not collide with the rear vehicle, and step 4100 is executed;
if the distance between the vehicle and the rear vehicle is less than or equal to the distance safety threshold, step 4070 is executed.
Wherein, assuming that the rear vehicle of the vehicle x is the vehicle 2, the safe distance threshold value calculation formula is
Figure BDA0002257849350000151
In the formula, L2The rear vehicle length; v. of2Is the rear vehicle speed; a is2·maxThe maximum deceleration of the rear vehicle. DMMinimum value of
Figure BDA0002257849350000152
To ensure safety.
Step 4070, further judging whether the distance between the self vehicle and the rear vehicle is larger than the collision distance; if the distance between the self vehicle and the rear vehicle is less than or equal to the collision distance, the potential risk of collision between the self vehicle and the rear vehicle exists, and step 4090 is executed; if the distance between the host vehicle and the rear vehicle is greater than the collision distance, proceed to step 4080.
Wherein the collision distance is
Figure BDA0002257849350000153
Step 4080, further judging whether the speed of the vehicle is greater than the speed of the rear vehicle; if the speed of the vehicle is higher than the speed of the rear vehicle, the vehicle should not collide with the rear vehicle, and step 4100 is executed; if the speed of the vehicle is less than or equal to the speed of the rear vehicle, there is a potential risk of collision between the vehicle and the rear vehicle, and step 3150 is executed.
Step 4090, according to the previous steps, it can be known that there is a potential risk of collision between the own vehicle and the following vehicle, and generate early warning information, for example, "there is a risk of collision between the own vehicle and the following vehicle on the main road, please slow down and wait for the next opportunity to merge".
Step 4100, according to the previous steps, it is known that there is a merging space between the front vehicle and the rear vehicle, and it is prompted that the own vehicle changes lanes and merges into the main road.
And then, the vehicle-mounted equipment can convert the generated early warning information into characters to be displayed on a display screen of the vehicle-mounted equipment or convert the generated early warning information into sound to be played through a loudspeaker of the vehicle-mounted equipment.
According to one possible implementation manner of the embodiment of the present invention, predicting whether the target vehicle collides with the vehicle on the main road during the process of entering the main road from the ramp includes: determining a ramp section where the target vehicle is located according to the relative positions of the vehicle center position of the target vehicle, the junction point and the ramp terminal point; if the target vehicle is located on a first ramp section, predicting whether the target vehicle collides with a main road vehicle when reaching a junction point, and if the prediction result is that the target vehicle collides with the main road vehicle, determining whether the target vehicle collides with the main road vehicle in the process of driving into the main road from the ramp, wherein the first ramp section is a ramp upstream section ending at the junction point; and if the target vehicle is located on a second ramp road section, predicting whether the target vehicle can potentially collide with a front vehicle and/or a rear vehicle when the target vehicle changes the road from the ramp to the main road, and if the prediction result shows that the potential collision can occur, determining whether the target vehicle can collide with the main road vehicle in the process of driving the target vehicle into the main road from the ramp, wherein the second ramp road section is a road section from a junction point to a middle point.
In the embodiment, different collision risk prediction methods are adopted in different road sections of the same confluence area to be combined to obtain better effect. And this embodiment may be applied to roadside apparatuses in their entirety; the system can also be applied to vehicle-mounted equipment; in the case of a combination of the method for predicting whether the target vehicle will collide with the vehicle on the main road when the target vehicle reaches the merge point, for example, the method for predicting whether the target vehicle will potentially collide with the vehicle on the main road when the target vehicle changes lanes from the ramp to the main road may be applied to the road-side device on the first gateway section, and the method for predicting whether the target vehicle will potentially collide with the preceding vehicle and/or the following vehicle when the target vehicle changes lanes from the ramp to the main road may be applied to the vehicle-mounted device on the second gateway.
According to one possible implementation manner of the embodiment of the invention, the prompting the early warning information to the target vehicle includes: and sending the early warning information to a roadside information prompting device and/or an information prompting device of the vehicle-mounted equipment, and prompting the early warning information to the target vehicle.
When the traffic guidance method based on vehicle-road cooperation is applied to road-side equipment in the embodiment of the invention, the early warning information is sent to the road-side information prompting device and/or the information prompting device of the vehicle-mounted equipment by using a wired or wireless communication means through a communication unit based on a vehicle-road cooperation system, so that the aim of prompting a target vehicle is fulfilled. The mode of sending to the vehicle-mounted device is mainly a mode of communication broadcasting. This embodiment can be compatible with a general vehicle not equipped with an in-vehicle device.
Further, based on the traffic guidance method based on vehicle-road cooperation, the embodiment of the invention also provides traffic guidance equipment. As shown in fig. 5, the apparatus 50 includes: the information acquisition unit 501 is configured to acquire driving state information of a ramp vehicle and a main road vehicle in a confluence region, where the driving state information includes a vehicle center position, a vehicle speed, and a vehicle length; a collision risk prediction unit 502, configured to predict whether a target vehicle collides with a main road vehicle in a process of entering the main road from a ramp, where the target vehicle is one of ramp vehicles; a lane change prompting information generating unit 503, configured to generate lane change prompting information according to the prediction result, where if the prediction result is that a collision with a main road vehicle will occur, lane change early warning information is generated, and if the prediction result is that a collision with a main road vehicle will not occur, lane change suitable information is generated; an information presentation unit 504, configured to present lane change presentation information to the target vehicle.
According to one possible implementation manner of the embodiment of the present invention, the apparatus further includes: the distance calculation unit is used for calculating the distance between the target vehicle and the ramp terminal according to the vehicle center position of the target vehicle; the lane change prompt information generation unit of the equipment is also used for generating lane change prompt information for deceleration if the distance between the target vehicle and the ramp terminal is less than the preset distance; the information prompting unit of the equipment is also used for prompting lane change prompting information to the target vehicle.
According to a possible implementation manner of the embodiment of the present invention, the collision risk prediction unit 502 is specifically configured to predict whether the target vehicle will collide with the main road vehicle when reaching a merge point, where the merge point is a position where a ramp and the main road intersect.
According to a possible implementation manner of the embodiment of the present invention, the collision risk prediction unit 502 includes: the calculation module is used for calculating the time of the target vehicle reaching the sink point; the calculation module is also used for traversing the vehicles of the main road from the downstream to the upstream from the merging point and calculating the time of each vehicle reaching the merging point; the suspected colliding vehicle determining module is used for determining a suspected colliding vehicle in the main road vehicle, and the time of the suspected colliding vehicle reaching the merging point is closest to the time of the target vehicle reaching the merging point; the calculation module is also used for calculating the workshop time distance between the target vehicle and the suspected collision vehicle at the merging point, wherein the workshop time distance is the time of arrival of the later arrival vehicle minus the time of departure of the earlier arrival vehicle; and the prediction result determining module is used for predicting whether the target vehicle collides with the suspected colliding vehicle when reaching the merging point according to the workshop time distance.
According to one possible implementation manner of the embodiment of the present invention, the collision risk prediction unit 502 is specifically configured to predict whether the target vehicle will potentially collide with the front vehicle and/or the rear vehicle when changing the lane from the ramp to the main road.
According to a possible implementation manner of the embodiment of the present invention, the collision risk prediction unit 502 includes: the front and rear vehicle determining module is used for traversing the main road vehicle from the downstream to the upstream from the ramp end point, determining that one vehicle which is positioned at the downstream of the target vehicle and is closest to the target vehicle is a front vehicle when the target vehicle plans to change lanes, and determining that one vehicle at the upstream of the front vehicle is a rear vehicle; the calculation module is used for calculating the distance between the target vehicle and the front vehicle and predicting whether the target vehicle can potentially collide with the front vehicle when changing the road from the ramp to the main road; the calculation module is also used for further calculating the distance between the target vehicle and the rear vehicle if the target vehicle does not have potential collision with the front vehicle when changing the road from the ramp to the main road, and predicting whether the target vehicle has potential collision with the rear vehicle when changing the road from the ramp to the main road.
According to a possible implementation manner of the embodiment of the present invention, the information prompting unit 504 further includes an information sending module, configured to send the warning information to a roadside information prompting device and/or an information prompting device of an on-board device, so as to prompt the warning information to a target vehicle.
According to a possible implementation manner of the embodiment of the present invention, the collision risk prediction unit 502 is specifically configured to determine a ramp section where the target vehicle is located according to a vehicle center position of the target vehicle and relative positions of the merge point and the ramp end point; if the target vehicle is located on a first ramp section, predicting whether the target vehicle collides with a main road vehicle when reaching a junction point, and if the prediction result is that the target vehicle collides with the main road vehicle, determining whether the target vehicle collides with the main road vehicle in the process of driving into the main road from the ramp, wherein the first ramp section is a ramp upstream section ending at the junction point; and if the target vehicle is located on a second ramp road section, predicting whether the target vehicle can potentially collide with a front vehicle and/or a rear vehicle when the target vehicle changes the road from the ramp to the main road, and if the prediction result shows that the potential collision can occur, determining whether the target vehicle can collide with the main road vehicle in the process of driving the target vehicle into the main road from the ramp, wherein the second ramp road section is a road section from a junction point to a middle point.
According to a third aspect of the embodiments of the present invention, there is provided a traffic guidance system based on vehicle-road coordination, comprising a processor and a memory, wherein the memory stores therein computer program instructions, and the computer program instructions are executed by the processor for executing the above-described traffic guidance method.
According to a fourth aspect of embodiments of the present invention, there is provided a computer storage medium having stored thereon program instructions for executing the above-described traffic guidance method when executed.
Also, here it is to be noted that: the above descriptions of the traffic guidance device embodiment, the traffic guidance system embodiment, and the computer storage medium embodiment for implementing the traffic guidance method based on vehicle-road coordination are similar to the descriptions of the foregoing method embodiments, and have similar beneficial effects to the method embodiments, and therefore are not repeated. For technical details that are not disclosed in the description of the embodiment of the traffic guidance device, the embodiment of the traffic guidance system, and the embodiment of the computer storage medium for executing the traffic guidance method based on vehicle-road coordination according to the present invention, please refer to the description of the embodiment of the method of the present invention for understanding, and therefore, will not be described again for brevity.
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 capable of storing program codes, such as a removable storage medium, a Read Only Memory (ROM), a magnetic disk, and 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 causing a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the methods described in the embodiments of the present invention. And the aforementioned storage medium includes: a removable storage medium, a ROM, a magnetic disk, an optical disk, or the like, which can store the program code.
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 (8)

1. A traffic guidance method based on vehicle-road coordination is characterized by comprising the following steps:
the method comprises the steps of obtaining driving state information of ramp vehicles and main road vehicles in a confluence region, wherein the driving state information comprises vehicle center positions, vehicle speeds and vehicle lengths;
predicting whether a target vehicle collides with a main road vehicle in the process of driving from a ramp to the main road based on the driving state information, wherein the target vehicle is one of the ramp vehicles, and the predicting whether the target vehicle collides with the main road vehicle in the process of driving from the ramp to the main road comprises the following steps:
calculating the time of the target vehicle reaching the joining point, wherein the calculation formula of the time of the target vehicle reaching the joining point TAC is as follows:
Figure FDA0002767650730000011
wherein D is the distance between the vehicle and the convergence point, L is the vehicle length, and V is the current speed of the vehicle;
traversing the vehicles of the main road from the downstream to the upstream from the merging point, and calculating the time of each vehicle reaching the merging point;
determining a suspected colliding vehicle in the master road vehicle, the time of the suspected colliding vehicle reaching the merge point being closest to the time of the target vehicle reaching the merge point;
calculating a vehicle-to-vehicle time distance between the target vehicle and the suspected collision vehicle at an influx point, wherein the vehicle-to-vehicle time distance is obtained by subtracting a departure time of a first-arriving vehicle y from an arrival time of a later-arriving vehicle x, and the departure time TDC is calculated by the following formula:
Figure FDA0002767650730000012
the calculation formula of the time distance between the workshops GTH is as follows:
GTH＝TACx-TDCy；
predicting whether the target vehicle collides with the suspected colliding vehicle when reaching a merging point according to the workshop time distance;
generating lane change prompt information according to the prediction result, wherein if the prediction result is that the vehicle can collide with the main road vehicle, lane change early warning information is generated, and if the prediction result is that the vehicle cannot collide with the main road vehicle, lane change appropriate information is generated;
and prompting the lane change prompting information to the target vehicle.
2. The method according to claim 1, wherein before predicting whether the target vehicle will collide with the host road vehicle in the course of driving from the ramp to the host road, the method further comprises:
calculating the distance between the target vehicle and the ramp terminal according to the vehicle center position of the target vehicle;
if the distance between the target vehicle and the ramp terminal is less than the preset distance, generating a lane change prompt message for deceleration;
and prompting the lane change prompting information to the target vehicle.
3. The method according to claim 1 or 2, wherein the prompting the lane change prompting information to the target vehicle comprises:
and sending the early warning information to a roadside information prompting device and/or an information prompting device of vehicle-mounted equipment, and prompting the early warning information to the target vehicle.
4. A traffic guidance method based on vehicle-road coordination is characterized by comprising the following steps:
the method comprises the steps of obtaining driving state information of ramp vehicles and main road vehicles in a confluence region, wherein the driving state information comprises vehicle center positions, vehicle speeds and vehicle lengths;
predicting whether a target vehicle collides with a main road vehicle in the process of driving from a ramp to the main road based on the driving state information, wherein the target vehicle is one of the ramp vehicles, and the predicting whether the target vehicle collides with the main road vehicle in the process of driving from the ramp to the main road comprises the following steps:
traversing the main road vehicle from downstream to upstream from the ramp terminal, determining that a vehicle which is positioned at the downstream of the target vehicle and is closest to the target vehicle when the target vehicle plans to change lanes is a front vehicle, and determining that a vehicle at the upstream of the front vehicle is a rear vehicle;
calculating the distance between the target vehicle and the front vehicle, and predicting whether the target vehicle will potentially collide with the front vehicle when changing the road from the ramp to the main road according to a safety threshold, wherein if the front vehicle of the vehicle x is the vehicle 1, the safety distance threshold calculation formula is as follows:
Figure FDA0002767650730000031
in the formula, L1Is the front vehicle length; l isxIs the x car length of the vehicle; v. of1Is the front vehicle speed; v. ofxIs the vehicle x speed; a is1·maxThe maximum deceleration of the front vehicle; a isx·maxIs the vehicle x maximum deceleration;
if the target vehicle does not have potential collision with the front vehicle when changing the road from the ramp to the main road, further calculating the distance between the target vehicle and the rear vehicle, and predicting whether the target vehicle has potential collision with the rear vehicle when changing the road from the ramp to the main road according to a safety threshold;
generating lane change prompt information according to the prediction result, wherein if the prediction result is that the vehicle can collide with the main road vehicle, lane change early warning information is generated, and if the prediction result is that the vehicle cannot collide with the main road vehicle, lane change appropriate information is generated;
and prompting the lane change prompting information to the target vehicle.
5. A traffic guidance apparatus based on vehicle-road coordination, characterized in that the apparatus comprises:
the information acquisition unit is used for acquiring the driving state information of the ramp vehicle and the main road vehicle in the confluence area, wherein the driving state information comprises the center position of the vehicle, the speed of the vehicle and the length of the vehicle;
a collision risk prediction unit configured to predict whether a target vehicle collides with a main road vehicle during a process of entering the main road from a ramp, wherein the target vehicle is one of the ramp vehicles, and the prediction unit is configured to predict whether the target vehicle collides with the main road vehicle during a process of entering the main road from the ramp, and includes:
calculating the time of the target vehicle reaching the joining point, wherein the calculation formula of the time of the target vehicle reaching the joining point TAC is as follows:
Figure FDA0002767650730000032
wherein D is the distance between the vehicle and the convergence point, L is the vehicle length, and V is the current speed of the vehicle;
traversing the vehicles of the main road from the downstream to the upstream from the merging point, and calculating the time of each vehicle reaching the merging point;
determining a suspected colliding vehicle in the master road vehicle, the time of the suspected colliding vehicle reaching the merge point being closest to the time of the target vehicle reaching the merge point;
calculating a vehicle-to-vehicle time distance between the target vehicle and the suspected collision vehicle at an influx point, wherein the vehicle-to-vehicle time distance is obtained by subtracting a departure time of a first-arriving vehicle y from an arrival time of a later-arriving vehicle x, and the departure time TDC is calculated by the following formula:
Figure FDA0002767650730000041
the calculation formula of the time distance between the workshops GTH is as follows:
GTH＝TACx-TDCy；
predicting whether the target vehicle collides with the suspected colliding vehicle when reaching a merging point according to the workshop time distance;
the lane change prompting information generating unit is used for generating lane change prompting information according to a prediction result, wherein if the prediction result is that the vehicle can collide with the main road, lane change early warning information is generated, and if the prediction result is that the vehicle cannot collide with the main road, lane change proper information is generated;
and the information prompting unit is used for prompting the lane change prompting information to the target vehicle.
6. A traffic guidance apparatus based on vehicle-road coordination, characterized in that the apparatus comprises:
the information acquisition unit is used for acquiring the driving state information of the ramp vehicle and the main road vehicle in the confluence area, wherein the driving state information comprises the center position of the vehicle, the speed of the vehicle and the length of the vehicle;
a collision risk prediction unit configured to predict whether a target vehicle collides with a main road vehicle during a process of entering the main road from a ramp, wherein the target vehicle is one of the ramp vehicles, and the prediction unit is configured to predict whether the target vehicle collides with the main road vehicle during a process of entering the main road from the ramp, and includes:
traversing the main road vehicle from downstream to upstream from the ramp terminal, determining that a vehicle which is positioned at the downstream of the target vehicle and is closest to the target vehicle when the target vehicle plans to change lanes is a front vehicle, and determining that a vehicle at the upstream of the front vehicle is a rear vehicle;
calculating the distance between the target vehicle and the front vehicle, and predicting whether the target vehicle will potentially collide with the front vehicle when changing the road from the ramp to the main road according to a safety threshold, wherein if the front vehicle of the vehicle x is the vehicle 1, the safety distance threshold calculation formula is as follows:
Figure FDA0002767650730000051
in the formula, L1Is the front vehicle length; l isxIs the x car length of the vehicle; v. of1Is the front vehicle speed; v. ofxIs the vehicle x speed; a is1·maxThe maximum deceleration of the front vehicle; a isx·maxIs the vehicle x maximum deceleration;
if the target vehicle does not have potential collision with the front vehicle when changing the road from the ramp to the main road, further calculating the distance between the target vehicle and the rear vehicle, and predicting whether the target vehicle has potential collision with the rear vehicle when changing the road from the ramp to the main road according to a safety threshold;
the lane change prompting information generating unit is used for generating lane change prompting information according to a prediction result, wherein if the prediction result is that the vehicle can collide with the main road, lane change early warning information is generated, and if the prediction result is that the vehicle cannot collide with the main road, lane change proper information is generated;
and the information prompting unit is used for prompting the lane change prompting information to the target vehicle.
7. 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 4 when the computer program instructions are executed by the processor.
8. A computer 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 4.
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