CN110910657B - Intersection right-of-way distribution method and device and electronic equipment - Google Patents
Intersection right-of-way distribution method and device and electronic equipment Download PDFInfo
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- CN110910657B CN110910657B CN201911228072.0A CN201911228072A CN110910657B CN 110910657 B CN110910657 B CN 110910657B CN 201911228072 A CN201911228072 A CN 201911228072A CN 110910657 B CN110910657 B CN 110910657B
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/01—Detecting movement of traffic to be counted or controlled
- G08G1/052—Detecting movement of traffic to be counted or controlled with provision for determining speed or overspeed
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- 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
- G08G1/096708—Systems involving transmission of highway information, e.g. weather, speed limits where the received information might be used to generate an automatic action on the vehicle control
- G08G1/096725—Systems involving transmission of highway information, e.g. weather, speed limits where the received information might be used to generate an automatic action on the vehicle control where the received information generates an automatic action on the vehicle control
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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
- G08G1/166—Anti-collision systems for active traffic, e.g. moving vehicles, pedestrians, bikes
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Abstract
The invention relates to the technical field of unmanned driving, in particular to a method and a device for distributing right of way at a crossing and electronic equipment. The method comprises the following steps: acquiring the driving intention of a first vehicle on a target vehicle and other traffic lanes; wherein the driving intent comprises one of straight, left turn, or right turn; comparing the acquired driving intention with a preset pass priority to determine the pass priority of the first vehicle on the target vehicle and other communication lanes; and distributing the right of way for the target vehicle according to the determined pass priority. By judging the driving intention of the vehicle, the priority level of the priority driving is determined to reduce the transverse collision, and the unmanned vehicle can safely and orderly pass under the condition that no traffic light exists.
Description
Technical Field
The invention relates to the technical field of unmanned driving, in particular to a method and a device for distributing right of way at a crossing and electronic equipment.
Background
In the existing unmanned driving, most of the traffic conditions of intersections with traffic lights are simulated, however, in the actual situation, intersections without traffic lights exist, and under the condition, the unmanned vehicle needs to judge the priority level of vehicle driving in advance to avoid safety accidents. Therefore, how to drive the unmanned vehicle normally at the intersection without the traffic lights to avoid traffic accidents is a problem needing to be considered in the unmanned technology, and also belongs to the difficult problem which needs to be solved urgently in the field.
Disclosure of Invention
In view of this, embodiments of the present invention provide a method and an apparatus for allocating right to pass at an intersection, and an electronic device, so as to solve the problem of safe passing of unmanned vehicles without traffic lights.
According to a first aspect, an embodiment of the present invention provides an intersection right-of-way distribution method, including:
acquiring the driving intention of a first vehicle on a target vehicle and other traffic lanes; wherein the driving intent comprises one of straight, left turn, or right turn;
comparing the acquired driving intention with a preset pass priority to determine the pass priority of the first vehicle on the target vehicle and other communication lanes;
and distributing the right of way for the target vehicle according to the determined pass priority.
The vehicle driving intention is judged, the priority level of vehicle driving is determined, and the occurrence of collision events is reduced through priority sequencing, so that the vehicles can be driven to pass safely and orderly under the condition of no traffic lights.
With reference to the first aspect, in a first implementation manner of the first aspect, the allocating a right of way to the target vehicle according to the determined pass priority includes:
when other vehicles with the same passing priority as the target vehicle exist in the first vehicle on other passing lanes, acquiring first vehicle information of the target vehicle and the other vehicles; wherein the vehicle information includes vehicle speed and vehicle position information;
determining a trajectory intersection of the target vehicle and the other vehicle based on first vehicle information of the target vehicle and the other vehicle;
determining distances between the target and the other vehicles and the track intersection point respectively by using vehicle position information of the target vehicle and the other vehicles;
and assigning right of way to the target vehicle based on the determined distance.
With reference to the first aspect, in a second embodiment of the first aspect, the method further includes:
when the distance between the target vehicle and the track intersection is smaller than the distance between the other vehicle and the track intersection, allocating a priority right of way for the target vehicle;
acquiring the maximum deceleration rates of the target vehicle and the other vehicles;
calculating a safe distance between the target vehicle and the other vehicle using the speeds of the target vehicle and the other vehicle, the maximum deceleration rate; the safe distance is the distance between the target vehicle and the other vehicles after the other vehicles are mapped to the lane where the target vehicle is located in an equidistance mode, the equidistance mapping is a mode that a track intersection is used as a starting point, length information from the intersection to the other vehicles is measured, and then the length information of the intersection to the other vehicles is mapped to the target lane according to the starting point and the measured length information from the intersection to the other vehicles;
and determining the passing time of the other vehicles based on the safe distance.
With reference to the first aspect, in a third implementation manner of the first aspect, the safe distance is calculated by using the following formula:
wherein v isBFor other vehicle driving speeds and vAIs the target vehicle running speed, pBDelay time for other vehicles, bmax,brakeMaximum deceleration rate and a for other vehiclesmax,brakeThe target vehicle driving maximum deceleration rate.
Determining a track intersection point of a target vehicle and the other vehicles by acquiring first vehicle information of the target vehicle and the other vehicles and based on the first vehicle information of the target vehicle and the other vehicles; and determining distances between the target and the other vehicles and the trajectory intersection; therefore, the target vehicle is always in a safe area, the driving safety of the target vehicle is ensured, and the collision is avoided by predicting the intersection point, so that the traffic accident is avoided.
With reference to the first aspect, in a fourth implementation manner of the first aspect, the allocating a right of way to the target vehicle according to the determined pass priority includes:
and when the priority of the target vehicle is higher than that of the first vehicle on other traffic lanes, allocating a priority right of way for the target vehicle.
With reference to the first aspect, in a fifth implementation manner of the first aspect, the allocating a right of way to the target vehicle according to the determined pass priority includes:
when the priority of the target vehicle is higher than that of the first vehicle on other passing lanes, acquiring second vehicle information of the target vehicle and the first vehicle on the other passing lanes; wherein the vehicle information includes vehicle speed, acceleration, and vehicle position information;
determining the relative position relation between the first vehicle and the target vehicle on the other traffic lanes based on the second vehicle information; the relative position relation is the position relation between the first vehicle on the other traffic lanes and the target vehicle after the first vehicle is equidistantly mapped on the lane where the target vehicle is located;
and distributing the right of way for the target vehicle according to the determined position relation.
When other vehicles with the same passing priority as the target vehicle exist in the first vehicles on other passing lanes, the priority is determined by comparing the priority among the vehicles or determining the track intersection point of the target vehicle and the other vehicles through the first vehicle information of the target vehicle and the other vehicles, so that collision generated among the vehicles with the same priority is avoided, and safety accidents are reduced.
With reference to the first aspect, in a sixth implementation manner of the first aspect, the allocating right of way to the target vehicle according to the determined position relationship includes:
when other vehicles with different passing priorities with the target vehicle exist in the first vehicle on other passing lanes, and the passing priority of the target vehicle is higher than that of the other vehicles;
and allocating the right of way for the target vehicle according to the priority of the target right of way.
With reference to the first aspect, in a seventh implementation manner of the first aspect, the method further includes:
performing zone division on the target vehicle, wherein the zone length comprises the speed and the acceleration of the target vehicle and the other vehicles;
determining the area of the other vehicle based on the area division of the target vehicle, wherein the area of the other vehicle is the distance between the other vehicle and the target vehicle after the other vehicle is equidistantly mapped on the lane where the target vehicle is located; wherein the equidistant mapping maps the distance between the track intersection and the vehicle in equal lengths;
and determining the allocation right of way of the target vehicle by using the regional division between the target vehicle and other vehicles.
With reference to the first aspect, in an eighth implementation manner of the first aspect, the determining that the target vehicle allocates right of way by using area division between the target vehicle and other vehicles includes:
and when the other vehicles are in the first area of the target vehicle or the second area of the target vehicle, determining that the target vehicle distributes the right of way.
With reference to the first aspect, in a ninth implementation of the first aspect, the method further includes: assigning, by the target vehicle, a right of way when the other vehicle sends a negotiation request to the target vehicle.
The right of way selection is carried out among the vehicles by utilizing the mode of negotiation request, the priority right of way selection can be carried out when the target vehicle collects the negotiation request, and the driving safety of the vehicle is ensured in an intelligent mode.
With reference to the first aspect, in a tenth embodiment of the first aspect, the first region length and the second region length are:
wherein v isBFor other vehicle speeds, vAIs the target vehicle running speed, pADelay time for target vehicle, bmax,brakeMaximum deceleration for other vehicles, amax,brakeMaximum deceleration rate for the target vehicle, bmin,brakeFor minimum deceleration rate of other vehicles, amin,brakeMinimum deceleration rate for target vehicle running, NABMapping to the forbidden zone length of the target vehicle driving lane for other vehicles.
When the first vehicle on the other traffic lanes has the traffic priority different from that of the target vehicle, if the priority of the target vehicle is higher than that of the first vehicle on the other traffic lanes, the target vehicle has the priority traffic right; or when the first vehicle position on other traffic lanes is mapped to the lane of the target vehicle, and the vehicle position mapping positions on other traffic lanes are in the first area, and/or the second area, right of way distribution can be carried out; the situation that the first vehicle on other passing lanes has different passing priority levels from the target vehicle is judged, so that collision among the vehicles is avoided, and safety accidents are avoided.
According to a second aspect, an embodiment of the present invention provides an intersection right-of-way distribution device, including:
the acquisition module is used for acquiring the driving intention of the first vehicle on the target vehicle and other traffic lanes;
the comparison module is used for comparing the acquired driving intention with a preset pass priority so as to determine the pass priority of the first vehicle on the target vehicle and other communication lanes;
and the determining module is used for distributing the right of way to the target vehicle according to the determined pass priority.
The crossing right-of-way distribution device provided by the invention is matched with a crossing right-of-way distribution method under the condition of using the crossing right-of-way distribution device, so that the safety of the unmanned technology is improved, and the unmanned vehicle can pass through roads in a well-ordered manner under the condition of no traffic command.
According to a third aspect, an embodiment of the present invention provides an electronic device, including:
the device comprises a memory and a processor, wherein the memory and the processor are mutually connected in a communication manner, the memory stores computer instructions, and the processor executes the computer instructions so as to execute any one of the above intersection right-of-way distribution methods.
According to a fourth aspect, the present invention provides a computer-readable storage medium, wherein the computer-readable storage medium stores computer instructions for causing the computer to execute any one of the above-mentioned intersection right-of-way distribution methods.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and other drawings can be obtained by those skilled in the art without creative efforts.
FIG. 1 is a flow chart of a method for assigning right of way at an intersection according to an embodiment of the present invention;
FIG. 2 is a flow chart A of a method for assigning right of way at an intersection according to an embodiment of the present invention;
FIG. 3 is a flow chart B of a method for assigning right of way at an intersection according to an embodiment of the present invention;
FIG. 4 is a flow chart of a method for assigning right of way at an intersection according to an embodiment of the present invention;
FIG. 5 is a flow chart D of a method of assigning right of way at an intersection in accordance with an embodiment of the present invention;
FIG. 6 is a schematic structural diagram of a right-of-way distribution device for intersections according to an embodiment of the present invention;
FIG. 7 is a flow chart of a method of right-of-way allocation at an intersection according to a preferred embodiment of the present invention;
FIGS. 8-9 are schematic diagrams of a preferred right of way assignment between vehicles with different driving intents in accordance with the present invention;
FIG. 10 is a schematic diagram of an electronic device provided in accordance with an alternative embodiment of the invention;
reference numerals
1-an acquisition module; 2-a comparison module; 3-a determination module;
10-vehicle following phase; 20-decision stage; 30-action phase.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
As shown in fig. 1, an embodiment of the present invention provides a method for assigning right of way at an intersection, including:
s1, acquiring the driving intention of the first vehicle on the target vehicle and other traffic lanes; wherein the driving intent comprises one of straight, left turn, or right turn;
the driving intention may be operation information, vehicle driving information, and traffic environment information, which information is provided by a sensor or an imaging device.
S2, comparing the acquired driving intention with a preset passing priority to determine the passing priority of the first vehicle on the target vehicle and other passing lanes;
the acquired driving intention information is compared with a preset priority, for example: the traffic rule passing order can be set, the straight-going behavior has the maximum priority as the first priority level, the left turn is the second priority level, and the right turn is the third priority level. The priority levels are sequentially determined by acquiring the driving intention of the target vehicle on the lane and the driving intention of the first vehicle on the other traffic lanes.
And S3, distributing the right of way for the target vehicle according to the determined pass priority.
Through the determination of the priority levels and the division of the traffic sequence, for example, the vehicles with the first priority level are preferentially passed, then the vehicles with the second priority level are preferentially passed, and then the vehicles with the third priority level are passed, the traffic priority levels are circularly set and executed to carry out the traffic right distribution for the vehicles.
When the unmanned vehicle runs to the intersection, the self running condition and the driving intention of the vehicles at the surrounding intersections are firstly obtained, the obtained information and the preset priority level are judged one by one, and after the judgment is finished, the unmanned vehicle sequentially passes through the intersection according to the priority level.
The vehicle driving intention is judged, the priority level of vehicle driving is determined, and the occurrence of collision events is reduced through priority sequencing, so that the safe and orderly passing of the driving vehicles can be ensured under the condition of no traffic lights.
As shown in fig. 2-3, an embodiment of the present invention provides a method for assigning right of way at an intersection, including:
after the driving intention of the target vehicle and the first vehicle on other traffic lanes is acquired from the sensors and the image devices, the acquired image information, that is, the driving intention is compared with a preset rule, the preset rule is set according to the current traffic rule (for example, the straight running is prior to the left turn), or the preset rule can be a rule added by people, for example: it is specified that 3, 7 lanes have higher priority than 1, 5 lanes among 8 lanes or that priority is given to the vehicle close to the track intersection for two vehicles of the same general priority. Determining the passing priority level of the target vehicle and the first vehicle on other passing lanes:
when there is another vehicle having the same traffic priority as the target vehicle in the head vehicle on the other traffic lane, as shown in fig. 2;
s20, acquiring first vehicle information of the target vehicle and the other vehicles; wherein the vehicle information includes vehicle speed and vehicle position information;
s21, determining track intersection points of the target vehicle and the other vehicles based on the first vehicle information of the target vehicle and the other vehicles;
s22, determining distances between the target and the other vehicles and the track intersection, respectively, using the vehicle position information of the target vehicle and the other vehicles.
And S23, allocating right of way for the target vehicle based on the determined distance.
The method comprises the steps that the driving speed of a first vehicle of a target vehicle and other vehicles and the position relation between the vehicles are obtained through hardware devices (video devices and image/speed sensors), the track intersection points of the target vehicle and other vehicles are estimated through translation, mapping extension and other methods by utilizing the information of the first vehicle at the intersection of the target vehicle and the other vehicles, and distance data between the target vehicle and the other vehicles and the track intersection points can be obtained through estimation by utilizing the position relation and the driving speed. For example, when the speed of the target traveling vehicle and information on its surrounding vehicles (the surrounding vehicle information including speed information and position information) are known, since the surrounding vehicles belong to vehicles on different lanes, it is necessary to perform extended prediction on the traveling locus of the target vehicle and the surrounding vehicles in order to obtain a locus intersection between the vehicles, and after the locus intersection is obtained, it is necessary to take into account the traveling speeds and traveling positions of the target vehicle and the surrounding vehicles and calculate the distance between the vehicles to obtain the distance between the vehicle and the locus intersection.
Specifically, when the distance between the target vehicle and the track intersection is smaller than the distance between the other vehicle and the track intersection, the steps shown in fig. 3 are performed:
s30, acquiring the maximum deceleration rates of the target vehicle and the other vehicles;
s31, calculating the safe distance between the target vehicle and the other vehicles by using the speeds of the target vehicle and the other vehicles and the maximum deceleration rate; the safe distance is the distance between the target vehicle and the other vehicles after the other vehicles are mapped to the lane where the target vehicle is located in an equidistance mode, the equidistance mapping is a mode that a track intersection is used as a starting point, length information from the intersection to the other vehicles is measured, and then the length information of the intersection to the other vehicles is mapped to the target lane according to the starting point and the measured length information from the intersection to the other vehicles;
and S32, determining the passing time of the other vehicles based on the safe distance.
The safety distance is calculated by adopting the following formula:
wherein v isBFor other vehicle driving speeds and vAIs the target vehicle running speed, pBDelay time for other vehicles, bmax,brakeMaximum deceleration rate and a for other vehiclesmax,brakeThe target vehicle driving maximum deceleration rate.
The distance between the intersection point position and the vehicle and the track intersection point is obtained to determine that the vehicles are prevented from colliding at the intersection point, so that the safety of the unmanned vehicles is guaranteed, the vehicles can pass through safely and orderly under the condition of no traffic command, and the occurrence of safety accidents is reduced.
When the priority of the target vehicle is higher than that of the first vehicle on the other traffic lanes, as shown in fig. 4, the method includes:
s40, acquiring second vehicle information of the target vehicle and the first vehicle on the other traffic lanes; wherein the vehicle information includes vehicle speed, acceleration, and vehicle position information;
s41, determining the relative position relation between the first vehicle and the target vehicle on the other traffic lanes based on the second vehicle information; the relative position relation is the position relation between the first vehicle on the other traffic lanes and the target vehicle after the first vehicle is equidistantly mapped on the lane where the target vehicle is located; when the priority of the target vehicle is higher than that of the first vehicle on the other traffic lanes, second vehicle information of the first vehicle on the other traffic lanes needs to be considered, for example: when the target vehicle does not reach the intersection, the first vehicle information on other lanes is considered, the position relation and the speed information between the vehicles are considered through distance mapping, if the first vehicle second vehicle mapping information is located in front of the target vehicle, or the vehicle speed is larger than the target vehicle, the second vehicle has the priority, after the second vehicle is distributed to the priority, the second vehicle directly passes through the intersection, and the priority of the target vehicle needs to be updated.
And S42, distributing the right of way for the target vehicle according to the determined position relation. Also includes; when other vehicles with different passing priorities with the target vehicle exist in the first vehicle on other passing lanes, and the passing priority of the target vehicle is higher than that of the other vehicles;
and allocating the right of way for the target vehicle according to the priority of the target right of way.
And if the passing priority of the target vehicle is higher than that of other vehicles, the passing priority of the target vehicle is the maximum, and the crossing can be executed.
When other vehicles with the same passing priority as the target vehicle exist in the first vehicles on other passing lanes, the priority is determined by comparing the priority among the vehicles or determining the track intersection point of the target vehicle and the other vehicles through the first vehicle information of the target vehicle and the other vehicles, so that collision generated among the vehicles with the same priority is avoided, and safety accidents are reduced.
The embodiment of the invention provides a method for distributing right of way at a crossing, which comprises the following steps in addition to the steps mentioned above, as shown in fig. 5:
s50, performing region division on the target vehicle, wherein the region length comprises the speed and the acceleration of the target vehicle and the other vehicles;
s51, determining the area of the other vehicle based on the area division of the target vehicle, wherein the area of the other vehicle is the distance between the other vehicle and the target vehicle after the other vehicle is equidistantly mapped on the lane where the target vehicle is located; wherein the equidistant mapping maps the distance between the track intersection and the vehicle in equal lengths;
the target vehicle is divided into areas, and the distance between the two vehicles is calculated on a lane where the target vehicle is located, which is obtained by mapping other vehicles at equal intervals. Thereby ensuring the safety of the unmanned vehicle.
S52, determining the distribution right of way of the target vehicle by using the regional division between the target vehicle and other vehicles, comprising the following steps:
and when the other vehicles are in the first area of the target vehicle or the second area of the target vehicle, determining that the target vehicle distributes the right of way.
Assigning, by the target vehicle, a right of way when the other vehicle sends a negotiation request to the target vehicle.
Wherein the first region length and the second region length are:
wherein v isBFor other vehicle speeds, vAIs the target vehicle running speed, pADelay time for target vehicle, bmax,brakeMaximum deceleration for other vehicles, amax,brakeMaximum deceleration rate for the target vehicle, bmin,brakeFor minimum deceleration rate of other vehicles, amin,brakeMinimum deceleration rate for target vehicle running, NABMapping to the forbidden zone length of the target vehicle driving lane for other vehicles.
When the first vehicle on the other traffic lanes has the traffic priority different from that of the target vehicle, if the priority of the target vehicle is higher than that of the first vehicle on the other traffic lanes, the target vehicle has the priority traffic right; or when the first vehicle position on other traffic lanes is mapped to the lane of the target vehicle, and the vehicle position mapping positions on other traffic lanes are in the first area, and/or the second area, right of way distribution can be carried out; the situation that the first vehicle on other passing lanes has different passing priority levels from the target vehicle is judged, so that collision among the vehicles is avoided, and safety accidents are avoided.
The right of way selection is carried out among the vehicles by utilizing the negotiation request mode, the priority right of way selection can be carried out when the target vehicle collects the negotiation request, and the driving safety of the vehicle is ensured in an intelligent mode.
In this embodiment, a device for allocating right of way at a crossing is also provided, and the device is used to implement the above embodiments and preferred embodiments, which have already been described and will not be described again. As used below, the term "module" may be a combination of software and/or hardware that implements a predetermined function. Although the means described in the embodiments below are preferably implemented in software, an implementation in hardware, or a combination of software and hardware is also possible and contemplated.
As shown in fig. 6, an intersection right-of-way distribution device provided in the embodiment of the present invention includes: the system comprises an acquisition module 1, a control module and a display module, wherein the acquisition module is used for acquiring the driving intention of a first vehicle on a target vehicle and other traffic lanes; the comparison module 2 is used for comparing the acquired driving intention with a preset pass priority so as to determine the pass priority of the first vehicle on the target vehicle and other communication lanes; and the determining module 3 is used for distributing the right of way to the target vehicle according to the determined pass priority.
The driving intention is obtained through the obtaining module 1, wherein the driving intention which can be obtained through the obtaining module 1 can be picture information or video information, the obtained data information is sent to the comparison module 2, the comparison module 2 compares, sequences and selects through preset data, whether a vehicle (target) can meet the priority maximum or not is judged, if yes, the module 3 is determined to execute the action, the vehicle passes through a crossing, if not, the vehicle (target) is circularly compared, and the vehicle (target) is obtained when the priority maximum is reached.
The hardware can be realized by acquiring information in a sensor, camera and radar scanning mode, then transmitting the information to the processor/controller for judgment, and then executing the judgment result by the controller/processor so as to ensure the safety of the unmanned vehicle, thereby realizing the normal and orderly traffic in the unmanned vehicle.
The right-of-way assignment device in this embodiment is in the form of a functional unit, where the unit refers to an ASIC circuit, a processor and memory executing one or more software or fixed programs, and/or other devices that can provide the above-described functionality.
Further functional descriptions of the modules are the same as those of the corresponding embodiments, and are not repeated herein.
As shown in fig. 7-9, a preferred embodiment:
when a vehicle is away from an intersection to pass through the intersection, three scenes must be met, and the process can be divided into three stages: a vehicle following phase 10, a decision phase 20, an action phase 30. And further introduces more information interaction mechanisms and sets some clear rules to clarify the distribution of the right of way, such as:
allowing two vehicles to pass through the intersection at the same time;
the position, speed, driving intent of other vehicles may be obtained;
general priority: straight line > left turn > right turn;
for two vehicles with the same general priority, the vehicle close to the track intersection is prioritized;
when other conditions cannot be prioritized, lane 3, 7 is specified to have higher priority than lane 1, 5.
Wherein the running speed of the vehicle can be obtained by a sensor and the driving intention can be obtained by a turn lamp expression of the vehicle. The straight-going, left-turning and right-turning are obtained by the existing intersection rule and the driving habits of people. In order to avoid the deadlock situation, a rule is preset: east-west oriented vehicles are considered to be preferred over north-south oriented vehicles.
In the following stage, the safe following distance between vehicles can be greatly shortened by improving the following model, but for the continuous vehicles with the same driving intention from the same lane, the vehicles form a vehicle team and pass through the intersection as a whole, and the right of way depends on the head of the vehicle team. In accordance with the general priority order defined above, in the decision phase, the seven possibilities of collision, listed previously, are divided into two categories, one being that the two vehicles have the same driving intent (both straight and both left-turning); the other is that the driving intentions of the two vehicles are different. Specifically, how the right of way among vehicles with the same driving intention and different driving intentions are distributed is described; as shown in the figures 7-9 of the drawings,
1. right of way distribution among vehicles with same driving intention
First, it should be noted that the virtual vehicle mapping method is used herein, in which low-priority vehicles are equidistantly mapped to lanes in which high-priority vehicles are located, and for vehicles with the same driving intention, it is also defined that vehicles close to the conflict point are more prioritized in the foregoing assumption. In order to ensure safety, the car B 'is also ensured to have a certain safety distance with the car A, and the distance is Fab _ front, namely the car B' can not enter a forbidden area behind the car A.
The length of the forbidden zone is:
2. right of way distribution among vehicles with different driving intentions
For vehicles with different driving intentions, right of way distribution among them may be somewhat complicated; here, the a vehicle is a straight-ahead vehicle and the B vehicle is a right-turn vehicle, and it should be the a vehicle that gives priority to the initial priority, so the B vehicle is mapped to the lane 7.
Dividing the front of the A car into three areas of a free area, a negotiation area and a forbidden area, and dividing the rear of the A car into two areas of the forbidden area and the free area; the length of the region depends on the speed and acceleration of both carts, where Fab _ front was given before;
although the initial priority is that the vehicle A moves straight more preferentially, the specific vehicle B is required to be considered in which area; if the vehicle B 'is in the free area in front of the vehicle A, the fact that the vehicle A is far behind the vehicle B' is shown, and the vehicle B should obtain the right of way and preferentially pass through the way;
if B' is in the forbidden zone and the free zone behind the vehicle A, the vehicle A still has priority, and the vehicle B should keep a safe distance with the vehicle A;
for the negotiation area, firstly, the vehicle A is certainly the right of way area, but the vehicle B can send a request for passing priority to the vehicle A: if the vehicle A can be rejected, the vehicle A still passes through preferentially; if the vehicle A receives the information, the information indicates that the vehicle A gives way to a negotiation area, the vehicle B preferentially passes through, and the vehicle A keeps following behind the vehicle B' for a certain safe distance;
the negotiation is inspired by the fact that the vehicle behind the target lane in the lane changing has the right of refusing the insertion of the lane changing vehicle, and the right that the vehicle B can be inserted in front of the vehicle A is also given to the vehicle B, so that the traffic efficiency is improved on the premise of ensuring the safety.
The other two lengths are:
an electronic device as shown in fig. 10.
Referring to fig. 10, fig. 10 is a schematic view of an electronic device according to an alternative embodiment of the invention, as shown in fig. 10, an electronic device may include: at least one processor 101, such as a CPU (Central Processing Unit), at least one communication interface 103, memory 104, and at least one communication bus 102. Wherein the communication bus 102 is used for enabling connection communication between these components. The communication interface 102 may include a Display screen (Display) and a Keyboard (Keyboard), and the optional communication interface 103 may also include a standard wired interface and a standard wireless interface. The Memory 104 may be a high-speed RAM (Random Access Memory) or a non-volatile Memory (non-volatile Memory), such as at least one disk Memory. The memory 104 may optionally be at least one memory device located remotely from the processor 101. Wherein the processor 101 may be in connection with the apparatus described in fig. 7, the memory 104 stores an application program, and the processor 101 calls the program code stored in the memory 104 for performing any of the above-mentioned method steps.
The communication bus 102 may be a Peripheral Component Interconnect (PCI) bus or an Extended Industry Standard Architecture (EISA) bus. The communication bus 52 may be divided into an address bus, a data bus, a control bus, and the like. For ease of illustration, only one thick line is shown in FIG. 5, but this is not intended to represent only one bus or type of bus.
The memory 104 may include a volatile memory (RAM), such as a random-access memory (RAM); the memory may also include a non-volatile memory (english: non-volatile memory), such as a flash memory (english: flash memory), a hard disk (english: hard disk drive, abbreviated: HDD) or a solid-state drive (english: SSD); the memory 104 may also comprise a combination of the above types of memory.
The processor 101 may be a Central Processing Unit (CPU), a Network Processor (NP), or a combination of a CPU and an NP.
The processor 101 may further include a hardware chip. The hardware chip may be an application-specific integrated circuit (ASIC), a Programmable Logic Device (PLD), or a combination thereof. The PLD may be a Complex Programmable Logic Device (CPLD), a field-programmable gate array (FPGA), a General Array Logic (GAL), or any combination thereof.
Optionally, the memory 104 is also used to store program instructions. The processor 51 may invoke program instructions to implement the intersection right-of-way assignment method as shown in the embodiments of fig. 1-6 of the present application.
Embodiments of the present invention further provide a non-transitory computer storage medium, where a computer-executable instruction is stored in the computer storage medium, and the computer-executable instruction may execute the verification method based on the computing unit in any of the above method embodiments. The storage medium may be a magnetic Disk, an optical Disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a Flash Memory (Flash Memory), a Hard Disk (Hard Disk Drive, abbreviated as HDD) or a Solid State Drive (SSD), etc.; the storage medium may also comprise a combination of memories of the kind described above.
Although the embodiments of the present invention have been described in conjunction with the accompanying drawings, those skilled in the art may make various modifications and variations without departing from the spirit and scope of the invention, and such modifications and variations fall within the scope defined by the appended claims.
Claims (9)
1. An intersection right-of-way distribution method is characterized by comprising the following steps:
acquiring the driving intention of a first vehicle on a target vehicle and other traffic lanes; wherein the driving intent comprises one of straight, left turn, or right turn;
comparing the acquired driving intention with a preset pass priority to determine the pass priority of the first vehicle on the target vehicle and other communication lanes;
distributing the right of way for the target vehicle according to the determined pass priority, comprising the following steps:
when other vehicles with the same passing priority as the target vehicle exist in the first vehicle on other passing lanes, acquiring first vehicle information of the target vehicle and the other vehicles; the vehicle information comprises vehicle speed and vehicle position information; determining a trajectory intersection of the target vehicle and the other vehicle based on first vehicle information of the target vehicle and the other vehicle; determining distances between the target and the other vehicles and the track intersection point respectively by using vehicle position information of the target vehicle and the other vehicles; assigning a right of way to the target vehicle based on the determined distance;
wherein, when the distance between the target vehicle and the track intersection is smaller than the distance between the other vehicle and the track intersection, a priority right of way is assigned to the target vehicle; acquiring the maximum deceleration rates of the target vehicle and the other vehicles; calculating a safe distance between the target vehicle and the other vehicle using the speeds of the target vehicle and the other vehicle, the maximum deceleration rate; the safe distance is the distance between the target vehicle and the other vehicles after the other vehicles are equidistantly mapped on the lane where the target vehicle is located, wherein the equidistant mapping is a mode that a track intersection point is used as a starting point, length information from the intersection point to the other vehicles is measured, and then the length information is mapped on the target lane according to the starting point and the measured length information from the intersection point to the other vehicles; and determining the passing time of the other vehicles based on the safe distance.
2. The method of claim 1, wherein the safe distance is calculated using the following formula:
wherein v isBFor other vehicle driving speeds and vAIs the target vehicle running speed, pBDelay time for other vehicles, bmax,brakeMaximum deceleration rate and a for other vehiclesmax,brakeThe target vehicle driving maximum deceleration rate.
3. The method of claim 1, wherein assigning the right of way to the target vehicle based on the determined priority of way comprises:
and when the priority of the target vehicle is higher than that of the first vehicle on other traffic lanes, allocating a priority right of way for the target vehicle.
4. The method of claim 1, wherein assigning the right of way to the target vehicle based on the determined priority of way comprises:
when the priority of the target vehicle is higher than that of the first vehicle on other passing lanes, acquiring second vehicle information of the target vehicle and the first vehicle on the other passing lanes; wherein the vehicle information includes vehicle speed, acceleration, and vehicle position information;
determining the relative position relation between the first vehicle and the target vehicle on the other traffic lanes based on the second vehicle information; the relative position relationship is the position relationship between the first vehicle on the other traffic lanes and the target vehicle after the first vehicle is equidistantly mapped on the lane where the target vehicle is located, wherein the equidistant mapping is a mode that a track intersection point is taken as a starting point, the length information from the intersection point to the other vehicle is measured, and then the length information is mapped on the target lane according to the starting point and the measured length information from the intersection point to the other vehicle; and allocating the right of way for the target vehicle according to the determined relative position relation.
5. The method of claim 1, wherein assigning right of way to the target vehicle based on the determined positional relationship comprises:
when other vehicles with different passing priorities with the target vehicle exist in the first vehicle on other passing lanes, and the passing priority of the target vehicle is higher than that of the other vehicles;
and allocating the right of way for the target vehicle according to the priority of the target right of way.
6. The method of claim 5, further comprising: assigning, by the target vehicle, a right of way when the other vehicle sends a negotiation request to the target vehicle.
7. An intersection right-of-way distribution device, comprising:
the acquisition module is used for acquiring the driving intention of the first vehicle on the target vehicle and other traffic lanes;
the comparison module is used for comparing the acquired driving intention with a preset pass priority so as to determine the pass priority of the first vehicle on the target vehicle and other communication lanes;
the determining module is used for distributing the right of way to the target vehicle according to the determined pass priority, and comprises:
when other vehicles with the same passing priority as the target vehicle exist in the first vehicle on other passing lanes, acquiring first vehicle information of the target vehicle and the other vehicles; wherein the vehicle information includes vehicle speed and vehicle position information; determining a trajectory intersection of the target vehicle and the other vehicle based on first vehicle information of the target vehicle and the other vehicle; determining distances between the target and the other vehicles and the track intersection point respectively by using vehicle position information of the target vehicle and the other vehicles; assigning a right of way to the target vehicle based on the determined distance; wherein, when the distance between the target vehicle and the track intersection is smaller than the distance between the other vehicle and the track intersection, a priority right of way is assigned to the target vehicle;
acquiring the maximum deceleration rates of the target vehicle and the other vehicles;
calculating a safe distance between the target vehicle and the other vehicle using the speeds of the target vehicle and the other vehicle, the maximum deceleration rate; the safe distance is the distance between the other vehicles and the target vehicle after the other vehicles are equidistantly mapped to the lane where the target vehicle is located, wherein the equidistant mapping is used for mapping the distance between the track intersection point and the vehicle by the equal length;
and determining the passing time of the other vehicles based on the safe distance.
8. An electronic device, comprising:
a memory and a processor, the memory and the processor are connected with each other in communication, the memory stores computer instructions, the processor executes the computer instructions, thereby executing the intersection right-of-way distribution method of any one of claims 1-6.
9. A computer-readable storage medium storing computer instructions for causing a computer to execute the intersection right-of-way assignment method according to any one of claims 1 to 6.
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| CN111932881A (en) * | 2020-08-12 | 2020-11-13 | 广西科技大学 | Traffic intersection management method and device, terminal device and storage medium |
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| CN114512007B (en) * | 2020-11-17 | 2023-07-14 | 长沙智能驾驶研究院有限公司 | Intersection traffic coordination method and device |
| CN114973689B (en) * | 2021-02-27 | 2024-01-16 | 华为技术有限公司 | Vehicle lane combining method and electronic equipment |
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