CN111785039A - Control method, device, equipment and medium for bidirectional single-lane intelligent driving vehicle - Google Patents
Control method, device, equipment and medium for bidirectional single-lane intelligent driving vehicle Download PDFInfo
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- CN111785039A CN111785039A CN202010629177.3A CN202010629177A CN111785039A CN 111785039 A CN111785039 A CN 111785039A CN 202010629177 A CN202010629177 A CN 202010629177A CN 111785039 A CN111785039 A CN 111785039A
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Abstract
The disclosure provides a control method, a control device, control equipment and a control medium for a bidirectional single-lane intelligent driving vehicle. An avoidance area is arranged in the bidirectional single lane, and the method comprises the following steps: when a first vehicle enters a two-way single lane from one end of the two-way single lane and a second vehicle needing to enter the two-way single lane exists at the other end of the two-way single lane, determining multiple passing strategies according to the position of the first vehicle, wherein the multiple passing strategies comprise two or more strategies of waiting for the second vehicle to pass at one end of the two-way single lane, waiting for the first vehicle to enter an avoidance area, waiting for the second vehicle to enter the avoidance area and waiting for the first vehicle to pass at the other end of the two-way single lane; calculating corresponding control time under each traffic strategy; and controlling the first vehicle and the second vehicle by using the traffic strategy corresponding to the minimum control time. The collision and congestion of the vehicle are avoided, and the traffic efficiency of the intelligent driving vehicle in the two-way single lane is improved.
Description
Technical Field
The present disclosure relates to the field of intelligent driving control, and in particular, to a control method, device, equipment, and medium for a bidirectional single-lane intelligent driving vehicle.
Background
The key technology of unmanned driving relates to numerous technical fields of execution control, environment perception, high-precision positioning, decision planning, operation scheduling and the like. When a plurality of unmanned vehicles need to occupy a certain specific area at the same time, due to the conflict of path resources, a proper passing strategy needs to be set so as to avoid collision or congestion between the vehicles caused by simultaneous occupation.
Disclosure of Invention
Technical problem to be solved
The invention provides a control method, a control device, control equipment and a control medium for a bidirectional single-lane intelligent driving vehicle.
(II) technical scheme
The utility model provides a control method of two-way single lane intelligent driving vehicle, be provided with the district of dodging in the two-way single lane, the method includes: when a first vehicle enters the bidirectional single lane from one end of the bidirectional single lane and a second vehicle needing to enter the bidirectional single lane exists at the other end of the bidirectional single lane, determining multiple traffic strategies according to the position of the first vehicle, wherein the multiple traffic strategies comprise two or more strategies of waiting for the second vehicle to pass at one end of the bidirectional single lane, waiting for the first vehicle to enter the avoidance area, waiting for the second vehicle to enter the avoidance area and waiting for the second vehicle to pass at the other end of the bidirectional single lane; calculating corresponding control time under each passing strategy; and controlling the first vehicle and the second vehicle by using the traffic strategy corresponding to the minimum control time.
Optionally, the method further comprises: determining a first weight corresponding to the first vehicle according to the priorities of the first vehicle and the second vehicle, and determining a second weight corresponding to the second vehicle.
Optionally, the calculating the corresponding controlled time under each of the traffic policies includes: calculating a first control time corresponding to a first vehicle and a second control time corresponding to a second vehicle under each passing strategy; and calculating the corresponding control time under each traffic policy according to the first weight, the second weight, and the first control time and the second control time under each traffic policy.
Optionally, the regulation time is:
T＝ω1·T1+ω2·T2
wherein T is the control time, omega1Is the first weight, T1Is the first control time, ω2Is the second weight, T2Is the second regulation time.
Optionally, the first regulation time T1Comprises the following steps:
T1＝(T1in+T1out+T1wait)+T1stop+Tstop1
wherein T is when the first vehicle enters the avoidance zone to wait1inTime taken for the first vehicle to enter the avoidance zone, T1outTime taken for the first vehicle to exit the avoidance zone, T1waitWaiting for the first vehicle in the avoidance zone; when the second vehicle enters the avoidance zone to wait, T1stopWaiting for the first vehicle at the entrance of the avoidance zone; t isstop1Waiting for a time for the first vehicle to wait at one end of the bidirectional single lane.
Optionally, the second regulation time T2Comprises the following steps:
T2＝(T2in+T2out+T2wait)+T2stop+Tstop2
wherein T is a time when the second vehicle enters the avoidance zone to wait2inTime taken for the second vehicle to enter the avoidance zone, T2outTime taken for the second vehicle to exit the avoidance zone, T2waitWaiting for the second vehicle in the avoidance zone; when the first vehicle enters the avoidance zone to wait, T2stopWaiting for the time when the second vehicle waits at the entrance of the avoidance zone; t isstop 2Waiting for a time at which the second vehicle is at one end of the bidirectional single lane.
Optionally, the method further comprises: and monitoring whether vehicles enter the two ends of the bidirectional single lane in real time.
The present disclosure still provides a control device of two-way single lane intelligent driving vehicle, be provided with in the two-way single lane and dodge the district, the device includes: the strategy determination module is used for determining a plurality of traffic strategies according to the position of a first vehicle when the first vehicle has a second vehicle needing to enter the bidirectional single lane at the other end of the bidirectional single lane in the process of entering the bidirectional single lane from one end of the bidirectional single lane, wherein the plurality of traffic strategies comprise two or more strategies of waiting for the second vehicle to pass at one end of the bidirectional single lane, waiting for the first vehicle to enter the avoidance area, waiting for the second vehicle to enter the avoidance area and waiting for the second vehicle to pass at the other end of the bidirectional single lane; the calculation module is used for calculating the corresponding control time under each passing strategy; and the control module is used for controlling the first vehicle and the second vehicle by using the traffic strategy corresponding to the minimum control time.
The present disclosure also provides an electronic device, including: a processor; a memory storing a computer executable program which, when executed by the processor, causes the processor to execute the method of regulating a bidirectional single lane intelligent driving vehicle as described above.
The present disclosure also provides a computer-readable storage medium having stored thereon a computer program which, when executed by a processor, implements the method of regulation of a bidirectional single-lane intelligent driving vehicle as described above.
(III) advantageous effects
According to the control method, the control device, the control equipment and the control medium for the bidirectional single-lane intelligent driving vehicle, the bidirectional single lane containing the avoidance area is set as the control area, various traffic strategies are set, the traffic strategy corresponding to the minimum control time is selected to control the vehicle, vehicle collision and congestion are avoided, and traffic efficiency of the intelligent driving vehicle in the bidirectional single lane is improved.
Drawings
Fig. 1 schematically shows a flowchart of a control method of a bidirectional single-lane intelligent driving vehicle provided by an embodiment of the present disclosure;
fig. 2A schematically illustrates a structural diagram of a bidirectional single lane and an avoidance area provided in an embodiment of the present disclosure;
fig. 2B schematically illustrates a structural diagram of a bidirectional single lane and an avoidance zone provided in another embodiment of the present disclosure;
3A-3D schematically illustrate four traffic strategies in a method of regulating a bidirectional single-lane intelligent driving vehicle, respectively, in accordance with an embodiment of the present disclosure;
FIG. 4 is a block diagram schematically illustrating a regulating device of a bidirectional single-lane intelligent driving vehicle provided by the embodiment of the disclosure;
fig. 5 schematically shows a block diagram of an electronic device provided by an embodiment of the disclosure.
Description of reference numerals:
1-bidirectional single lane; 2-an avoidance zone; 3-a regulated area; 4-a first vehicle; 5-a second vehicle.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to specific embodiments and the accompanying drawings.
Fig. 1 schematically shows a flowchart of a control method for a bidirectional single-lane intelligent driving vehicle provided by an embodiment of the present disclosure. Referring to fig. 1, and also referring to fig. 2A-3D, the method shown in fig. 1, which includes operations S110-S130, will be described in detail.
In operation S110, when a second vehicle that needs to enter the bidirectional single lane exists at the other end of the bidirectional single lane during the process that the first vehicle enters the bidirectional single lane from one end of the bidirectional single lane, a plurality of traffic strategies are determined according to the position of the first vehicle, where the plurality of traffic strategies include two or more of waiting for the second vehicle to pass at one end of the bidirectional single lane, waiting for the first vehicle to enter the avoidance area, waiting for the second vehicle to enter the avoidance area, and waiting for the first vehicle to pass at the other end of the bidirectional single lane.
In this embodiment, the bidirectional single lane is a single lane allowing the intelligent driving vehicle to pass in two directions. The bidirectional single lane is provided with an avoidance area so that vehicles at two ends of the bidirectional single lane can miss vehicles at the avoidance area. In this embodiment, one or more avoidance areas may be provided on both sides of the bidirectional single lane according to an actual application scenario, as shown in fig. 2A and 2B. Taking the two sides of the bidirectional single lane 1 shown in fig. 2A as an example to set an avoidance area 2, and the area outlined by the dotted line in the figure is a controlled area 3, the position and size of the controlled area can be determined by calculation or manual drawing, so as to ensure that the bidirectional single lane 1 is included in the controlled area 3. After the intelligent driving vehicle reaches the control area, the method in the embodiment is adopted to control the vehicle communication so as to prevent the vehicle from colliding when two vehicles run in opposite directions in a bidirectional single lane.
According to the embodiment of the disclosure, whether vehicles enter the two ends of the bidirectional single lane or not can be monitored in real time, and when the vehicles enter the two ends of the bidirectional single lane, the event that the vehicles enter the control area is triggered immediately, so that the control method in the embodiment is executed. The intelligent driving vehicle can acquire the coordinates of the vehicle, and when the coordinates of the vehicle are detected to enter the control area, an event that the vehicle enters the control area is triggered to acquire all other intelligent driving vehicles which are about to enter the control area and meet the vehicle, so that the passing strategy of the vehicle is determined.
When a first vehicle enters the two-way single lane from one end of the two-way single lane and a second vehicle needing to enter the two-way single lane exists at the other end of the two-way single lane, four passing strategies exist. In this embodiment, the four traffic strategies are described by taking the number of avoidance zones as an example, which are respectively shown in fig. 3A to 3D.
Referring to the first traffic strategy shown in fig. 3A, the second vehicle 5 stops at the entrance of the regulated area and waits, and when the first vehicle 4 passes through the bidirectional single lane, the second vehicle drives into the bidirectional single lane again for traffic.
Referring to the second traffic strategy shown in fig. 3B, the second vehicle 5 enters the avoidance zone to wait, and after the first vehicle 4 passes through the bidirectional single lane, the second vehicle exits the avoidance zone to travel in the bidirectional single lane. Specifically, a first vehicle and a second vehicle run in opposite directions, and if the second vehicle enters an avoidance area before the first vehicle reaches an entrance of the avoidance area, the first vehicle directly passes through a bidirectional single lane; and if the second vehicle does not enter the avoidance area when the first vehicle reaches the entrance of the avoidance area, the first vehicle waits at the entrance of the avoidance area until the second vehicle enters the avoidance area and then runs through the bidirectional single lane.
Referring to the third traffic strategy shown in fig. 3C, the first vehicle 4 stops at the entrance of the regulated area and waits, and when the second vehicle 5 passes through the bidirectional single lane, the first vehicle enters the bidirectional single lane again to pass.
Referring to the fourth traffic strategy shown in fig. 3D, the first vehicle 4 enters the avoidance zone to wait, and after the second vehicle 5 passes through the two-way single lane, the first vehicle exits the avoidance zone to travel in the two-way single lane. Specifically, a first vehicle and a second vehicle run in opposite directions, and if the first vehicle enters the avoidance area before the second vehicle reaches the entrance of the avoidance area, the second vehicle directly passes through the bidirectional single lane; and if the first vehicle does not enter the avoidance area when the second vehicle reaches the entrance of the avoidance area, the second vehicle waits at the entrance of the avoidance area until the first vehicle enters the avoidance area and then travels through the bidirectional single lane.
In operation S120, a corresponding control time under each traffic policy is calculated.
According to an embodiment of the present disclosure, before performing operation S120, the following operations should also be performed: and determining a first weight corresponding to the first vehicle according to the priorities of the first vehicle and the second vehicle, and determining a second weight corresponding to the second vehicle. In the embodiment of the present disclosure, a correspondence between the priority and the weight may be preset, and when the first vehicle and the second vehicle reach the controlled area, the priority of the first vehicle and the priority of the second vehicle are obtained, and the preset correspondence is queried to determine the first weight and the second weight. It can be understood that the higher the priority of the vehicle, the higher the corresponding weight of the vehicle, and the corresponding weight needs to be considered to determine the total control time, so as to prioritize the vehicle with high priority on the basis of ensuring the shorter control time.
According to an embodiment of the present disclosure, operation S120 includes sub-operation S120A and sub-operation S120B.
In sub-operation S120A, a first controlled time corresponding to the first vehicle and a second controlled time corresponding to the second vehicle under each traffic policy are calculated.
According to the embodiment of the disclosure, the first control time T corresponding to the first vehicle1Comprises the following steps:
T1＝(T1in+T1out+T1wait)+T1stop+Tstop1
wherein, when the first vehicle enters the avoidance zone to wait, T1inTime taken for the first vehicle to enter the avoidance zone, T1outTime taken for the first vehicle to exit the avoidance zone, T1waitWaiting for a first vehicle in an avoidance zone; when a second vehicle enters the avoidance zone to wait, T1stopWaiting for the time that the first vehicle waits at the entrance of the avoidance zone; t isstop1The time for the first vehicle to wait at one end of the bidirectional single lane.
According to the embodiment of the disclosure, the second control time T corresponding to the second vehicle2Comprises the following steps:
T2＝(T2in+T2out+T2wait)+T2stop+Tstop2
wherein, when the second vehicle enters the avoidance zone to wait, T2inTime taken for the second vehicle to enter the avoidance zone, T2outTime taken for the second vehicle to exit the avoidance zone, T2waitWaiting for a second vehicle in the avoidance zone; when the first vehicle enters the avoidance zone to wait, T2stopWaiting for a second vehicle at an entrance of the avoidance zone; t isstop2The time for the second vehicle to wait at one end of the bidirectional single lane.
In sub-operation S120B, a corresponding regulated time under each traffic policy is calculated according to the first weight, the second weight, the first regulated time under each traffic policy and the second regulated time. The control time is as follows:
T＝ω1·T1+ω2·T2
wherein T is the control time, omega1Is a first weight, T1Is the first control time, ω2Is a second weight, T2Is the second regulation time.
For the first traffic strategy shown in FIG. 3A, the first vehicle passes directly, the first controlled time T1Is 0; the second vehicle waits at the entrance of the controlled area, T2in、T2out、T2wait、T2stopAre all 0, the second control time T2＝Tstop 2。
Time T for waiting of second vehicle at one end of bidirectional single lanestop2Is determined by the time required for the first vehicle to exit the controlled area from the current position, Tstop2Can be expressed as:
Tstop2＝Thout-Thcurrent
wherein, ThoutTime of first vehicle leaving the controlled area, ThcurrentT may be obtained from the path information of the first vehicle for the current timehout、Thcurrent。
Under a first passing strategy, the control time T is as follows:
T＝ω2·(Thout-Thcurrent)
for the second traffic strategy shown in fig. 3B, the second vehicle waits for the first vehicle to pass in the avoidance zone, T1in、T1out、T1wait、Tstop1Are all 0, the first control time T1＝T1stop(ii) a And T2stop、Tstop2Are all 0, the second control time T2＝T2in+T2out+T2wait。
The second traffic strategy is divided into two situations, namely that the first vehicle arrives at the avoidance area first and the second vehicle arrives at the avoidance area first. The method can be distinguished by calculating an encounter point between an avoidance path of the second vehicle and a driving path of the first vehicle, if the paths of the second vehicle and the driving path of the first vehicle do not meet, the second vehicle is shown to arrive at an avoidance area first, and the first vehicle does not need to wait at an entrance of the avoidance area; if the two paths meet, the first vehicle arrives at the avoidance area first, and the first vehicle needs to wait at the entrance of the avoidance area.
(1) The first vehicle firstly arrives at an avoidance zone:
first control time T1And the time T for the first vehicle to wait at one end of the bidirectional single lane1stopComprises the following steps:
T1＝T1stop＝t2yield-t2current
wherein, t2yieldTime of arrival of the second vehicle at the avoidance zone, t2currentThe time corresponding to the time when the first vehicle reaches the entrance of the avoidance area is the second vehicle.
Time T taken for the second vehicle to enter the avoidance zone2inAnd the time T taken for the second vehicle to leave the avoidance area2outWaiting time T of the second vehicle in the avoidance zone2waitAnd a second control time T corresponding to the second vehicle2Respectively as follows:
T2in＝s2in/v2in
T2out＝s2out/v2out
T2wait＝syiled/v1yiled
T2＝(s2in/v2in)+(s2out/v2out)+(syiled/v1yiled)
wherein s is2inFor the distance, v, of the second vehicle from the entrance of the avoidance zone to the parking space entering the avoidance zone2inThe average speed, s, of the second vehicle from the entrance of the avoidance zone to the parking space entering the avoidance zone2outIs the distance from the parking space of the avoidance area to the exit of the avoidance area, v2outThe average speed, s, of the second vehicle from the parking space of the avoidance zone to the exit of the avoidance zoneyiledTo avoid the length of the lane beside the zone, v1yiledThe average speed of the first vehicle passing through the lane beside the avoidance area is obtained.
The control time T is as follows:
T＝ω1·(t2yield-t2current)+ω2·[(s2in/v2in)+(s2out/v2out)+(syiled/v1yiled)]
(2) the second vehicle firstly arrives at the avoidance zone:
first control time T1And the time T for the first vehicle to wait at one end of the bidirectional single lane1stopAre all 0, i.e. T1＝0。
Time T for waiting for the second vehicle in the avoidance zone2waitComprises the following steps:
T2wait＝t1out-t1current
wherein, t1outThe moment when the first vehicle reaches the exit of the avoidance zone, t1currentThe time is the corresponding time when the first vehicle reaches the parking space of the avoidance area when the second vehicle.
Second control time T2The control time T is as follows:
T2＝(s2in/v2in)+(s2out/v2out)+(t1out-t1current)
T＝ω2·[(s2in/v2in)+(s2out/v2out)+(t1out-t1current)]
for the third traffic strategy shown in fig. 3C, the second vehicle directly passes through, the first vehicle waits at the entrance of the regulated area, the calculation process of the corresponding regulated time is similar to that of the corresponding regulated time of the traffic strategy shown in fig. 3A, and the regulated time T is:
T＝ω1·(T1out-T1current)
wherein, T1outTime when the second vehicle exits the regulation area, T1currentT may be obtained from the path information of the second vehicle for the current time1out、T1current。
For the fourth traffic strategy shown in fig. 3D, the first vehicle waits for the second vehicle to pass through the avoidance zone, and the calculation process of the corresponding controlled time is similar to that of the corresponding controlled time of the traffic strategy shown in fig. 3C, and is divided into the following two cases:
(1') when the second vehicle arrives at the avoidance area first, the control time T is as follows:
T＝ω1·((s1in/v1in)+(s1out/v1out)+(syiled/v2yiled))+ω2·[t1yield-t1current]
wherein s is1inFor the distance v from the entrance of the avoidance zone to the parking space entering the avoidance zone for the first vehicle1inThe average speed s of the first vehicle from the entrance of the avoidance area to the parking space entering the avoidance area1outIs the distance from the parking space of the avoidance area to the exit of the avoidance area, v1outThe average speed, s, of the first vehicle from the parking space of the avoidance zone to the exit of the avoidance zoneyiledTo avoid the length of the lane beside the zone, v2yiledThe average speed, t, of the second vehicle passing through the lane beside the avoidance zone1yieldThe moment when the first vehicle arrives at the avoidance zone, t1currentThe time corresponding to the first vehicle when the second vehicle reaches the entrance of the avoidance area.
(2') when the first vehicle arrives at the avoidance area first, the control time T is as follows:
T＝ω1·[(s1in/v1in)+(s1out/v1out)+(t2out-t2current)]
wherein, t2outTime of arrival of the second vehicle at the exit of the avoidance zone, t2currentThe time corresponding to the time when the first vehicle reaches the parking space of the avoidance area is the second vehicle.
In operation S130, the first vehicle and the second vehicle are controlled by using the traffic policy corresponding to the minimum control time.
Specifically, four control times corresponding to the four traffic policies are compared, and the first vehicle and the second vehicle are controlled by using the traffic policy corresponding to the minimum control time. Taking the minimum control time corresponding to the traffic policy shown in fig. 3B as an example, the second vehicle drives into the avoidance zone to wait until the first vehicle passes through the avoidance zone, and the second vehicle does not drive out of the avoidance zone and passes through the bidirectional single lane.
Fig. 4 schematically shows a block diagram of a control device of a bidirectional single-lane intelligent driving vehicle provided by the embodiment of the disclosure. Referring to fig. 4, the apparatus includes a policy determination module 410, a calculation module 420, and a policing module 430.
The policy determining module 410, for example, performs operation S110, and is configured to determine a plurality of traffic policies according to a position of a first vehicle when the first vehicle enters a two-way single lane from one end of the two-way single lane and a second vehicle to enter the two-way single lane exists at the other end of the two-way single lane, where the plurality of traffic policies includes two or more policies that the first vehicle waits for the second vehicle to pass at one end of the two-way single lane, the first vehicle waits for the first vehicle to enter an avoidance area, the second vehicle waits for the second vehicle to enter the avoidance area, and the second vehicle waits for the first vehicle to pass at the other end of the two-way single lane.
The calculating module 420 performs, for example, operation S120, for calculating a corresponding regulated time under each traffic policy.
The control module 430 performs, for example, operation S130 to control the first vehicle and the second vehicle by using the traffic policy corresponding to the minimum control time.
In this embodiment, please refer to the control method for the bidirectional single-lane intelligent driving vehicle described in the embodiments shown in fig. 1 to fig. 3D, which is not described herein again.
Embodiments of the present disclosure also show an electronic device, as shown in fig. 5, the electronic device 500 includes a processor 510, a computer-readable storage medium 520. The electronic device 500 may perform the method of regulating a bidirectional single lane intelligent driving vehicle described above in fig. 1-3D.
In particular, processor 510 may include, for example, a general purpose microprocessor, an instruction set processor and/or related chip set and/or a special purpose microprocessor (e.g., an Application Specific Integrated Circuit (ASIC)), and/or the like. The processor 510 may also include on-board memory for caching purposes. Processor 510 may be a single processing unit or a plurality of processing units for performing the different actions of the method flows according to embodiments of the present disclosure described with reference to fig. 1-3D.
Computer-readable storage medium 520 may be, for example, any medium that can contain, store, communicate, propagate, or transport the instructions. For example, a readable storage medium may include, but is not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, device, or propagation medium. Specific examples of the readable storage medium include: magnetic storage devices, such as magnetic tape or Hard Disk Drives (HDDs); optical storage devices, such as compact disks (CD-ROMs); a memory, such as a Random Access Memory (RAM) or a flash memory; and/or wired/wireless communication links.
The computer-readable storage medium 520 may include a computer program 521, which computer program 521 may include code/computer-executable instructions that, when executed by the processor 510, cause the processor 510 to perform a method flow such as that described above in connection with fig. 1-3D and any variations thereof.
The computer program 521 may be configured with, for example, computer program code comprising computer program modules. For example, in an example embodiment, code in computer program 521 may include one or more program modules, including for example 521A, modules 521B, … …. It should be noted that the division and number of modules are not fixed, and those skilled in the art may use suitable program modules or program module combinations according to actual situations, which when executed by the processor 510, enable the processor 510 to perform the method flows described above in connection with fig. 1-3D, for example, and any variations thereof.
The above-mentioned embodiments are intended to illustrate the objects, technical solutions and advantages of the present invention in further detail, and it should be understood that the above-mentioned embodiments are only exemplary embodiments of the present invention, and are not intended to limit the present invention, and any modifications, equivalents, improvements and the like made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (10)
1. A control method for a bidirectional single-lane intelligent driving vehicle is provided, wherein an avoidance area is arranged in the bidirectional single lane, and the method is characterized by comprising the following steps:
when a first vehicle enters the bidirectional single lane from one end of the bidirectional single lane and a second vehicle needing to enter the bidirectional single lane exists at the other end of the bidirectional single lane, determining multiple traffic strategies according to the position of the first vehicle, wherein the multiple traffic strategies comprise two or more strategies of waiting for the second vehicle to pass at one end of the bidirectional single lane, waiting for the first vehicle to enter the avoidance area, waiting for the second vehicle to enter the avoidance area and waiting for the second vehicle to pass at the other end of the bidirectional single lane;
calculating corresponding control time under each passing strategy;
and controlling the first vehicle and the second vehicle by using the traffic strategy corresponding to the minimum control time.
2. The method of claim 1, further comprising:
determining a first weight corresponding to the first vehicle according to the priorities of the first vehicle and the second vehicle, and determining a second weight corresponding to the second vehicle.
3. The method of claim 2, wherein the calculating the corresponding policing time under each of the traffic policies comprises:
calculating a first control time corresponding to a first vehicle and a second control time corresponding to a second vehicle under each passing strategy;
and calculating the corresponding control time under each traffic policy according to the first weight, the second weight, and the first control time and the second control time under each traffic policy.
4. The method of claim 3, wherein the regulation time is:
T＝ω1·T1+ω2·T2
wherein T is the control time, omega1Is the first weight, T1Is the first control time, ω2Is the second weight, T2Is the second regulation time.
5. Method according to claim 3 or 4, characterized in that said first policing time T is1Comprises the following steps:
T1＝(T1in+T1out+T1wait)+T1stop+Tstop1
wherein T is when the first vehicle enters the avoidance zone to wait1inTime taken for the first vehicle to enter the avoidance zone, T1outTime taken for the first vehicle to exit the avoidance zone, T1waitWaiting for the first vehicle in the avoidance zone; when the second vehicle enters the avoidance zone to wait, T1stopWaiting for the first vehicle at the entrance of the avoidance zone; t isstop1Waiting for a time for the first vehicle to wait at one end of the bidirectional single lane.
6. Method according to claim 3 or 4, characterized in that said second policing time T is2Comprises the following steps:
T2＝(T2in+T2out+T2wait)+T2stop+Tstop2
wherein T is a time when the second vehicle enters the avoidance zone to wait2inTime taken for the second vehicle to enter the avoidance zone, T2outTime taken for the second vehicle to exit the avoidance zone, T2waitWaiting for the second vehicle in the avoidance zone; when the first vehicle enters the avoidance zone to wait, T2stopWaiting for the time when the second vehicle waits at the entrance of the avoidance zone; t isstop2Waiting for a time at which the second vehicle is at one end of the bidirectional single lane.
7. The method of claim 1, further comprising:
and monitoring whether vehicles enter the two ends of the bidirectional single lane in real time.
8. The utility model provides a control device of two-way single lane intelligent driving vehicle, be provided with in the two-way single lane and dodge the district, its characterized in that, the device includes:
the strategy determination module is used for determining a plurality of traffic strategies according to the position of a first vehicle when the first vehicle has a second vehicle needing to enter the bidirectional single lane at the other end of the bidirectional single lane in the process of entering the bidirectional single lane from one end of the bidirectional single lane, wherein the plurality of traffic strategies comprise two or more strategies of waiting for the second vehicle to pass at one end of the bidirectional single lane, waiting for the first vehicle to enter the avoidance area, waiting for the second vehicle to enter the avoidance area and waiting for the second vehicle to pass at the other end of the bidirectional single lane;
the calculation module is used for calculating the corresponding control time under each passing strategy;
and the control module is used for controlling the first vehicle and the second vehicle by using the traffic strategy corresponding to the minimum control time.
9. An electronic device, comprising:
a processor;
a memory storing a computer executable program which, when executed by the processor, causes the processor to perform the method of regulating a bidirectional single lane intelligent driving vehicle of any one of claims 1-7.
10. A computer-readable storage medium on which a computer program is stored, which program, when executed by a processor, implements a method of regulation of a bidirectional single-lane intelligent driving vehicle as claimed in any one of claims 1 to 7.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010629177.3A CN111785039B (en) | 2020-07-02 | 2020-07-02 | Control method, device, equipment and medium for bidirectional single-lane intelligent driving vehicle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010629177.3A CN111785039B (en) | 2020-07-02 | 2020-07-02 | Control method, device, equipment and medium for bidirectional single-lane intelligent driving vehicle |
Publications (2)
| Publication Number | Publication Date |
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