CN112258849A - Dynamic automatic driving special lane based on expressway and use method thereof - Google Patents

Dynamic automatic driving special lane based on expressway and use method thereof Download PDF

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Publication number
CN112258849A
CN112258849A CN202011153357.5A CN202011153357A CN112258849A CN 112258849 A CN112258849 A CN 112258849A CN 202011153357 A CN202011153357 A CN 202011153357A CN 112258849 A CN112258849 A CN 112258849A
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automatic driving
vehicle
lane
special lane
special
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CN112258849B (en
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王杉
曲文良
保丽霞
蒋震寰
沈宙彪
林峥忆
左淑霞
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Shanghai Urban Construction Design Research Institute Group Co Ltd
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Shanghai Urban Construction Design Research Institute Group Co Ltd
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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
    • G08G1/04—Detecting movement of traffic to be counted or controlled using optical or ultrasonic detectors
    • E—FIXED CONSTRUCTIONS
    • E01—CONSTRUCTION OF ROADS, RAILWAYS, OR BRIDGES
    • E01F—ADDITIONAL WORK, SUCH AS EQUIPPING ROADS OR THE CONSTRUCTION OF PLATFORMS, HELICOPTER LANDING STAGES, SIGNS, SNOW FENCES, OR THE LIKE
    • E01F9/00—Arrangement of road signs or traffic signals; Arrangements for enforcing caution
    • E01F9/30—Arrangements interacting with transmitters or receivers otherwise than by visible means, e.g. using radar reflectors or radio transmitters
    • E—FIXED CONSTRUCTIONS
    • E01—CONSTRUCTION OF ROADS, RAILWAYS, OR BRIDGES
    • E01F—ADDITIONAL WORK, SUCH AS EQUIPPING ROADS OR THE CONSTRUCTION OF PLATFORMS, HELICOPTER LANDING STAGES, SIGNS, SNOW FENCES, OR THE LIKE
    • E01F9/00—Arrangement of road signs or traffic signals; Arrangements for enforcing caution
    • E01F9/50—Road surface markings; Kerbs or road edgings, specially adapted for alerting road users
    • E01F9/553—Low discrete bodies, e.g. marking blocks, studs or flexible vehicle-striking members
    • E01F9/559—Low discrete bodies, e.g. marking blocks, studs or flexible vehicle-striking members illuminated
    • 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
    • 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)
  • Engineering & Computer Science (AREA)
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Abstract

The invention discloses a dynamic automatic driving special lane based on a highway and a using method thereof, wherein the special lane is separated from a common lane by a plurality of intelligent spikes, and a plurality of radar vision all-in-one machines are arranged for tracking the position of an automatic driving vehicle, detecting whether the automatic driving vehicle enters the special lane or not and snapshotting social vehicles running in the flashing range of the intelligent spikes in the special lane; the entrance ramp and the exit ramp corresponding to the special lane are both provided with automatic driving vehicle detectors; a variable information mark is arranged at a position close to the specified position of the corresponding special lane of the entrance ramp; when the entrance ramp detector detects that the automatically driven vehicles enter the entrance ramp, the corresponding spikes flash in an initial flashing mode to remind the social vehicles in the spike flashing range on the special lane of leaving, and the variable information mark sends out a prompt to prohibit the social vehicles from entering the special lane. The invention realizes the dynamic management of the special lane of the automatic driving vehicle on the highway and improves the utilization efficiency of the road.

Description

Dynamic automatic driving special lane based on expressway and use method thereof
Technical Field
The invention relates to the technical field of automatic driving, in particular to a dynamic automatic driving special lane based on a highway and a using method thereof.
Background
With the development of new technologies such as 5G, cloud computing, big data, Internet of things and the like and the requirement of the public on intelligent and nice life, the industry has generally reached consensus, automatic driving becomes a prospective development direction for decades in the future, great interest of recent new infrastructure is added, the automatic driving industry has come into great chance, all parties upstream and downstream of an industrial chain strive for layout, research and test, however, due to various reasons such as cost, technology and the like, automatic driving vehicles are difficult to form scale to achieve mass production, the flow of the automatic driving vehicles on the road in the future is difficult to estimate exactly, and whether to set an automatic driving special lane (hereinafter referred to as a special lane) becomes a great difficulty.
If one road is selected under the same road scale, and the automatic driving dedicated road is independently arranged, although the driving safety of the automatic driving vehicle can be effectively guaranteed, the passing efficiency of the automatic driving vehicle is effectively improved, and the emission and the oil consumption are obviously reduced, because the dedicated road occupies a large amount of space resources, if the utilization rate of the automatic driving dedicated road is not high, the traffic jam is aggravated, and the average delay of social vehicles is increased; if the road scale of the social vehicle is kept unchanged and the automatic driving special road is additionally arranged, the cost of land acquisition, construction, operation and the like is increased sharply, and under the condition that the flow of the automatic driving vehicle is small, the investment is large, the output is small, the marginal cost is high, and the economic benefit and the social benefit are not obvious.
Therefore, how to improve the utilization efficiency of the road for the autonomous vehicle becomes a technical problem which needs to be solved urgently by those skilled in the art.
Disclosure of Invention
In view of the above defects of the prior art, the invention provides a dynamic automatic driving special lane based on an expressway and a use method thereof, and aims to realize the dynamic management of the special lane of the automatic driving vehicle on the expressway on the space-time right of the social vehicles, ensure the safe and rapid passing of the automatic driving vehicle and improve the utilization efficiency of the road.
In order to achieve the purpose, the invention discloses a dynamic automatic driving special lane based on a highway, wherein a plurality of intelligent spikes are arranged between the special lane and a common lane for spacing;
a plurality of radar vision all-in-one machines are arranged on the highway with the special lane at positions corresponding to the special lane; the detection ranges of the plurality of radar-vision all-in-one machines cover the special lane, and are used for tracking the running position of an automatic driving vehicle in the special lane, detecting whether the automatic driving vehicle enters the special lane, and snapshotting the social vehicles running in the intelligent spike flashing range in the special lane;
the entrance ramp and the exit ramp of the section of the highway provided with the special lane are both provided with automatic driving vehicle detectors;
variable information marks are arranged at the positions, close to the special lanes, of the junction points of the entrance ramps on the expressway;
when the automatic driving vehicle is not arranged between each pair of adjacent on-ramp and off-ramp, the corresponding variable information mark and the corresponding intelligent spikes are in a closed state, and the special lane is used for passing social vehicles;
after the automatic driving vehicle enters the entrance ramp, a plurality of spikes corresponding to the entrance ramp flash in an initial flashing mode, and the variable information mark sends out a sound and/or optical prompt that the special lane can only pass the automatic driving vehicle, so as to remind all social vehicles running on the special lane to leave the special lane and remind social vehicles of an adjacent lane of prohibiting driving into the spike flashing range of the special lane;
when the automatic driving vehicle drives into the special lane, the spikes within the clear distance in front of the automatic driving vehicle and the safe distance behind the automatic driving vehicle flash in a running flashing manner and move along with the automatic driving vehicle, so as to remind social vehicles in adjacent lanes of the spike flashing range for forbidding driving into the special lane.
Preferably, the variable information marks are arranged in a reasonable interval, the calculation formula of the reasonable interval is as follows, the following formula takes the driving direction of the special lane as the positive direction of an x axis, the comparison of the sizes of the following point positions refers to the position on the x axis, and a No. 3 position x is sequentially arranged along the positive direction of the x axis31 position x1Position x, 22：
Figure BDA0002741907770000031
Figure BDA0002741907770000032
Sv＝Sa∪Sb；
Wherein, C is the last social vehicle entering the special lane through the position of the variable information mark after the automatic driving vehicle A is detected to start to drive at the entrance of the ramp on the expressway;
the A is an automatic driving vehicle which enters a highway network from a ramp;
Saoptional bits a, and x for variable information flag layout1≤Sa≤x2；
SbOptional bits b, and S laid for variable information flagsb≤x3；
SvOptional positions for the layout of the variable information markers;
Lcthe distance is the clearance distance between the automatic driving vehicle and the front social vehicle, and is unit m;
Lsthe safe distance between the autonomous vehicle and the rear social vehicle is m;
t is the running time of the automatic driving vehicle from the position of the entrance ramp detector to the position of the automatic driving dedicated road, and is the unit s;
minvCis the minimum driving speed of the social vehicle in m/s;
maxvCis the maximum driving speed of the social vehicle in m/s;
Figure BDA0002741907770000033
after the automatic driving vehicle enters the automatic driving lane at the maximum speed, the automatic driving vehicle is positioned at the position of the automatic driving special lane;
Figure BDA0002741907770000034
and the automatic driving vehicle is positioned at the position of the automatic driving special lane after being converged into the automatic driving lane at the minimum speed.
Preferably, the length of the plurality of intelligent spikes flashing in the initial flashing manner
Figure BDA0002741907770000035
The calculation formula of (a) is as follows:
Figure BDA0002741907770000036
wherein,
Figure BDA0002741907770000037
for the automatic driving vehicle to merge into the automatic at maximum speedAfter driving the lane, the vehicle is positioned at the position of the automatic driving special lane;
Svoptional positions for the layout of the variable information markers;
Lcis the clearance distance between the autonomous vehicle and the preceding social vehicle in m.
Preferably, the range of the intelligent spikes flashing in the flashing mode is the sum of the area where the automatic driving vehicle is located and the area meeting the safety distance and the emptying distance, and the calculation method comprises the following steps:
equally dividing the special lane into segments according to the total length, wherein the length of each segment is 50-100 m, the range of a plurality of intelligent spikes flashing in the running flashing mode is equal to the segment where the driving position of the automatic driving vehicle is located, the segment where the clearing distance is located and the segment where the safety distance is located, and the clearing distance L is equal to the segment where the driving position of the automatic driving vehicle is located and the segment where the safety distance is locatedcThe calculation formula of (a) is as follows:
Figure BDA0002741907770000041
wherein,
Figure BDA0002741907770000042
the maximum driving distance of the automatic driving vehicle driving on the automatic driving special road in the reaction time is m;
Figure BDA0002741907770000043
finding the maximum safe braking distance required by the sudden stop of the front vehicle for the automatic driving vehicle running on the automatic driving special road in the unit of m;
Figure BDA0002741907770000044
the maximum driving distance of the front vehicle in the reaction time is m;
Figure BDA0002741907770000045
the maximum distance required for lane changing when a rear coming vehicle is found for the front vehicle is in a unit of m;
Figure BDA0002741907770000046
is the reaction time, in units of s, of the autonomous vehicle traveling on the autonomous roadway;
maxvAthe maximum speed of the automatic driving vehicle running on the automatic driving special road is the unit km/h;
Figure BDA0002741907770000047
minimum braking acceleration m/s for the autonomous vehicle traveling on the autonomous road2；
Figure BDA0002741907770000048
Is the maximum reaction time of the preceding vehicle, in units of s;
maxvfthe maximum speed of the front vehicle is in a unit of km/h;
Figure BDA0002741907770000049
and the unit of the maximum transverse offset distance of the lane change of the front vehicle is m.
Preferably, the safety distance LsThe calculation formula of (a) is as follows:
Figure BDA00027419077700000410
Figure BDA00027419077700000411
Figure BDA00027419077700000412
Figure BDA0002741907770000051
wherein,
Figure BDA0002741907770000052
the maximum driving distance of the rear vehicle in the reaction time is m;
Figure BDA0002741907770000053
the maximum distance required for lane change in m when the automatically driven vehicle traveling on the automatically driven dedicated lane is found for the rear vehicle;
Figure BDA0002741907770000054
the maximum safe braking distance required when the autonomous vehicle traveling on the autonomous roadway is found to suddenly stop for the rear vehicle is m;
Figure BDA0002741907770000055
the maximum reaction time of the rear vehicle is s;
maxvrthe unit is km/h which is the maximum speed of the rear vehicle;
Figure BDA0002741907770000056
changing the lane of the rear vehicle by the maximum transverse offset distance in the unit of m;
Figure BDA0002741907770000057
is the minimum braking acceleration m/s of the rear vehicle2。
The invention also provides a using method of the dynamic automatic driving special lane based on the expressway, which comprises the following steps:
when the automatic driving vehicle does not drive into the entrance ramp or the special lane does not drive the automatic driving vehicle, the variable information mark and all the intelligent spikes are in a closed state, all the radar vision all-in-one machines do not take a snapshot, and the special lane is used for passing social vehicles;
when the automatic driving vehicle drives into the entrance ramp but does not drive into the special lane, the variable information mark displays that the special lane is special for the automatic driving vehicle, reminds the rear vehicle not to drive into the special lane of the automatic driving vehicle, all the intelligent spikes flash in an initial flashing mode, and please lead all the social vehicles driving in the special lane within the flashing range of the intelligent spikes to leave the special lane; all the radar-vision all-in-one machines start to capture social vehicles entering the special lane and the social vehicles which do not leave the automatic driving special lane within 10 s;
when the automatic driving vehicle converges into the special lane, the variable information mark begins to change, the special lane is displayed to be used by social vehicles, all the intelligent spikes flash in a running flashing mode, the flashing range dynamically changes along with the change of the running position of the automatic driving vehicle, and all the radar and video integrated machines snap the social vehicles entering the flashing range of the intelligent spikes;
when a plurality of automatic driving vehicles trigger requests to the special lane at the same time, the special lane responds according to the merging logic;
when the automatic driving vehicles exit the exit ramp and no other automatic driving vehicles run in the special lane range, all the intelligent spikes are closed, all the radar and vision all-in-one machines do not take a snapshot, and the special lane is used for passing the social vehicles.
The invention has the beneficial effects that:
by reasonably arranging the dynamic automatic driving dedicated lane, the invention greatly reduces the input-output ratio under the condition of smaller flow of automatic driving vehicles, namely, the input is less, the output is high, and the passing efficiency of the highway and the lane resource utilization rate are improved.
The conception, the specific structure and the technical effects of the present invention will be further described with reference to the accompanying drawings to fully understand the objects, the features and the effects of the present invention.
Drawings
Fig. 1 shows a schematic structural diagram of an embodiment of the present invention.
FIG. 2 illustrates a process flow diagram for use of an embodiment of the present invention.
Fig. 3 shows three reference points in a reasonable distribution position interval of the variable information flags in an embodiment of the present invention.
Fig. 4 shows a schematic diagram of the initial flash length of a smart spike in accordance with one embodiment of the present invention.
Fig. 5 is a schematic diagram illustrating the state of the intelligent spike dynamic flashing range when the autonomous vehicle runs in the dedicated lane according to the embodiment of the invention.
Detailed Description
Examples
As shown in fig. 1, a dynamic automatic driving special lane based on an expressway is provided with a plurality of intelligent spikes for spacing between the special lane and a common lane;
a plurality of radar vision all-in-one machines are arranged at the positions, corresponding to the special lanes, of the expressway with the special lanes; the detection ranges of the plurality of radar-vision integrated machines cover a special lane, and the radar-vision integrated machines are used for tracking the running position of an automatic driving vehicle in the special lane, detecting whether the automatic driving vehicle enters the special lane, and snapshotting the social vehicles running in the intelligent spike flashing range in the special lane;
the entrance ramp and the exit ramp of the section of the highway provided with the special lane are both provided with automatic driving vehicle detectors;
on the expressway, a variable information mark is arranged at a position close to and appointed by the special lane corresponding to the junction point of each entrance ramp;
when no automatic driving vehicle exists between each pair of adjacent entrance ramps and exit ramps, the corresponding variable information marks and the corresponding intelligent spikes are in a closed state, and the special lane is used for passing social vehicles;
after the automatically-driven vehicles drive into the entrance ramp, a plurality of spikes corresponding to the entrance ramp flash in an initial flashing mode, and the variable information mark sends out sound and/or optical prompts that the special lane can only pass the automatically-driven vehicles, so as to remind all social vehicles driving on the special lane to leave the special lane and remind social vehicles on adjacent lanes of a spike flashing range for prohibiting the social vehicles from driving into the special lane;
when the automatic driving vehicle enters the special lane, the plurality of spikes located within the clear distance in front of the automatic driving vehicle and the safe distance behind the automatic driving vehicle flash in a running flashing mode and move along with the automatic driving vehicle, so that the automatic driving vehicle is used for reminding social vehicles in adjacent lanes of prohibiting entering the flashing range of the spikes of the special lane.
The principle of the invention is as follows:
the invention mainly ensures the safe and rapid passing of the automatic driving vehicle through the dynamic adjustment of the intelligent spike flashing range, the arrangement and control of the variable information marks, the clearing distance and the space guarantee of the safe distance.
The special lane is a dynamic automatic driving special lane, namely when no automatic driving vehicle runs, the automatic driving special lane is open to the social vehicle, and the social vehicle can run on the automatic driving special lane; when the autonomous vehicle is coming, the social vehicle is prohibited from traveling within a certain distance of a road section in front of and behind the autonomous vehicle.
The method comprises the following steps that a special lane dynamically adjusts the use right of social vehicles on the special lane according to the real-time state change of the automatic driving vehicles entering and exiting a road network through a real-time detection means, variable information sign information change display and dynamic flashing of a plurality of intelligent spikes, so that the automatic driving special lane is opened for the social vehicles when no automatic driving vehicle runs;
when the automatic driving vehicle runs on the special road, no social vehicle exists in a certain distance between the front road section and the rear road section, so that the safety of the automatic driving vehicle is ensured, the passing efficiency of the automatic driving vehicle is improved, the use efficiency of the special road is also improved, and the delay of the social vehicle is reduced.
When the entrance of the ramp on the expressway detects that the automatic driving vehicle starts to drive in, the variable information mark sends out a sound and/or optical prompt only allowing the automatic driving vehicle to pass, if X is displayed (the social vehicle is prohibited from driving in by the special lane), the social vehicle driving snapshot is triggered, the intelligent spike is lightened, the flashing range is the initial flashing length, and the social vehicle in the flashing range of the intelligent spike is prompted to drive away immediately. Assuming that the last social vehicle entering the dedicated road before the variable information mark is changed is C, the last social vehicle C is required to leave the dedicated road under normal conditions, the automatic driving vehicle A enters the highway network and gradually enters the dedicated road through road changing, but a critical condition is considered, namely the last social vehicle C cannot leave the dedicated road as soon as possible due to the interweaving of the social vehicles of the adjacent vehicles, so that the condition needs to be avoided through the arrangement position of the variable information mark, and the running safety of the automatic driving vehicle is ensured.
When the automatic driving vehicle converges into the special lane, the variable information mark begins to change, the special lane is displayed to be used by social vehicles, all intelligent spikes flash in a running flashing mode, the flashing range dynamically changes along with the change of the running position of the automatic driving vehicle, and all the radar and vision all-in-one machines snapshot the social vehicles entering the flashing range of the intelligent spikes.
In some embodiments, as shown in fig. 3, the variable information flags are arranged in a reasonable interval, and the reasonable interval is calculated by taking the driving direction of the special lane as the positive direction of the x-axis, comparing the point location with the reference point location on the x-axis, and sequentially setting the position x at position number 3 along the positive direction of the x-axis31 position x1Position x, 22：
Figure BDA0002741907770000081
Figure BDA0002741907770000082
Sv＝Sa∪Sb；
Wherein, C is the last social vehicle entering the special lane through the position of the variable information mark after the automatic driving vehicle A is detected to start to drive at the entrance of the ramp on the expressway;
the A is an automatic driving vehicle which enters a highway network from a ramp;
Saoptional bits a, and x for variable information flag layout1≤Sa≤x2；
SbOptional bits b, and S laid for variable information flagsb≤x3；
SvOptional positions for the layout of the variable information markers;
Lcthe distance is the clearance distance between the automatic driving vehicle and the front social vehicle, and is unit m;
Lsthe safe distance between the autonomous vehicle and the rear social vehicle is in the unit of m;
t is the running time of the automatic driving vehicle from the position of the entrance ramp detector to the position of the automatic driving special road, and is the unit s;
minvCthe minimum running speed of the social vehicle is in m/s;
maxvCthe maximum driving speed of the social vehicle is in m/s;
Figure BDA0002741907770000091
after the vehicle is converged into an automatic driving lane at the maximum speed, the vehicle is positioned at the position of an automatic driving special lane;
Figure BDA0002741907770000092
after the vehicle is converged into the automatic driving lane at the minimum speed for automatic driving, the vehicle is positioned at the position of the automatic driving special lane.
As shown in FIG. 4, in some embodiments, the number of intelligent tracks that initially flash in a flashing mannerLength of nail
Figure BDA0002741907770000093
The calculation formula of (a) is as follows:
Figure BDA0002741907770000094
wherein,
Figure BDA0002741907770000095
after the automatic driving vehicle enters the automatic driving lane at the maximum speed, the automatic driving vehicle is positioned at the position of the automatic driving special lane;
Svoptional positions for the layout of the variable information markers;
Lcis the clearance distance between the autonomous vehicle and the preceding social vehicle in m.
As shown in fig. 5, in some embodiments, the range of the intelligent spikes flashing in the flashing manner is the sum of the area where the autonomous vehicle is located and the area satisfying the safety distance and the clearance distance, and the calculation method is as follows:
equally dividing the special lane into segments according to the total length, wherein the length of each segment is 50-100 m, the range of a plurality of intelligent spikes flashing in the running flashing mode is equal to the segment where the driving position of the automatic driving vehicle is located, the segment where the clearing distance is located and the segment where the safety distance is located, and the clearing distance L is equal to the segment where the driving position of the automatic driving vehicle is located and the segment where the safety distance is locatedcThe calculation formula of (a) is as follows:
Figure BDA0002741907770000096
wherein,
Figure BDA0002741907770000097
the maximum driving distance of the automatic driving vehicle driving on the automatic driving special road in the reaction time is m;
Figure BDA0002741907770000098
finding the maximum safe braking distance required by the sudden stop of the front vehicle for the automatic driving vehicle running on the automatic driving special road in the unit of m;
Figure BDA0002741907770000099
the maximum driving distance of the front vehicle in the reaction time is m;
Figure BDA00027419077700000910
the maximum distance required for lane changing when a rear coming vehicle is found for the front vehicle is in a unit of m;
Figure BDA0002741907770000101
is the reaction time, in units of s, of the autonomous vehicle traveling on the autonomous roadway;
maxvAthe maximum speed of the automatic driving vehicle running on the automatic driving special road is the unit km/h;
Figure BDA0002741907770000102
minimum braking acceleration m/s for the autonomous vehicle traveling on the autonomous road2；
Figure BDA0002741907770000103
Is the maximum reaction time of the preceding vehicle, in units of s;
maxvfthe maximum speed of the front vehicle is in a unit of km/h;
Figure BDA0002741907770000104
and the unit of the maximum transverse offset distance of the lane change of the front vehicle is m.
In certain embodiments, the safe distance LsThe calculation formula of (a) is as follows:
Figure BDA0002741907770000105
Figure BDA0002741907770000106
Figure BDA0002741907770000107
Figure BDA0002741907770000108
wherein,
Figure BDA0002741907770000109
the maximum driving distance of the rear vehicle in the reaction time is m;
Figure BDA00027419077700001010
the maximum distance required for lane change in m when the automatically driven vehicle traveling on the automatically driven dedicated lane is found for the rear vehicle;
Figure BDA00027419077700001011
the maximum safe braking distance required when the autonomous vehicle traveling on the autonomous roadway is found to suddenly stop for the rear vehicle is m;
Figure BDA00027419077700001012
the maximum reaction time of the rear vehicle is s;
maxvrthe unit is km/h which is the maximum speed of the rear vehicle;
Figure BDA00027419077700001013
changing the lane of the rear vehicle by the maximum transverse offset distance in the unit of m;
Figure BDA00027419077700001014
is the minimum braking acceleration m/s of the rear vehicle2。
As shown in fig. 2, the present invention further provides a method for using a dynamic automatic driving dedicated lane based on an expressway, comprising the following steps:
when the automatic driving vehicle does not drive into the entrance ramp or the special lane does not drive the automatic driving vehicle, the variable information marks and all the intelligent spikes are in a closed state, all the radar and vision integrated machines do not take a snapshot, and the special lane is used for passing social vehicles;
when the automatic driving vehicle drives into the entrance ramp but does not drive into the special lane, the variable information mark displays that the special lane is special for the automatic driving vehicle, and reminds the rear vehicle not to drive into the special lane of the automatic driving vehicle, all the intelligent spikes flash in an initial flashing mode, and all the social vehicles driving in the flashing range of the intelligent spikes of the special lane leave the special lane; all the radar and vision integrated machines start to capture social vehicles entering the special lane and social vehicles which do not leave the automatic driving special lane within 10 s;
when the automatic driving vehicle converges into the special lane, the variable information mark begins to change, the special lane is displayed to be used by social vehicles, all intelligent spikes flash in a running flashing mode, the flashing range dynamically changes along with the change of the running position of the automatic driving vehicle, and all the radar and vision all-in-one machines snapshot the social vehicles entering the flashing range of the intelligent spikes;
when a plurality of automatic driving vehicles trigger requests to the special lane at the same time, the special lane responds according to the logic of merging;
when the automatically-driven vehicles run out of the exit ramp and no other automatically-driven vehicles run in the special lane range, all the intelligent spikes are closed, all the radar vision all-in-one machines do not take a snapshot, and the special lane is used for passing social vehicles.
The foregoing detailed description of the preferred embodiments of the invention has been presented. It should be understood that numerous modifications and variations could be devised by those skilled in the art in light of the present teachings without departing from the inventive concepts. Therefore, the technical solutions available to those skilled in the art through logic analysis, reasoning and limited experiments based on the prior art according to the concept of the present invention should be within the scope of protection defined by the claims.

Claims (6)

1. The dynamic automatic driving special lane based on the expressway is characterized in that a plurality of intelligent spikes are arranged between the special lane and a common lane for spacing;
a plurality of radar vision all-in-one machines are arranged on the highway with the special lane at positions corresponding to the special lane; the detection ranges of the plurality of radar-vision all-in-one machines cover the special lane, and are used for tracking the running position of an automatic driving vehicle in the special lane, detecting whether the automatic driving vehicle enters the special lane, and snapshotting the social vehicles running in the intelligent spike flashing range in the special lane;
the entrance ramp and the exit ramp of the section of the highway provided with the special lane are both provided with automatic driving vehicle detectors;
variable information marks are arranged at the positions, close to the special lanes, of the junction points of the entrance ramps on the expressway;
when the automatic driving vehicle is not arranged between each pair of adjacent on-ramp and off-ramp, the corresponding variable information mark and the corresponding intelligent spikes are in a closed state, and the special lane is used for passing social vehicles;
after the automatic driving vehicle enters the entrance ramp, a plurality of spikes corresponding to the entrance ramp flash in an initial flashing mode, and the variable information mark sends out a sound and/or optical prompt that the special lane can only pass the automatic driving vehicle, so as to remind all social vehicles running on the special lane to leave the special lane and remind social vehicles of an adjacent lane of prohibiting driving into the spike flashing range of the special lane;
when the automatic driving vehicle drives into the special lane, the spikes within the clear distance in front of the automatic driving vehicle and the safe distance behind the automatic driving vehicle flash in a running flashing manner and move along with the automatic driving vehicle, so as to remind social vehicles in adjacent lanes of the spike flashing range for forbidding driving into the special lane.
2. The highway-based dynamic autopilot special lane according to claim 1, wherein the variable information sign is laid within a reasonable interval, the reasonable interval is calculated according to the following formula, the following formula is that the driving direction of the special lane is the positive direction of the x-axis, the following point location comparison refers to the location on the x-axis, and the x-axis is sequentially provided with the 3 rd location x along the positive direction of the x-axis31 position x1Position x, 22：
Figure FDA0002741907760000021
Figure FDA0002741907760000022
Sv＝Sa∪Sb；
Wherein, C is the last social vehicle entering the special lane through the position of the variable information mark after the automatic driving vehicle A is detected to start to drive at the entrance of the ramp on the expressway;
the A is an automatic driving vehicle which enters a highway network from a ramp;
Saoptional bits a, and x for variable information flag layout1≤Sa≤x2；
SbOptional bits b, and S laid for variable information flagsb≤x3；
SvOptional positions for the layout of the variable information markers;
Lcthe distance is the clearance distance between the automatic driving vehicle and the front social vehicle, and is unit m;
Lsthe safe distance between the autonomous vehicle and the rear social vehicle is m;
t is the running time of the automatic driving vehicle from the position of the entrance ramp detector to the position of the automatic driving dedicated road, and is the unit s;
minvCis the minimum driving speed of the social vehicle in m/s;
maxvCis the maximum driving speed of the social vehicle in m/s;
Figure FDA0002741907760000023
after the automatic driving vehicle enters the automatic driving lane at the maximum speed, the automatic driving vehicle is positioned at the position of the automatic driving special lane;
Figure FDA0002741907760000024
and the automatic driving vehicle is positioned at the position of the automatic driving special lane after being converged into the automatic driving lane at the minimum speed.
3. The highway-based dynamic autopilot-dedicated lane of claim 1 wherein the initial blinking pattern is a length of a number of the smart spikes that flash in an initial blinking pattern
Figure FDA0002741907760000025
The calculation formula of (a) is as follows:
Figure FDA0002741907760000026
wherein,
Figure FDA0002741907760000027
after the automatic driving vehicle enters the automatic driving lane at the maximum speed, the automatic driving vehicle is positioned at the position of the automatic driving special lane;
Svoptional positions for the layout of the variable information markers;
Lcis the clearance distance between the autonomous vehicle and the preceding social vehicle in m.
4. The highway-based dynamic autopilot special lane according to claim 1, wherein the range of the plurality of intelligent spikes flashing in the flashing manner is the sum of the area where the autopilot vehicle is located and the area satisfying the safe distance and the clear distance, and the calculation method is as follows:
equally dividing the special lane into segments according to the total length, wherein the length of each segment is 50-100 m, the range of a plurality of intelligent spikes flashing in the running flashing mode is equal to the segment where the driving position of the automatic driving vehicle is located, the segment where the clearing distance is located and the segment where the safety distance is located, and the clearing distance L is equal to the segment where the driving position of the automatic driving vehicle is located and the segment where the safety distance is locatedcThe calculation formula of (a) is as follows:
Figure FDA0002741907760000031
wherein,
Figure FDA0002741907760000032
the maximum driving distance of the automatic driving vehicle driving on the automatic driving special road in the reaction time is m;
Figure FDA0002741907760000033
finding the maximum safe braking distance required by the sudden stop of the front vehicle for the automatic driving vehicle running on the automatic driving special road in the unit of m;
Figure FDA0002741907760000034
the maximum driving distance of the front vehicle in the reaction time is m;
Figure FDA0002741907760000035
the maximum distance required for lane changing when a rear coming vehicle is found for the front vehicle is in a unit of m;
Figure FDA0002741907760000036
is the reaction time, in units of s, of the autonomous vehicle traveling on the autonomous roadway;
maxvAthe maximum speed of the automatic driving vehicle running on the automatic driving special road is the unit km/h;
Figure FDA0002741907760000037
minimum braking acceleration m/s for the autonomous vehicle traveling on the autonomous road2；
Figure FDA0002741907760000038
Is the maximum reaction time of the preceding vehicle, in units of s;
maxvfthe maximum speed of the front vehicle is in a unit of km/h;
Figure FDA0002741907760000039
and the unit of the maximum transverse offset distance of the lane change of the front vehicle is m.
5. According to claimThe highway-based dynamic autopilot-dedicated lane of any of claims 1, 5 or 6 wherein the safe distance L issThe calculation formula of (a) is as follows:
Figure FDA00027419077600000310
Figure FDA00027419077600000311
Figure FDA0002741907760000041
Figure FDA0002741907760000042
wherein,
Figure FDA0002741907760000043
the maximum driving distance of the rear vehicle in the reaction time is m;
Figure FDA0002741907760000044
the maximum distance required for lane change in m when the automatically driven vehicle traveling on the automatically driven dedicated lane is found for the rear vehicle;
Figure FDA0002741907760000045
the maximum safe braking distance required when the autonomous vehicle traveling on the autonomous roadway is found to suddenly stop for the rear vehicle is m;
Figure FDA0002741907760000046
the maximum reaction time of the rear vehicle is s;
maxvrthe unit is km/h which is the maximum speed of the rear vehicle;
Figure FDA0002741907760000047
changing the lane of the rear vehicle by the maximum transverse offset distance in the unit of m;
Figure FDA0002741907760000048
is the minimum braking acceleration m/s of the rear vehicle2。
6. The method of using a highway-based dynamic autopilot-dedicated lane according to claim 1 comprising the steps of:
when the automatic driving vehicle does not drive into the entrance ramp or the special lane does not drive the automatic driving vehicle, the variable information mark and all the intelligent spikes are in a closed state, all the radar vision all-in-one machines do not take a snapshot, and the special lane is used for passing social vehicles;
when the automatic driving vehicle drives into the entrance ramp but does not drive into the special lane, the variable information mark displays that the special lane is special for the automatic driving vehicle, reminds the rear vehicle not to drive into the special lane of the automatic driving vehicle, all the intelligent spikes flash in an initial flashing mode, and please lead all the social vehicles driving in the special lane within the flashing range of the intelligent spikes to leave the special lane; all the radar-vision all-in-one machines start to capture social vehicles entering the special lane and the social vehicles which do not leave the automatic driving special lane within 10 s;
when the automatic driving vehicle converges into the special lane, the variable information mark begins to change, the special lane is displayed to be used by social vehicles, all the intelligent spikes flash in a running flashing mode, the flashing range dynamically changes along with the change of the running position of the automatic driving vehicle, and all the radar and video integrated machines snap the social vehicles entering the flashing range of the intelligent spikes;
when a plurality of automatic driving vehicles trigger requests to the special lane at the same time, the special lane responds according to the merging logic;
when the automatic driving vehicles exit the exit ramp and no other automatic driving vehicles run in the special lane range, all the intelligent spikes are closed, all the radar and vision all-in-one machines do not take a snapshot, and the special lane is used for passing the social vehicles.
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