CN112489452A - Method, device and system for assisting vehicle to merge into main road - Google Patents
Method, device and system for assisting vehicle to merge into main road Download PDFInfo
- Publication number
- CN112489452A CN112489452A CN202011198734.7A CN202011198734A CN112489452A CN 112489452 A CN112489452 A CN 112489452A CN 202011198734 A CN202011198734 A CN 202011198734A CN 112489452 A CN112489452 A CN 112489452A
- Authority
- CN
- China
- Prior art keywords
- lane
- vehicles
- vehicle
- preset area
- changed
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Images
Classifications
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/07—Controlling traffic signals
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/07—Controlling traffic signals
- G08G1/08—Controlling traffic signals according to detected number or speed of vehicles
Landscapes
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Traffic Control Systems (AREA)
Abstract
The application discloses a method, a device and a system for assisting vehicles to merge into a main road in the technical field of traffic information, which can be applied to an Intelligent Traffic System (ITS). the method for assisting vehicles to merge into the main road comprises the steps of obtaining vehicle information data, wherein the vehicle information data comprises the number of vehicles in each lane in a preset area; determining vehicles to be changed according to the number of the vehicles in each lane; and sending lane change suggestions to the vehicles to be changed.
Description
Technical Field
The present application relates to the field of traffic information technologies, and in particular, to a method, an apparatus, and a system for assisting a vehicle to merge into a main lane.
Background
Highways and expressways take an important position in urban traffic. Road segments with about 20% mileage during early and late peaks are in congestion, wherein frequent bottlenecks such as interlacing areas, ramp merging areas, etc. account for about 40% of the congestion. The bottleneck refers to a vehicle queuing phenomenon that the traffic flow speed is reduced and the traffic flow density is increased due to insufficient traffic capacity or an emergency at a certain local section of a road, and is a direct cause of congestion. The bottlenecks include a frequent bottleneck and a sporadic bottleneck, the interference of the sporadic bottleneck to the traffic flow is sudden and short-time, and the frequent bottleneck is repetitive and periodic. The sink bottleneck is one of the common bottlenecks. The method is common on expressways and expressways, the travel time of users is increased due to the bottleneck of an afflux area, and the speed difference between vehicles on a ramp and vehicles on a main road is large, so that the accident rate is easy to happen. Therefore, the method has huge social and economic values and wide application prospects by improving the bottleneck of the convergence area to improve the operation efficiency of the expressway and expressway system.
The existing technical scheme for improving the bottleneck of the afflux area is a method for guiding the vehicles passing through an expressway entrance ramp in the environment of Internet of vehicles. The guiding method includes that running state information of vehicles on a lane outside a main road and vehicles on a ramp is collected through road side equipment, conflict prediction is conducted, grouping conditions of vehicles on an entrance ramp and a safe vehicle speed required by a flow of vehicles entering the main road are given, and when the vehicles do not run according to the safe vehicle speed prompted by the system, a vehicle main control module controls a vehicle brake pedal, so that the vehicles run according to the safe vehicle speed, vehicle collision is avoided, and running safety and traffic efficiency are improved. However, since the method only involves the control of the outer lane and the ramp of the main road, the method is difficult to work under the condition of high saturation of the outer lane, and the method needs to acquire the control right of the vehicle, so that the realization difficulty at the present stage is large.
Disclosure of Invention
The embodiment of the application provides a method, a device and a system for assisting vehicles to merge into a main road, which can regulate and control the flow of each lane to enable the flow to be distributed more uniformly, reduce the temporary compulsive lane change phenomenon of a merging area, fundamentally and effectively relieve the early failure phenomenon of congestion of the merging area of a ramp, and simultaneously improve the traffic efficiency of vehicles on the ramp and vehicles on the main road.
In a first aspect, an embodiment of the present application provides a method for assisting vehicle import, including:
acquiring vehicle information data, wherein the vehicle information data comprises the number of vehicles in each lane in a preset area; determining vehicles to be changed according to the number of the vehicles in each lane; and sending lane change suggestions to the vehicles to be changed.
The method can regulate and control the flow of each lane to enable the flow to be distributed more uniformly, simultaneously reduces the temporary forced lane change phenomenon of the merging area, fundamentally and effectively relieves the early failure phenomenon of congestion of the merging area of the ramp, and simultaneously can improve the passing efficiency of vehicles on the ramp and vehicles on the main road.
In one possible implementation, before determining the vehicle to be changed lane according to the number of vehicles in each lane, the method further includes: determining the reference number of the number of vehicles on the outer lane in the preset area, wherein the reference number is the sum of the number of the vehicles on the inner lane and the outer lane in the preset area and the number of the vehicles on the ramp in the preset area; and when determining the vehicles to be changed, taking the reference number as the number of the vehicles in the outer lane in the preset area.
According to the method, the sum of the number of vehicles on the ramp in the preset area and the number of vehicles on the inner side lane and the outer side lane in the preset area is used as the number of vehicles on the outer side lane, so that the number of vehicles on the outer side lane in the preset area is larger than the number of vehicles on the outer side lane in the actual preset area, and under the condition that the flow of each lane can be regulated and controlled to enable the traffic to be distributed more uniformly, the number of vehicles on the outer side lane in the actual preset area is smaller than the number of vehicles on the non-outer side lane in the preset area of the main road, and therefore sufficient merging space is provided for the merging area.
In one possible implementation, before determining the vehicle to be changed lane according to the number of vehicles in each lane, the method further includes: the vehicle to be changed is an internet vehicle.
By the method, the internet connected vehicle can receive the lane change suggestion in real time to change lanes, and the lane change suggestion is more consistent with the actual traffic condition.
In one possible implementation, determining the vehicle to be changed lane according to the number of vehicles in each lane includes: and determining the vehicles to be lane changed according to the number of the vehicles in each lane and an objective function, wherein the objective function is used for expressing the difference between the maximum value and the minimum value of the number of the vehicles in each lane after lane changing.
According to the method, the nonlinear objective function of the optimization model is converted into the linear objective function by adopting a linearization objective function method, the purpose of fast solving is achieved, and meanwhile, the traffic flow distribution of each lane can be more uniform by obtaining the minimum difference value of the difference between the maximum value and the minimum value of the number of vehicles on each lane after lane changing.
In one possible implementation, the constraints of the objective function include: the method comprises the step of limiting the lane changing direction of vehicles on the edge lanes in the preset area, wherein the edge lanes comprise an outer side lane and an inner side lane which is farthest away from a ramp.
In one possible implementation, the constraint condition of the objective function further includes: and a second condition for limiting the number of lane change suggestions to one time in the preset period, wherein the lane change suggestions comprise a left lane change, a right lane change and a constant state.
In one possible implementation, the constraint condition of the objective function further includes: and the third condition is used for indicating the number of vehicles in each lane after all the vehicles to be lane-changed execute the lane-changing suggestion.
In one possible implementation, the constraint condition of the objective function further includes: and a fourth condition for limiting a threshold of the number of vehicles on a single lane after lane change, the threshold comprising a maximum value and/or a minimum value.
According to the method, the lane change suggestion is limited through some conditions, the purpose of rapidly solving the objective function can be achieved, and meanwhile the lane change suggestion can be more reliable and feasible.
In one possible implementation manner, the method according to the first aspect of the embodiment of the present application or any one of the possible implementation manners of the first aspect is performed according to a preset period.
According to the method, the vehicle data information is continuously acquired, the synchronous updating of the acquired vehicle data information and the traffic condition can be guaranteed, and the instantaneity and the reliability of the lane change suggestion are enhanced.
In a second aspect, an embodiment of the present application provides an apparatus for assisting vehicle entry, including:
the receiving and sending module is used for acquiring vehicle information data, wherein the vehicle information data comprise the number of vehicles in each lane in a preset area, and is also used for sending lane change suggestions to the vehicles according to the calculation result; and the processing module is used for determining the vehicles to be changed according to the number of the vehicles in each lane.
In a possible implementation manner, the transceiver module is further configured to determine a reference number of the number of vehicles on the outer lane in a preset area, where the reference number is a sum of the number of vehicles on the inner lane and the outer lane in the preset area and the number of vehicles on the ramp in the preset area; and when determining the vehicles to be changed, taking the reference number as the number of the vehicles in the outer lane in the preset area.
In one possible implementation, the vehicle to be changed is an internet vehicle.
In one possible implementation, the processing module is configured to indicate a difference between a maximum value and a minimum value of the number of vehicles in each lane after lane changing.
In a possible implementation manner, the processing module is further configured to limit a lane change direction of the vehicle on a border lane in the preset area, where the border lane includes an outer lane and an inner lane farthest from the ramp.
In a possible implementation manner, the processing module is further configured to limit the number of lane change suggestions in the preset period to one time, where the lane change suggestions include changing lanes to the left, changing lanes to the right, and keeping unchanged.
In one possible implementation manner, the processing module is further used for representing the number of vehicles in each lane after all the vehicles to be lane-changed perform the lane-change suggestion.
In one possible implementation, the processing module is further configured to limit a threshold of the number of vehicles on a single lane after lane change, the threshold including a maximum value and/or a minimum value.
In one possible implementation manner, the method according to the second aspect of the embodiment of the present application or any one of the possible implementation manners of the second aspect is performed according to a preset period.
In a third aspect, an embodiment of the present application provides a system for assisting vehicle entry, including:
the apparatus according to the second aspect of the embodiments of the present application or any one of the possible implementations of the second aspect; and vehicles in the preset area, wherein the vehicles are used for receiving the lane change suggestion.
In a possible implementation manner, the system further comprises road side equipment, wherein the road side equipment is used for collecting vehicle information data and sending the number of the vehicle information to the device, and the vehicle information data comprises the number of vehicles in each lane in a preset area.
In a fourth aspect, an embodiment of the present application provides an apparatus for assisting a vehicle to merge into a main lane, including a memory for storing a program and a processor for executing the program stored in the memory, wherein when the program stored in the memory is executed, the processor is configured to execute the method described in the first aspect or any one of the possible implementation manners of the first aspect.
In a fifth aspect, the present application provides a computer-readable storage medium for storing a computer program, where the computer program includes instructions for executing the method described in the first aspect or any one of the possible implementation manners of the first aspect.
In a sixth aspect, an embodiment of the present application provides a computer program product, where the computer program product includes: computer program code for causing a computer to perform the method of the first aspect or any one of the possible implementations of the first aspect when the computer program code runs on a computer.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments or the background art of the present application, the drawings required to be used in the embodiments or the background art of the present application will be described below.
Fig. 1 is a schematic application scenario diagram of a method for assisting a vehicle to merge into a main lane in an embodiment of the present application.
Fig. 2 is a flowchart illustrating a method for assisting a vehicle to merge into a main lane according to an embodiment of the present disclosure.
Fig. 3 is a flowchart illustrating another method for assisting a vehicle to merge into a main lane according to an embodiment of the present disclosure.
Fig. 4 is a flowchart illustrating another method for assisting a vehicle to merge into a main lane according to an embodiment of the present disclosure.
Fig. 5 is a schematic block diagram of an apparatus for assisting a vehicle in merging into a main lane according to an embodiment of the present application.
Fig. 6 is a schematic block diagram of a system for assisting a vehicle in merging into a main lane according to an embodiment of the present application.
FIG. 7 is a schematic block diagram of another system for assisting a vehicle in merging into a main lane according to an embodiment of the present application.
Fig. 8 is a schematic composition diagram of an apparatus for assisting a vehicle to merge into a main lane according to an embodiment of the present application.
Detailed Description
The technical solution in the present application will be described below with reference to the accompanying drawings.
The terms "comprising" and "having," and any variations thereof, in the description and claims of this application and the drawings are intended to cover non-exclusive inclusions. For example, a process, method, system, article, or apparatus that comprises a list of steps or elements is not limited to only those steps or elements listed, but may alternatively include other steps or elements not listed, or inherent to such process, method, article, or apparatus.
The traffic jam condition is very easy to occur in an intersection area of an express way or an expressway, a ramp merging area and the like, so that the travel time of a user is increased, the speed difference between vehicles on a ramp and a main road is large, and the accident rate is easy to occur. Therefore, the method has great social and economic values and wide application prospects by improving the traffic jam condition of the convergence area to improve the operation efficiency of the expressway and expressway system.
Taking an example of a scenario of a ramp junction of an express way, please refer to fig. 1, which is a schematic diagram of one-side driving direction lane traffic of the express way as shown in fig. 1, where a road shown in fig. 1 includes a main lane and ramps, and the main lane includes 4 lanes q1, q2, q3 and q 4. The q1 lane is connected with the ramp and is an outer lane of the main road; the lanes q2, q3 and q4 are non-outer lanes, the lane q4 is the farthest away from the ramp and is the inner lane of the main road, and the lanes q2 and q3 are the middle lanes of the main road. The connection position of the ramp and the main road is a ramp junction. When the number of vehicles on the outer lane in the preset area is larger than that of vehicles on the ramp in the preset area, the traffic jam condition is very easy to occur at the junction. At this time, the method of merging the vehicles on the auxiliary ramp into the main lane can be applied to an Intelligent transportation System (ITS for short), and the number of vehicles on each lane on the main lane can be basically balanced by suggesting the vehicles on the main lane to change lanes, so that the problem of congestion in the merging area can be relieved or solved.
The method related to the embodiment of the present application is described below with reference to fig. 2 to 4.
Please refer to fig. 2, which is a method for assisting a vehicle to merge into a main lane according to an embodiment of the present application.
S201, vehicle information data are acquired.
The vehicle information data comprises the number of vehicles in each lane in a preset area, distance information between the vehicles and other vehicles in the preset area and speed information of the vehicles in the preset area.
The vehicle information data may be obtained from road side equipment, or may be obtained from information reported by vehicles in the internet of vehicles, and the embodiment of the present application is not limited at all.
The preset area includes a main road area and a ramp area, and the range of the preset area can be flexibly set according to the actual road condition, for example, the preset area can be 100 meters or 200 meters of the main road length before the junction and/or 100 meters or 200 meters of the ramp length before the junction, and the embodiment of the present application is not limited in any way.
Optionally, the number of vehicles on the ramp in the preset area is counted into the number of vehicles on the inner side lane and the outer side lane of the preset area, that is, the reference number of the number of vehicles on the outer side lane in the preset area is the sum of the actual number of vehicles on the inner side lane and the outer side lane of the preset area and the number of vehicles on the ramp in the preset area, and in the subsequent calculation, the reference number of the number of vehicles on the outer side lane in the preset area is used as the number of vehicles on the outer side lane in the preset area. For example, the actual number of vehicles of the outside lane in the preset area is 6, and the number of vehicles of the ramp in the preset area is 4, then the number of vehicles of the outside lane in the preset area for calculation is 10.
S202, determining vehicles to be changed according to the number of the vehicles in each lane.
Optionally, the vehicle to be changed is an internet vehicle.
In a possible implementation mode, the vehicles to be changed can be determined based on the principle that the difference value of the number of the vehicles in each lane after the lane change is as small as possible, so that the aim of assisting the vehicles on the ramp to merge into the main lane is fulfilled.
In another possible implementation manner, the purpose of gathering the vehicles on the auxiliary ramp into the main lane can be achieved by counting the total number of the vehicles on all the lanes, then calculating an average number by combining the number of the lanes of the main lane, and balancing the number of the vehicles on each lane based on the average number to determine the vehicles to be changed.
In another possible implementation manner, the purpose of merging the vehicles on the auxiliary ramp into the main road can be achieved by a principle based on the fact that the number of vehicles on each lane of the main road is balanced and/or the number of vehicles on the outer lane is less than a preset value. The preset value may be an average number, or a half of the average number, and the like, and the embodiment of the present application is not limited at all.
And S203, sending lane change suggestions to the vehicles to be lane changed.
And sending lane change suggestions to the vehicles to be lane changed determined in the step S202.
It should be noted that, in the embodiment of the present application, only lane change suggestions may be sent to the vehicle without forcibly controlling the vehicle, so as to effectively ensure driving safety.
Optionally, after the lane change suggestion is sent, vehicle information data in the preset area is collected again according to a preset period, and the method is executed.
It should be understood that the preset period may be 5 seconds, 10 seconds, 5 minutes, etc., and may also be set according to the characteristics of different road sections. For example, according to the statistical situation of the big data, a long preset period such as 5 minutes can be set at the entrance of the frequently congested ramp, and a short preset period such as 5 seconds can be set at the section with a small number of times of traffic congestion on the highway, so that the situation of congestion can be prevented in advance, and the situation of congestion occurring can be relieved.
A method for assisting a vehicle to merge into a main lane based on the principle that the difference between the numbers of vehicles in each lane after lane change is as small as possible will be described in detail with reference to fig. 3.
Referring to fig. 3, another method for assisting a vehicle to merge into a main lane according to an embodiment of the present application is provided.
S301, vehicle information data are acquired.
S302, calculating an objective function according to the number of vehicles in each lane, and determining the vehicles to be changed.
Optionally, the vehicle to be changed is an internet vehicle.
Optionally, the vehicle to be lane-changed is determined according to the number of vehicles in each lane and the objective function.
Wherein the objective function is
Min(n′max-n′min) (2-1)
Wherein, n'maxIndicates the vehicle number n 'of the lane with the maximum number of vehicles on the main road lane after all the vehicles receiving the lane change suggestion'minAnd the vehicle number of the lane with the least number of vehicles on the main lane after all the vehicles receiving the lane change suggestion change lanes.
The solution satisfying the constraint condition of the objective function and the constraint condition of the objective function is usually more than one, so that the lane change suggestion obtained based on the objective function (2-1) is also more than one, and at this time, a plurality of lane change suggestions of different schemes, such as a lane change scheme A-a lane change scheme J, and the like, exist. When a plurality of lane change schemes exist, an optimal lane change scheme can be found from the plurality of lane change schemes.
The objective function (2-1) represents that the number of vehicles receiving lane change suggestions is the maximum after lane changeThe smallest difference between the number of vehicles in the lane of (1) and the number of vehicles in the lane with the smallest number. As shown in fig. 1, if the lane change is made by the lane change scheme a, and the vehicle receiving the lane change scheme a changes the lane, q1 is 10, q2 is 12, q3 is 13, and q4 is 14, then n'max-n′min14-10-4; if the lane change scheme B is adopted, after the vehicle receiving the lane change scheme B changes the lane, q1 is 10, q2 is 13, q3 is 12, and q4 is 15, then n 'at this time'max-n′min15-10-5; then Min (n ') at this time'max-n′min) Min (4,5) 4; and thus the vehicle to be lane-changed is determined according to the lane-changing scheme a.
Lane-change scheme a differs from lane-change scheme B in that the vehicles to be lane-changed are determined to be different and/or the number of vehicles to be lane-changed is different.
Optionally, the constraint conditions of the objective function (2-1) include:
wherein r isi,RIndicating whether to send a suggestion of changing lanes to the right to the ith vehicle on the inner and outer lanes of the preset area, ri,RWhen the lane change is not carried out, a suggestion of changing the lane to the right is not sent to the ith internet vehicle on the outer lane in the preset area; r isi,LIndicating whether to send a suggestion for changing lanes to the left to the ith internet vehicle on the inner lane in the preset area, ri,LAnd 0 represents that the suggestion of changing the lane to the left is not sent to the ith internet connection vehicle on the inner lane in the preset area.
And the constraint condition (2-2) is used for limiting the lane change suggestion sent to the networked vehicles on the edge lanes of the main lane in the preset area to only change the lane to the middle lane or not send the lane change suggestion. As shown in fig. 2, under the condition restriction of the constraint condition (2-2), a recommendation of changing lanes to the right is not sent to the internet vehicle in the q1 lane, and a recommendation of changing lanes to the left is not sent to the internet vehicle in the q4 lane.
Optionally, the constraint conditions of the objective function (2-1) further include:
wherein r isi,jIndicating whether to send a suggestion of changing lanes to the right to the ith internet vehicle on the jth lane of the main lane in the preset area, ri,jAnd indicating whether to send a suggestion of changing the lane to the left to the ith internet vehicle on the jth lane of the main lane in the preset area. I isjAnd the sequence number sets represent all the networked vehicles on the jth lane of the main road in the preset area, and L represents the set of all the lanes in the preset area. r isi,j+li,j1 or less means excluding ri,j1 and li,jIn the case of 1, only (1) l is presenti,j1 and ri,j＝0、(2)li,j0 and ri,j＝1、(3)li,j0 and ri,jThree cases of 0.
The constraint (2-3) is used for limiting that only one of the following three conditions can exist in a preset period for the same networked vehicle: (1) the lane change suggestion sent to the internet connection vehicle is a lane change to the left, (2) the lane change suggestion sent to the internet connection vehicle is a lane change to the right, and (3) the lane change suggestion is not sent.
Optionally, the constraint conditions of the objective function (2-1) further include:
wherein, n'jNumber of vehicles on jth lane of main lane after all vehicles receiving lane change advice change, njIndicates the number of vehicles on the jth lane of the main lane before all the vehicles receiving the lane change advice change lanesiri,j+1Represents the number of vehicles changing to the j lane from the right on the j +1 lane, sigmaili,j-1Represents the number of vehicles changing left to j lane on j-1 lane, sigmaili,jIndicates the number of vehicles changing lane to the left in the jth lane, sigmairi,jIndicating the number of vehicles changing lane to the right in the jth lane, IjIndicating within a predetermined areaAnd the sequence numbers of all the networked vehicles on the jth lane of the main road are collected, and L represents the collection of all lanes in the preset area.
The constraint condition (2-4) represents the number of vehicles on the jth lane after the lane change of the vehicle to be changed, and the numerical value is obtained by adding the number of vehicles on the jth lane before the lane change of the vehicle to be changed to the number of vehicles on the jth lane and then subtracting the number of vehicles changing from the jth lane to other lanes, so that the source of the vehicles on the jth lane can be clearly represented.
Optionally, the constraint conditions of the objective function (2-1) further include:
wherein, n'maxIndicates the vehicle number n 'of the lane with the maximum number of vehicles on the main road lane after all the vehicles receiving the lane change suggestion'minThe vehicle number, n ', of the lane with the least number of vehicles on the main road lane after all the vehicles receiving the lane change suggestion'jIndicating the number of vehicles on the jth lane of the main road after all the vehicles receiving the lane change advice change lanes.
And the constraint condition (2-5) is used for obtaining the number of vehicles on the lane with the largest number of vehicles on the main lane and the number of vehicles on the lane with the smallest number of vehicles after all the vehicles receiving the lane change suggestion are subjected to lane change suggestion in a certain mode and then using the number of vehicles in the lane with the smallest number of vehicles to calculate in the objective function (2-1).
In a possible implementation manner, the vehicle to be changed lane is determined after the calculation is carried out according to the number of the vehicles in each lane. As shown in fig. 1, for example, in lane change scheme C, when the vehicle receiving lane change scheme C changes lanes, q1 is 10, q2 is 12, q3 is 13, and q4 is 14, then n'max-n′min14-10-4; if, in lane change plan D, after the vehicle receiving lane change plan D changes lanes, q1 is 10, q2 is 13, q3 is 12, and q4 is 15, then n 'at this time'max-n′min15-10-5; then Min (n ') at this time'max-n′min) Min (4,5) 4; and thus the vehicle to be lane-changed will be determined according to lane-changing scheme C.
In another possible implementation manner, on the basis of the number of vehicles in each lane and the objective function, the vehicle to be lane-changed can be determined according to the speed information of each vehicle and/or the distance information between each vehicle and other vehicles, and lane-change suggestions are sent to the vehicle to be lane-changed. As shown in fig. 1, for example, in lane change plan E, when the vehicle receiving lane change plan E changes lanes, q1 is 10, q2 is 12, q3 is 13, and q4 is 14, then n'max-n′min14-10-4; if, in lane change scheme F, after the vehicle receiving the lane change scheme F changes lanes, q1 is 10, q2 is 13, q3 is 12, and q4 is 15, then n 'at this time'max-n′min15-10-5; then Min (n ') at this time'max-n′min) Min (4,5) 4; and thus the vehicle to be lane-changed will be determined according to the lane-changing scheme E. Before the lane changing scheme E is sent to the vehicle to be changed, the conclusion whether the vehicle to be changed is suitable for changing lanes is obtained by judging the speed of the vehicle to be changed in the lane changing scheme E and the speed of the vehicle around the vehicle to be changed, and/or the conclusion whether the vehicle to be changed is suitable for changing lanes is obtained by judging the distance between the vehicle to be changed and other vehicles in the lane changing scheme E, so that the lane changing scheme E is further improved, and the safety and the feasibility of lane changing suggestions are improved.
S303, sending lane change suggestions to the vehicles to be lane changed.
Optionally, after the lane change suggestion is sent, the vehicle information data in the preset area is collected again in real time according to the preset period, and the method is executed.
In addition to the method described in fig. 3 to assist the vehicle to merge into the main lane, an average may be calculated according to the total number of vehicles in all lanes and the number of lanes in the main lane, and then the number of lanes may be balanced according to the average to assist the vehicle to merge into the main lane.
Referring to fig. 4, a method for assisting a vehicle to merge into a main lane according to an embodiment of the present application is provided.
S401, vehicle information data are acquired.
S402, calculating an average according to the total number of vehicles in all lanes in the preset area and the number of lanes on the main lane, and determining the vehicles to be changed according to the average.
Optionally, the vehicle to be changed is an internet vehicle.
Optionally, the vehicles to be changed lanes are determined according to the number and average number of vehicles in each lane.
In one possible implementation, the average is calculated by dividing the sum of the number of vehicles in each lane on the main lane within the preset area by the number of lanes on the main lane. As shown in fig. 1, if the number of vehicles in each lane on the main road in the preset area is: q1 is 10, q2 is 11, q3 is 13, q4 is 14, the average is (10+11+13+14)/4 is 12, and vehicles to be lane changed are determined according to the average number of vehicles in each lane.
In order to make the lane changing proposal safer, the vehicle to be changed is preferentially proposed to change the lane to the adjacent lane instead of the vehicle to be changed. As shown in fig. 1, if the number of vehicles in each lane on the main road in the preset area is: q1 is 10, q2 is 11, q3 is 13, q4 is 14, and the average is 12. If a lane changing scheme G and a lane changing scheme H exist, the lane changing scheme G is as follows: selecting 2 lane changes to a q1 lane on a q2 lane in a preset area, so that the number of vehicles on a q1 lane is 10+ 2-12, selecting 3 lane changes to a q2 lane on a q3 lane in the preset area, so that the number of vehicles on a q2 lane is 11-2+ 3-12, selecting 2 lane changes to a q3 lane on a q4 lane in the preset area, so that the number of vehicles on a q3 lane is 13-3+ 2-12, and adopting a lane change scheme H: selecting 2 lane changes to q1 on a q4 lane within a preset area so that the number of vehicles on a q1 lane is 10+ 2-12 and the number of vehicles on a q4 lane is 14-2-12, selecting 1 lane change to q2 lane on a q3 lane within the preset area so that the number of vehicles on a q3 lane is 13-1-12 and the number of vehicles on a q2 lane is 11+ 1-12; the vehicle to be lane-changed will thus be determined according to lane-change scheme G.
The rounding-up is selected when the average number is not an integer, for example, when the average number is 11.3, the rounding-up is 14 as the average number, and then lane change suggestions can be sent based on the principle that the number of vehicles of non-outer lanes in the preset area is controlled preferentially to reach the average number, so that the number of vehicles of outer lanes in the preset area is small, and vehicles on the ramp in the preset area can be enabled to merge into the outer lane on the main lane conveniently. Or, taking the following integer 13 as an average, at this time, a lane change suggestion may be sent based on a principle that the number of vehicles on the outer side lane in the preset area is controlled preferentially to reach an average, the number of vehicles on the outer side lane in the preset area is controlled preferentially to reach the average, and vehicles with the number more than the average change lanes to non-outer side lanes, so that the number of vehicles on non-outer side lanes in the preset area is small, and vehicles on the ramp in the preset area can be convenient to merge into the outer side lane on the main lane.
In another possible implementation manner, on the basis of the number and average number of vehicles in each lane, the vehicle to be lane-changed can be determined according to the speed information of each vehicle and/or the distance information between each vehicle and other vehicles, and lane change suggestions are sent to the vehicle to be lane-changed. As shown in fig. 1, the number of vehicles in each lane on the main road in the preset area is: q1 is 10, q2 is 11, q3 is 13, q4 is 14, and the average is 12. A lane change scheme I and a lane change scheme J exist, wherein the lane change scheme I is as follows: selecting 2 lane changes to a q1 lane on a q2 lane in a preset area, so that the number of vehicles on a q1 lane is 10+ 2-12, selecting 3 lane changes to a q2 lane on a q3 lane in the preset area, so that the number of vehicles on a q2 lane is 11-2+ 3-12, selecting 2 lane changes to a q3 lane on a q4 lane in the preset area, so that the number of vehicles on a q3 lane is 13-3+ 2-12, and adopting a lane change scheme J: selecting 2 lane changes to q1 on a q4 lane within a preset area so that the number of vehicles on a q1 lane is 10+ 2-12 and the number of vehicles on a q4 lane is 14-2-12, selecting 1 lane change to q2 lane on a q3 lane within the preset area so that the number of vehicles on a q3 lane is 13-1-12 and the number of vehicles on a q2 lane is 11+ 1-12; therefore, the vehicle to be lane-changed is determined according to the lane-changing scheme I, before the lane-changing scheme I is sent to the vehicle to be lane-changed, the conclusion whether the vehicle to be lane-changed is suitable for lane changing is obtained by judging the speed of the vehicle to be lane-changed in the lane-changing scheme I and the speed of the vehicle around the vehicle to be lane-changed, and/or the conclusion whether the vehicle to be lane-changed is suitable for lane changing is obtained by judging the distance between the vehicle to be lane-changed in the lane-changing scheme I and other vehicles, so that the lane-changing proposal is further improved, and the safety and the feasibility of the lane-changing proposal are improved.
And S403, sending lane change suggestions to the vehicles to be lane changed.
Optionally, after the lane change suggestion is sent, the vehicle information data in the preset area is collected again in real time according to the preset period, and the method is executed.
The following describes an apparatus according to an embodiment of the present application with reference to the drawings.
Fig. 5 is a schematic block diagram of an apparatus for assisting a vehicle in merging into a main lane according to an embodiment of the present application.
The device 500 for assisting the vehicle to merge into the main road shown in fig. 5 includes: a transceiver module 501 and a processing module 502;
the system comprises a transceiver module 501, a processing module and a display module, wherein the transceiver module is used for acquiring vehicle information data, and the vehicle information data comprises the number of vehicles in each lane in a preset area;
and the processing module 502 is configured to determine vehicles to be changed according to the number of vehicles in each lane.
The transceiver module 501 is further configured to send a lane change suggestion to the vehicle according to the calculation result;
optionally, the transceiver module is further configured to determine a reference number of the number of vehicles on the outer lane in the preset area, where the reference number is a sum of the number of vehicles on the inner lane and the outer lane in the preset area and the number of vehicles on the ramp in the preset area; and when determining the vehicles to be changed, taking the reference number as the number of the vehicles in the inner lane and the outer lane of the preset area.
Optionally, the vehicle to be changed is an internet vehicle.
Optionally, the processing module is further configured to determine a vehicle to be lane-changed according to the number of vehicles in each lane and an objective function, where the objective function is used to represent a difference between a maximum value and a minimum value of the number of vehicles in each lane after lane changing.
Optionally, the processing module is further configured to limit a lane change direction of vehicles on a border lane in the preset area, where the border lane includes an outer lane and an inner lane farthest from the ramp.
Optionally, the processing module is further configured to limit the number of lane change suggestions in the preset period.
Optionally, the processing module is further configured to indicate the number of vehicles on each lane after all the vehicles perform the lane change suggestion.
Optionally, the processing module is further configured to limit a threshold of the number of vehicles on a single lane after lane changing, where the threshold includes a maximum value and/or a minimum value.
Optionally, after the lane change suggestion is sent, the vehicle information data in the preset area is collected again in real time according to the preset period, and the method is executed.
For detailed functional description, please refer to the description in the embodiment of the method in fig. 2-4, which is not repeated herein.
Fig. 6 is a schematic block diagram of a system for assisting a vehicle in merging into a main lane according to an embodiment of the present application.
The system 600 for assisting a vehicle to merge into a primary lane shown in FIG. 6 may include: a device 500 for assisting vehicles to merge into the main road, and vehicles 601 in a preset area.
The vehicle 601 is used for receiving the lane change suggestion and reporting vehicle information, displaying the lane change suggestion to a user for viewing, and performing lane change or keeping unchanged according to user operation.
FIG. 7 is a schematic block diagram of another system for assisting a vehicle in merging into a main lane according to an embodiment of the present application.
The system 700 for assisting vehicle merge into a host lane shown in FIG. 7 may include: the device 500 for assisting vehicles to merge into the main road, the vehicles 701 in the preset area and the roadside equipment 702;
the roadside device 702 is configured to collect vehicle information data and send the number of vehicle information to the apparatus.
For a specific function implementation manner of the roadside apparatus 702, please refer to step S201 of the embodiment of the present application corresponding to fig. 2, which is not described herein again.
Fig. 8 is a schematic composition diagram of an apparatus for assisting a vehicle to merge into a main lane according to an embodiment of the present application.
The apparatus 1200 for assisting a vehicle to merge into a main lane shown in fig. 8 (the apparatus 1200 may be a computer device) includes a memory 1201, a processor 1202, a communication interface 1203, and a bus 1204. The memory 1201, the processor 1202, and the communication interface 1203 are communicatively connected to each other through a bus 1204.
The Memory 1201 may be a Read Only Memory (ROM), a static Memory device, a dynamic Memory device, or a Random Access Memory (RAM). The memory 1201 may store programs that, when executed by the processor 1202, stored in the memory 1201, the processor 1202 and the communication interface 1203 are configured to perform the steps of the method of assisting a vehicle in entering a main lane of the embodiments of the present application.
The processor 1202 may be a general-purpose Central Processing Unit (CPU), a microprocessor, an Application Specific Integrated Circuit (ASIC), a Graphics Processing Unit (GPU), or one or more Integrated circuits, and is configured to execute related programs to implement functions required to be executed by units in the device for assisting the vehicle to merge into the main lane according to the embodiment of the present Application, or to execute the method for assisting the vehicle to merge into the main lane according to the embodiment of the present Application.
The processor 1202 may also be an integrated circuit chip having signal processing capabilities. In implementation, the steps of the method for assisting the vehicle to merge into the main lane of the present application may be implemented by instructions in the form of hardware integrated logic circuits or software in the processor 1202. The processor 1202 may also be a general purpose processor, a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), an off-the-shelf Programmable Gate Array (FPGA) or other Programmable logic device, discrete Gate or transistor logic device, or discrete hardware components. The various methods, steps, and logic blocks disclosed in the embodiments of the present application may be implemented or performed. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like. The steps of the method disclosed in connection with the embodiments of the present application may be directly implemented by a hardware decoding processor, or implemented by a combination of hardware and software modules in the decoding processor. The software module may be located in ram, flash memory, rom, prom, or eprom, registers, etc. storage media as is well known in the art. The storage medium is located in the memory 1201, and the processor 1202 reads information in the memory 1201, and completes, in combination with hardware thereof, functions required to be executed by a unit included in the apparatus for assisting vehicle in merging into a main lane according to the embodiment of the present application, or performs a method for assisting vehicle in merging into a main lane according to the embodiment of the present application.
The communication interface 1203 enables communication between the apparatus 1200 and other devices or communication networks using transceiver means such as, but not limited to, a transceiver. For example, the vehicle information data may be acquired through the communication interface 1203.
The bus 1204 may include pathways to transfer information between various components of the apparatus 1200, such as the memory 1201, the processor 1202, and the communication interface 1203.
For specific implementation of each functional device, reference may be made to relevant descriptions in the foregoing embodiments, and details are not described in this embodiment of the application.
As another form of the present embodiment, there is provided a computer-readable storage medium having stored thereon instructions that, when executed, perform the method of the above-described method embodiments.
As another form of the present embodiment, there is provided a computer program product containing instructions that, when executed, perform the method of the above-described method embodiments.
Those skilled in the art will appreciate that only one memory and processor are shown in fig. 8 for ease of illustration. In an actual controller, there may be multiple processors and memories. The memory may also be referred to as a storage medium or a storage device, and the like, which is not limited in this application.
It should be understood that, in the embodiment of the present Application, the processor may be a Central Processing Unit (CPU), and the processor may also be other general-purpose processors, Digital Signal Processors (DSPs), Application Specific Integrated Circuits (ASICs), Field-Programmable Gate arrays (FPGAs) or other Programmable logic devices, discrete Gate or transistor logic devices, discrete hardware components, and the like.
It will also be appreciated that the memory referred to in the embodiments of the application may be either volatile memory or nonvolatile memory, or may include both volatile and nonvolatile memory. The nonvolatile Memory may be a Read-Only Memory (ROM), a Programmable ROM (PROM), an Erasable PROM (EPROM), an Electrically Erasable PROM (EEPROM), or a flash Memory. The volatile Memory may be a Random Access Memory (RAM) which serves as an external cache. By way of example and not limitation, many forms of RAM are available, such as Static random access memory (Static RAM, SRAM), Dynamic RAM (DRAM), Synchronous DRAM (SDRAM), Double Data Rate SDRAM (DDR SDRAM), Enhanced SDRAM (ESDRAM), Synchlink DRAM (SLDRAM), and Direct bus RAM (DR RAM).
It should be noted that when the processor is a general-purpose processor, a DSP, an ASIC, an FPGA or other programmable logic device, a discrete gate or transistor logic device, or a discrete hardware component, the memory (memory module) is integrated in the processor.
It should be noted that the memory described herein is intended to comprise, without being limited to, these and any other suitable types of memory.
The bus may include a power bus, a control bus, a status signal bus, and the like, in addition to the data bus. But for clarity of illustration the various buses are labeled as buses in the figures.
The term "and/or" in the specification and claims and drawings of the present application is only one type of association describing the associated object, and means that there may be three types of relationships, for example, a and/or B, may mean: a exists alone, A and B exist simultaneously, and B exists alone. In addition, the character "/" herein generally indicates that the former and latter related objects are in an "or" relationship.
In implementation, the steps of the above method may be performed by integrated logic circuits of hardware in a processor or instructions in the form of software. The steps of a method disclosed in connection with the embodiments of the present application may be directly implemented by a hardware processor, or may be implemented by a combination of hardware and software modules in a processor. The software module may be located in ram, flash memory, rom, prom, or eprom, registers, etc. storage media as is well known in the art. The storage medium is located in a memory, and a processor reads information in the memory and completes the steps of the method in combination with hardware of the processor. To avoid repetition, it is not described in detail here.
In the embodiments of the present application, the sequence numbers of the above-mentioned processes do not mean the execution sequence, and the execution sequence of each process should be determined by its function and inherent logic, and should not constitute any limitation to the implementation process of the embodiments of the present application.
Those of ordinary skill in the art will appreciate that the various Illustrative Logical Blocks (ILBs) and steps described in connection with the embodiments disclosed herein may be implemented as electronic hardware, or combinations of computer software and electronic hardware. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the implementation. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present application.
In the several embodiments provided in the present application, it should be understood that the disclosed system, apparatus and method may be implemented in other ways. For example, the above-described apparatus embodiments are merely illustrative, and for example, the division of the units is only one logical division, and other divisions may be realized in practice, for example, a plurality of units or components may be combined or integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection through some interfaces, devices or units, and may be in an electrical, mechanical or other form.
The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.
In addition, functional units in the embodiments of the present application may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit.
In the above embodiments, the implementation may be wholly or partially realized by software, hardware, firmware, or any combination thereof. When implemented in software, may be implemented in whole or in part in the form of a computer program product. The computer program product includes one or more computer instructions. When loaded and executed on a computer, cause the processes or functions described in accordance with the embodiments of the application to occur, in whole or in part. The computer may be a general purpose computer, a special purpose computer, a network of computers, or other programmable device. The computer instructions may be stored in a computer readable storage medium or transmitted from one computer readable storage medium to another, for example, the computer instructions may be transmitted from one website, computer, server, or data center to another website, computer, server, or data center by wire (e.g., coaxial cable, fiber optic, digital subscriber line) or wirelessly (e.g., infrared, wireless, microwave, etc.). The computer-readable storage medium can be any available medium that can be accessed by a computer or a data storage device, such as a server, a data center, etc., that incorporates one or more of the available media. The usable medium may be a magnetic medium (e.g., floppy disk, hard disk, magnetic tape), an optical medium (e.g., DVD), or a semiconductor medium (e.g., solid state disk), among others.
The above description is only for the specific embodiments of the present application, but the scope of the present application is not limited thereto, and any person skilled in the art can easily conceive of the changes or substitutions within the technical scope of the present application, and shall be covered by the scope of the present application. Therefore, the protection scope of the present application shall be subject to the protection scope of the claims.
Claims (22)
1. A method of assisting a vehicle to merge into a primary lane, comprising:
acquiring vehicle information data, wherein the vehicle information data comprises the number of vehicles in each lane in a preset area;
determining vehicles to be changed according to the number of the vehicles in each lane;
and sending lane change suggestions to the vehicles to be lane changed.
2. The method of claim 1, wherein prior to said determining vehicles to lane change based on the number of vehicles in the respective lane, the method further comprises:
determining the reference number of the number of vehicles on the outer lane in the preset area, wherein the reference number is the sum of the number of the vehicles on the outer lane connected with the ramp in the preset area and the number of the vehicles on the ramp in the preset area;
and when determining the vehicles to be changed, taking the reference number as the number of the vehicles in the outer lane.
3. The method of claim 2, wherein:
and the vehicle to be lane-changed is an internet vehicle.
4. The method of claim 3, wherein determining vehicles to be changed lanes according to the number of vehicles in each lane comprises:
and determining the vehicles to be lane changed according to the number of the vehicles in each lane and an objective function, wherein the objective function is used for representing the difference between the maximum value and the minimum value of the number of the vehicles in each lane after lane changing.
5. The method of claim 4, wherein the constraints of the objective function include:
a first condition for limiting a lane change direction of a vehicle on a border lane within the preset area, the border lane including the outside lane and an inside lane farthest from the ramp.
6. The method of claim 4 or 5, wherein the constraints of the objective function further comprise:
and a second condition, wherein the second condition is used for limiting the number of the lane change suggestions in a preset period to be once, and the lane change suggestions comprise lane change to the left, lane change to the right and lane change keeping unchanged.
7. The method according to any of claims 4-6, wherein the constraints of the objective function further comprise:
and a third condition, wherein the third condition is used for representing the number of vehicles in each lane after all vehicles to be lane-changed perform lane-change suggestion.
8. The method according to any of claims 4-7, wherein the constraints of the objective function further comprise:
a fourth condition for limiting a threshold for the number of vehicles on a single lane after lane change, the threshold comprising a maximum and/or a minimum.
9. Method according to any of claims 1-8, characterized in that the method according to any of claims 1-8 is performed according to a preset period.
10. An apparatus for assisting a vehicle to merge into a host lane, comprising:
the system comprises a transceiving module, a processing module and a processing module, wherein the transceiving module is used for acquiring vehicle information data, and the vehicle information data comprises the number of vehicles in each lane in a preset area;
the processing module is used for determining vehicles to be changed according to the number of the vehicles in each lane;
and the transceiver module is also used for sending lane change suggestions to the vehicles according to the calculation results.
11. The apparatus according to claim 10, wherein the transceiver module is further configured to determine a reference number of vehicles on an outside lane in the preset area, the reference number being a sum of a number of vehicles on an outside lane connected to a ramp in the preset area and a number of vehicles on the ramp in the preset area;
and when determining the vehicles to be changed, taking the reference number as the number of the vehicles in the outer lane.
12. The apparatus of claim 11, wherein the vehicle to be changed is an internet vehicle.
13. The apparatus of claim 12, wherein the processing module is configured to determine the vehicle to be lane-changed according to the number of vehicles in each lane and an objective function, and the objective function is configured to represent a difference between a maximum value and a minimum value of the number of vehicles in each lane after lane change.
14. The apparatus of claim 13, wherein the processing module is further configured to limit a lane change direction of vehicles on edge lanes within the preset area, the edge lanes including the outer lane and an inner lane farthest from the ramp.
15. The apparatus of claim 13 or 14, wherein the processing module is further configured to limit the number of lane change suggestions within a preset period.
16. The apparatus of any of claims 13-15, wherein the processing module is further configured to indicate a number of vehicles in each lane after all vehicles have performed the lane change recommendation.
17. The apparatus of any of claims 13-16, wherein the processing module is further configured to limit a threshold number of vehicles on a single lane after a lane change, the threshold number comprising a maximum value and/or a minimum value.
18. The apparatus according to any of claims 10-17, wherein the apparatus is further configured to perform the method according to a preset period.
19. A system for assisting a vehicle to merge into a host lane, comprising:
the device of any one of claims 10-18;
and vehicles in the preset area, wherein the vehicles are used for receiving the lane change suggestion.
20. The system of claim 19, further comprising:
the road side equipment is used for collecting vehicle information data and sending the vehicle information number to the device, and the vehicle information data comprises the vehicle number of each lane in a preset area.
21. An apparatus for assisting a vehicle in merging into a host lane, comprising a memory for storing a program and a processor for executing the program stored by the memory, the processor being configured to perform the method of any one of claims 1-9 when the program stored by the memory is executed.
22. A computer-readable storage medium, comprising: the computer-readable storage medium has stored therein instructions which, when run on a computer, implement the method of any one of claims 1-9.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011198734.7A CN112489452B (en) | 2020-10-31 | 2020-10-31 | Method, device and system for assisting vehicle to merge into main road |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011198734.7A CN112489452B (en) | 2020-10-31 | 2020-10-31 | Method, device and system for assisting vehicle to merge into main road |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN112489452A true CN112489452A (en) | 2021-03-12 |
| CN112489452B CN112489452B (en) | 2022-09-09 |
Family
ID=74927853
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202011198734.7A Active CN112489452B (en) | 2020-10-31 | 2020-10-31 | Method, device and system for assisting vehicle to merge into main road |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN112489452B (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113990085A (en) * | 2021-10-11 | 2022-01-28 | 南京航空航天大学 | Traffic grooming method and system for ramp afflux area |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE102009021283A1 (en) * | 2009-05-14 | 2010-11-18 | GM Global Technology Operations, Inc., Detroit | Device for assisting vehicle driver during observation to operation mode according to driving instruction, has unit to deliver information obtained from environment data to driver and traffic lane change reference information to lane |
| CN107564317A (en) * | 2017-10-27 | 2018-01-09 | 左依宁 | A kind of automatic driving vehicle control system and method |
| CN108482377A (en) * | 2018-04-24 | 2018-09-04 | 蔡璟 | A kind of automatic lane change method and its system based on train flow analysis |
| CN109754626A (en) * | 2018-10-24 | 2019-05-14 | 禾多科技（北京）有限公司 | Unmanned autonomous lane-change strategy |
| CN111798699A (en) * | 2020-06-29 | 2020-10-20 | 广州小鹏车联网科技有限公司 | Vehicle driving method, device, vehicle-mounted computer, vehicle and storage medium |
-
2020
- 2020-10-31 CN CN202011198734.7A patent/CN112489452B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE102009021283A1 (en) * | 2009-05-14 | 2010-11-18 | GM Global Technology Operations, Inc., Detroit | Device for assisting vehicle driver during observation to operation mode according to driving instruction, has unit to deliver information obtained from environment data to driver and traffic lane change reference information to lane |
| CN107564317A (en) * | 2017-10-27 | 2018-01-09 | 左依宁 | A kind of automatic driving vehicle control system and method |
| CN108482377A (en) * | 2018-04-24 | 2018-09-04 | 蔡璟 | A kind of automatic lane change method and its system based on train flow analysis |
| CN109754626A (en) * | 2018-10-24 | 2019-05-14 | 禾多科技（北京）有限公司 | Unmanned autonomous lane-change strategy |
| CN111798699A (en) * | 2020-06-29 | 2020-10-20 | 广州小鹏车联网科技有限公司 | Vehicle driving method, device, vehicle-mounted computer, vehicle and storage medium |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113990085A (en) * | 2021-10-11 | 2022-01-28 | 南京航空航天大学 | Traffic grooming method and system for ramp afflux area |
Also Published As
| Publication number | Publication date |
|---|---|
| CN112489452B (en) | 2022-09-09 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| Mousavi et al. | Investigating the safety and operational benefits of mixed traffic environments with different automated vehicle market penetration rates in the proximity of a driveway on an urban arterial | |
| US11325608B1 (en) | System and methods for determining owner's preferences based on vehicle owners telematics data | |
| DE102020124983A1 (en) | REAL-TIME VEHICLE INCIDENT RISK FORECAST BASED ON VEHICLE-TO-ALL (V2X) | |
| CN105225500A (en) | A kind of traffic control aid decision-making method and device | |
| CN107240254B (en) | Traffic prediction technique and terminal device | |
| Weng et al. | Rear‐end crash potential estimation in the work zone merging areas | |
| Metkari et al. | Development of simulation model for heterogeneous traffic with no lane discipline | |
| Gokasar et al. | SWSCAV: Real-time traffic management using connected autonomous vehicles | |
| Papathanasopoulou et al. | Flexible car–following models for mixed traffic and weak lane–discipline conditions | |
| CN112249009A (en) | Vehicle speed control method, device and system and electronic equipment | |
| Jiang et al. | Impact of right-turn channelization on pedestrian safety at signalized intersections | |
| Xing et al. | Time-varying analysis of traffic conflicts at the upstream approach of toll plaza | |
| Chen et al. | A cellular automata (CA) model for motorized vehicle flows influenced by bicycles along the roadside | |
| CN112489452B (en) | Method, device and system for assisting vehicle to merge into main road | |
| Mohapatra et al. | Estimation of U-turn capacity at median openings | |
| Gan et al. | Spatial-temporal varying coefficient model for lane-changing behavior in work zone merging areas | |
| Choi et al. | Framework for connected and automated bus rapid transit with sectionalized speed guidance based on deep reinforcement learning: Field test in Sejong city | |
| Shu et al. | Novel design method for bus approach lanes with bus guidance and priority controls for prioritizing through and left-turn buses | |
| Małecki et al. | The computer simulation of cellular automata traffic model with the consideration of vehicle-to-infrastructure communication technology | |
| CN114202937B (en) | Method, device, equipment and medium for managing and controlling vehicles on upstream of construction road section | |
| CN114067569B (en) | Vehicle left-turning auxiliary early warning method in V2X vehicle networking environment | |
| Le Vine et al. | Vehicle automation, legal standards of care, and freeway capacity | |
| CN113298309A (en) | Method, device and terminal for predicting traffic congestion state | |
| Kim et al. | Influence of dedicated lanes for connected and automated vehicles on highway traffic flow | |
| CN116032985B (en) | Uniform channel changing method, system, equipment and medium based on intelligent network-connected vehicle |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |