CN112530201B - Method and device for selecting right switching lane gap of intelligent vehicle intersection - Google Patents
Method and device for selecting right switching lane gap of intelligent vehicle intersection Download PDFInfo
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Abstract
The invention discloses a method and a device for selecting a right switching lane gap of an intelligent vehicle intersection, which comprises the following steps: acquiring micro lane change information of a target vehicle; calculating a lane change pressure coefficient of the target vehicle; calculating a critical safe lane change gap allowing the target vehicle to change into the target lane; calculating an actual lane changing gap in the target lane; judging the track changing time; the target vehicle decelerates according to the suggested acceleration to wait for a lane change opportunity meeting the safe lane change condition; and repeating the steps until the target vehicle meets the safe lane changing condition, and switching to enter the target lane. The method comprehensively considers the influence of the vehicles at the front and the rear of the lane changing vehicle, the vehicles at the front and the rear of the target lane and the geometric characteristics of the intersection on the lane changing behavior of the vehicle, determines more accurate lane changing opportunity points, and gives a suggested acceleration, thereby providing reasonable judgment and decision-making basis for the right lane changing behavior of the intelligent vehicle at the intersection and providing guarantee for the safe and efficient running of the vehicles in the intersection.
Description
Technical Field
The invention relates to the field of intelligent traffic control, in particular to a method and a device for selecting a right switching lane gap of an intelligent vehicle intersection.
Background
With the realization of remarkable quality and the brilliant appearance of the 5G technology by computer computing, the vehicle can acquire accurate running state data in the running process by virtue of a plurality of accurate vehicle-mounted sensors, and can be interconnected with other vehicles to acquire all-round multi-level data. Therefore, the data are fully, correctly and reasonably mined and used, the traffic capacity of a traffic system can be greatly improved, and the vehicles can be ensured to run in a stable and safe environment.
The driving behaviors of the vehicle can be mainly divided into a longitudinal following behavior and a transverse lane changing behavior, the following behavior mainly considers the behavior of the vehicle ahead of the lane to control the acceleration of the vehicle, and the lane changing behavior mainly considers the driving state of the vehicle adjacent to the lane to find gaps for interleaving. In the existing research, a Chinese patent CN201910333606.X establishes a coordinate system division grid unit by taking a vehicle as a coordinate origin, provides a target vehicle lane change track prediction model, and divides a lane change risk level based on kinetic energy loss; chinese patent CN201911119091.X determines whether a lane change motivation and a target lane exist according to the headway time, and a logistic vehicle lane change model based on the headway time is constructed; the Chinese patent CN201810561731.1 provides a method for calculating critical safety head time distance under different traffic flow states by taking the difference of car following states under different car distances into consideration according to the distance between the front car and the rear car as a safety judgment basis for following and controlling speed. In general, the existing research is biased to research the driving behaviors of vehicles in road sections, the following and lane changing behaviors of the vehicles at intersections are rarely researched, most of the existing research focuses on one point of the following or lane changing behaviors, and few of the existing research can integrate the following or lane changing behaviors into a scene for research.
Disclosure of Invention
The invention aims to solve the technical problems of the prior art and provides a method and a device for selecting a right switching lane gap of an intelligent vehicle intersection, wherein the method and the device for selecting the right switching lane gap of the intelligent vehicle intersection take the speed and the position of a target vehicle, the front vehicle and the rear vehicle of the target vehicle, the following vehicle and a leading vehicle in a target lane and the geometric characteristics of the intersection as basic information, and calculate a lane switching pressure coefficient and a following pressure coefficient by considering the game between the rear vehicle of the target vehicle and the latest lane changing point in front, so that the critical safety gap of the following vehicle in the target vehicle and the target lane and the recommended acceleration adopted by the target vehicle in the waiting lane switching process are further calculated, a scientific decision basis is provided for the right switching lane behavior of a driver or the intelligent vehicle at the intersection, and the running efficiency of the vehicle at the intersection is improved.
In order to solve the technical problems, the invention adopts the technical scheme that:
a method for selecting a right switching lane gap of an intelligent vehicle intersection comprises the following steps.
Step 1, obtaining microscopic lane change information of a target vehicle: acquiring microscopic lane changing information of a target vehicle by sensing the running state of the whole traffic system; the microscopic lane changing information of the target vehicle comprises position and speed data of the target vehicle, position and speed data of a leading vehicle of the target vehicle, position data and speed data of a leading vehicle in a target lane and a following vehicle in a target lane, the queuing length of a vehicle behind the target vehicle, the distance between the target vehicle and the tail of a front queuing vehicle, and the distance between the target vehicle and the starting point of a lane changing prohibition solid line of an intersection entrance lane.
Step 2, calculating a pressure coefficient k for changing the lane of the target vehicle1: calculating a lane change pressure coefficient of the target vehicle by adopting the following formula;
L1'＝max(L1,e) (2)
L4'＝max(L4,e) (3)
L4＝min(L2,L3) (4)
wherein L is1Representing the queuing length of the vehicles behind the lane where the target vehicle is located; l is2Indicating target vehicles and vehicles ahead in lineDistance of the end of the line; l is3Representing the distance between the target vehicle and the starting point of the lane change prohibition solid line of the intersection entrance lane; l is4Is L2And L3The minimum of the two; alpha is alpha1A weight coefficient representing an influence of the rear vehicle on the target vehicle pressure; alpha is alpha2A weight coefficient representing an influence of the preceding vehicle on the target vehicle pressure; e is a natural constant.
Step 3, calculating a critical safe lane changing clearance L for allowing the target vehicle to change into the target laneg: changing the pressure coefficient k of the target vehicle calculated in the step 21Substituting the following formula (5), calculating to obtain a critical safe lane change clearance L for allowing the target vehicle to change into the target laneg(ii) a Wherein, the expression of formula (5) is:
Lg＝k1·[10+(vf-vl)·△t]+Lveh (5)
wherein v isfThe speed of a following vehicle in the target lane; v. oflIs the speed of the lead vehicle in the target lane; Δ t is the unit time step associated with the intersection road environment and the driver driving characteristics; l isvehIs the target vehicle length.
Step 4, calculating the actual lane change gap L in the target lanes: calculating to obtain the actual lane change gap L in the target lane according to the position data of the leading vehicle in the target lane and the position data of the following vehicle in the target lane, which are obtained in the step 1s(ii) a Wherein, the actual lane changing gap L in the target lanesIs the difference in distance in the direction of travel between a lead vehicle in the target lane and a following vehicle in the target lane.
Step 5, judging the track changing time: the critical safe lane changing gap L calculated in the step 3gAnd step 4, calculating the actual lane changing gap L in the target lanesComparing; when L iss≥LgIf so, the target vehicle safety lane changing condition is met, and the target vehicle is switched into a right target lane; when L iss＜LgAnd if so, the target vehicle safe lane changing condition is not met, and the step 6 is carried out.
Step 6, decelerating and waiting for the safe track change time: the target vehicle decelerates according to the suggested acceleration a to wait for a lane change opportunity meeting the safe lane change condition; the calculation method of the suggested acceleration a comprises the following steps:
step 61, calculating the following acceleration a of the target vehicle0The specific calculation formula is as follows:
a0＝0.2·(△x-vs·th)+0.6·△v (6)
△x＝xls-xs-Lveh (7)
△v＝vls-vs (8)
wherein, the delta x is the distance between the target vehicle and the front guide vehicle; x is the number oflsThe position of the head of the target vehicle front guide vehicle is; x is the number ofsThe position of the head of the target vehicle is; l isvehThe length of the target vehicle front guide vehicle; delta v is the speed difference between the target vehicle and the leading vehicle, vlsThe instantaneous speed of the target vehicle front guide vehicle; v. ofsIs the instantaneous speed of the target vehicle; v. ofmaxThe speed limit for the road section intersection approach; t is thThe starting time of the target vehicle.
Step 62, calculating the following pressure coefficient k of the target vehicle2: the following acceleration a of the target vehicle calculated according to step 610Calculating a following pressure coefficient k of the target vehicle2The specific calculation formula is as follows:
L1'＝max(L1,e)
L4'＝max(L4,e)
step 63, calculating the suggested acceleration a, wherein a specific calculation formula is as follows:
a＝k2·a0 (11)
and 7, repeating the steps 1 to 6 until the target vehicle meets the safe lane changing condition, and switching the target vehicle into the right target lane.
In step 2, α1、α2Respectively taking the values of 0.5 and 0.6; in step 3, Δ t takes a value of 1 second.
The device for selecting the right switching track clearance of the intelligent vehicle intersection comprises an intelligent vehicle state sensing module, a data storage module, a track switching pressure coefficient calculation module, a critical safety track switching clearance calculation module, a target vehicle following acceleration calculation module, a target vehicle following pressure coefficient and recommended acceleration calculation module and a target vehicle right switching track opportunity confirmation module. Wherein the content of the first and second substances,
and the intelligent vehicle state sensing module is used for sensing the running state of the whole traffic system and acquiring the micro information of the lane change of the target vehicle.
And the data storage module is used for storing history and real-time channel changing data.
And the lane changing pressure coefficient calculation module is used for calculating a lane changing pressure coefficient of the target vehicle.
And the critical safe lane changing clearance calculating module is used for calculating a critical safe lane changing clearance for allowing the target vehicle to be changed into the target lane.
And the target vehicle following acceleration calculation module is used for calculating the following acceleration of the target vehicle.
And the target vehicle-following pressure coefficient and suggested acceleration calculation module is used for calculating the target vehicle-following pressure coefficient and suggested acceleration adopted by the target vehicle in the process of waiting for changing tracks.
And the target vehicle right lane change opportunity confirmation module is used for monitoring whether the clearance between the leading vehicle and the following vehicle on the target lane exceeds the critical safe lane change clearance or not and determining the safe lane change opportunity.
The intelligent vehicle state sensing module comprises a target vehicle state self-sensing unit, a target vehicle front and rear vehicle state sensing unit, a sensing unit of leading vehicles and following vehicles in a target lane and a sensing unit of intersection geometric position information. Wherein the content of the first and second substances,
the target vehicle state self-sensing unit is used for acquiring speed and position data of the target vehicle.
The target vehicle front and rear vehicle state sensing unit is used for acquiring speed and position data of front and rear vehicles of the target vehicle.
The sensing units of the leading vehicle and the following vehicle in the target lane are used for acquiring speed and position data of the leading vehicle and the following vehicle in the target lane.
And the sensing unit of the geometric position information of the intersection is used for acquiring geometric characteristic data of the intersection.
The invention has the following beneficial effects:
1. the invention is based on an information base stored by an intelligent traffic system and a real-time sensing system of vehicles, calculates a lane change pressure coefficient and a following pressure coefficient according to the speed and position information of a target vehicle, vehicles in front of and behind the target vehicle, leading vehicles and following vehicles in a target lane and geometric characteristic information of an intersection by considering the distance game relation between the vehicles behind the target vehicle and the latest lane change point in front, further calculates the critical safety clearance between the target vehicle and the following vehicles in the target lane and the suggested acceleration adopted by the target vehicle in the waiting lane change process, and on the basis, the intelligent vehicle adopts the suggested acceleration to wait for the occurrence of a proper lane change clearance.
2. The invention comprehensively considers the pressure generated by the front and rear vehicles of the lane changing vehicle on the lane changing behavior under the intersection environment and the interaction between the lane changing vehicle and the front and rear vehicles in the target lane, so that the driving behavior of the lane changing vehicle in the waiting lane changing process is more accurate, the selection of the lane changing clearance is more scientific and accurate, a more scientific and reasonable judgment and decision basis is further provided for the driving behavior of a driver or an intelligent vehicle at the intersection, and the safe and efficient running of the vehicle at the intersection is ensured.
Drawings
Fig. 1 shows a flow chart of a method for selecting a right switch lane gap at an intersection of an intelligent vehicle according to the invention.
Fig. 2 shows a schematic diagram of calculation of the track-changing pressure coefficient and the car-following pressure coefficient of the vehicle according to the embodiment of the invention.
FIG. 3 is a schematic diagram illustrating a calculation of a critical safe lane-change clearance of a target vehicle according to an embodiment of the invention.
Fig. 4 shows a schematic diagram of calculation of the initial acceleration of the target vehicle according to the embodiment of the invention.
FIG. 5 shows a schematic diagram of a target vehicle-following pressure coefficient and a proposed acceleration calculation according to an embodiment of the present invention.
Fig. 6 shows a schematic structural diagram of the right switch lane gap selection device of the intelligent vehicle intersection.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings and specific preferred embodiments.
In the description of the present invention, it is to be understood that the terms "left side", "right side", "upper part", "lower part", etc., indicate orientations or positional relationships based on those shown in the drawings, and are only for convenience of describing the present invention and simplifying the description, but do not indicate or imply that the referred device or element must have a specific orientation, be constructed in a specific orientation, and be operated, and that "first", "second", etc., do not represent an important degree of the component parts, and thus are not to be construed as limiting the present invention. The specific dimensions used in the present example are only for illustrating the technical solution and do not limit the scope of protection of the present invention.
As illustrated in fig. 6. The device for selecting the right switching track clearance of the intelligent vehicle intersection comprises an intelligent vehicle state sensing module, a data storage module, a track switching pressure coefficient calculation module, a critical safety track switching clearance calculation module, a target vehicle following acceleration calculation module, a target vehicle following pressure coefficient and recommended acceleration calculation module and a target vehicle right switching track opportunity confirmation module. Wherein the content of the first and second substances,
and the intelligent vehicle state sensing module is used for sensing the running state of the whole traffic system and acquiring the micro information of the lane change of the target vehicle.
The intelligent vehicle state sensing module preferably comprises a target vehicle state self-sensing unit, a target vehicle front and rear vehicle state sensing unit, a sensing unit of leading vehicles and following vehicles in a target lane and a sensing unit of intersection geometric position information.
The target vehicle state self-sensing unit is used for acquiring speed and position data of the target vehicle.
The target vehicle front and rear vehicle state sensing unit is used for acquiring speed and position data of front and rear vehicles of the target vehicle.
The sensing units of the leading vehicle and the following vehicle in the target lane are used for acquiring speed and position data of the leading vehicle and the following vehicle in the target lane.
And the sensing unit of the geometric position information of the intersection is used for acquiring geometric characteristic data of the intersection.
The data storage module preferably comprises a historical data unit and a real-time data unit which are respectively used for storing historical and real-time lane changing data.
And the lane changing pressure coefficient calculation module is used for calculating a lane changing pressure coefficient of the target vehicle.
And the critical safe lane changing clearance calculating module is used for calculating a critical safe lane changing clearance for allowing the target vehicle to be changed into the target lane.
And the target vehicle following acceleration calculation module is used for calculating the following acceleration of the target vehicle.
And the target vehicle-following pressure coefficient and suggested acceleration calculation module is used for calculating the target vehicle-following pressure coefficient and suggested acceleration adopted by the target vehicle in the process of waiting for changing tracks.
And the target vehicle right lane change opportunity confirmation module is used for monitoring whether the clearance between the leading vehicle and the following vehicle on the target lane exceeds the critical safe lane change clearance or not and determining the safe lane change opportunity.
As shown in fig. 1, a method for selecting a right switch lane gap at an intersection of an intelligent vehicle includes the following steps.
Step 1, obtaining microscopic lane change information of a target vehicle: and acquiring the microscopic lane change information of the target vehicle by sensing the running state of the whole traffic system. The microscopic lane changing information of the target vehicle comprises position and speed data of the target vehicle, position and speed data of a leading vehicle of the target vehicle, position data and speed data of a leading vehicle in a target lane and a following vehicle in a target lane, the queuing length of a vehicle behind the target vehicle, the distance between the target vehicle and the tail of a front queuing vehicle, and the distance between the target vehicle and the starting point of a lane changing prohibition solid line of an intersection entrance lane.
Step 2, calculating a pressure coefficient k for changing the lane of the target vehicle1: calculating a lane change pressure coefficient of the target vehicle by adopting the following formula;
L1'＝max(L1,e) (2)
L4'＝max(L4,e) (3)
L4＝min(L2,L3) (4)
wherein L is1Indicating the length of the queue of vehicles behind the lane in which the target vehicle is located. L is2Representing the distance of the target vehicle from the tail of the vehicle in front of the queue. L is3Indicating the distance between the target vehicle and the starting point of the lane-change prohibition solid line of the intersection entrance lane. L is4Is L2And L3The minimum of the two. Alpha is alpha1The weight coefficient representing the influence of the rear vehicle on the target vehicle pressure is preferably 0.5. Alpha is alpha2A weight coefficient representing the influence of the front vehicle on the pressure of the target vehicle is preferably 0.6; e is a natural constant.
Step 3, calculating a critical safe lane changing clearance L for allowing the target vehicle to change into the target laneg: changing the pressure coefficient k of the target vehicle calculated in the step 21Substituting the following formula (5), calculating to obtain a critical safe lane change clearance L for allowing the target vehicle to change into the target laneg. Wherein, the expression of formula (5) is:
Lg＝k1·[10+(vf-vl)·△t]+Lveh (5)
wherein v isfIs the speed of the following vehicle in the target lane. v. oflIs the speed of the lead vehicle in the target lane. Δ t is a unit time step related to the intersection road environment and the driving characteristics of the driver, and is preferably 1 second. L isvehIs the target vehicle length.
Step 4, calculatingActual lane change gap L in target lanes: calculating to obtain the actual lane change gap L in the target lane according to the position data of the leading vehicle in the target lane and the position data of the following vehicle in the target lane, which are obtained in the step 1s. Wherein, the actual lane changing gap L in the target lanesIs the difference in distance in the direction of travel between a lead vehicle in the target lane and a following vehicle in the target lane.
Step 5, judging the track changing time: the critical safe lane changing gap L calculated in the step 3gAnd step 4, calculating the actual lane changing gap L in the target lanesAnd (6) comparing. When L iss≥LgAnd if so, meeting the safe lane change condition of the target vehicle, and switching the target vehicle into the right target lane. When L iss＜LgAnd if so, the target vehicle safe lane changing condition is not met, and the step 6 is carried out.
Step 6, decelerating and waiting for the safe track change time: the target vehicle decelerates according to the recommended acceleration a to wait for a lane change opportunity that satisfies a safe lane change condition. The calculation method of the suggested acceleration a comprises the following steps.
Step 61, calculating the following acceleration a of the target vehicle0The specific calculation formula is as follows:
a0＝0.2·(△x-vs·th)+0.6·△v (6)
△x＝xls-xs-Lveh (7)
△v＝vls-vs (8)
wherein, the delta x is the distance between the target vehicle and the front guide vehicle; x is the number oflsThe position of the head of the target vehicle front guide vehicle is; x is the number ofsThe position of the head of the target vehicle is; l isvehThe length of the target vehicle front guide vehicle; delta v is the speed difference between the target vehicle and the leading vehicle, vlsThe instantaneous speed of the target vehicle front guide vehicle; v. ofsIs the instantaneous speed of the target vehicle; v. ofmaxTo the roadLimiting speed of an entrance lane of a section intersection; t is thThe starting time of the target vehicle.
Step 62, calculating the following pressure coefficient k of the target vehicle2: the following acceleration a of the target vehicle calculated according to step 610Calculating a following pressure coefficient k of the target vehicle2The specific calculation formula is as follows:
L1'＝max(L1,e)
L4'＝max(L4,e)
step 63, calculating the suggested acceleration a, wherein a specific calculation formula is as follows:
a＝k2·a0 (11)
and 7, repeating the steps 1 to 6 until the target vehicle meets the safe lane changing condition, and switching the target vehicle into the right target lane.
The invention is further elucidated below on the basis of a traffic example.
Traffic example: as shown in FIG. 2, a certain vehicle is driven on a three-lane entrance lane at the intersection, and the number of the target vehicle is numbered
The target vehicle needs to turn right at the intersection, so the lane needs to be changed to the right side firstly, the number of the front vehicle of the target vehicle is seventh, the number of the rear vehicle is fifth, the number of the front vehicle in the target lane is first, the number of the following vehicle is second, the traffic condition is shown in figure 5
The center of (2) is an origin, the direction along the length direction of the road surface is the x direction, the direction along the width direction of the road surface is the y direction, and a coordinate system is established, so that the information of all vehicles at a certain moment is as follows:
among other parameters, the distance L between the target vehicle and the starting point of the lane change prohibition solid line at the entrance lane of the intersection318.34 m, weight coefficient alpha of pressure influence of rear vehicle and front vehicle1And alpha20.5 and 0.6 respectively, the unit time step length delta t related to the intersection road environment and the driving characteristics of the driver is 1 second, and the vehicle length LvehThe speed of the intersection entrance lane is limited to 40km/h at 5 meters.
The invention provides a method for selecting a right switch lane gap of an intelligent vehicle intersection, which comprises the following steps:
step 1, extracting all vehicle microscopic data in the research range from the information database of the target vehicle, as shown in the table above.
Step 2, calculating a lane change pressure coefficient of the target vehicle:
L1＝(19.22-11.31)+5＝12.91
because of the target vehicle
The front vehicle (c) is not in queuing state, and the distance between the front vehicle (c) and the rear vehicle (c) is 33.83-24.76-9.07 m when the front vehicle (c) is in queuing according to the distance between the front vehicle (c) and the rear vehicle (c)
L2＝24.76-9.07-5＝10.69
L3＝18.34
L4＝min(L2,L3)＝10.69
L1'＝max(L1,e)＝12.91
L4'＝max(L4,e)＝10.69
Therefore, the lane change pressure coefficient of the target vehicle is 0.45.
Step 3, calculating a critical safe lane changing gap for allowing the target vehicle to change into the target lane:
Lg＝k1·[10+(vf-vl)·△t]+Lveh＝0.45×[10+(9.55-7.61)×1]+5＝10.37
step 4, calculating the actual lane change gap L in the target lanes: looking up the table, it can be known that the distance between the vehicles (I) and (II) is 9.66 m, namely Ls＝9.66。
Step 5, judging the track changing time: 9.66 < 10.37, i.e. Ls＜LgAnd the target vehicle safe lane change condition is not met, so that the step 6 is carried out.
And 6, decelerating and waiting for a safe track change time.
The calculation method of the recommended acceleration a is calculated first as follows.
Step 61, calculating the initial acceleration of the target vehicle:
△x＝xls-xs-Lveh＝7.86-0-5＝2.86
△v＝vls-vs＝6.11-8.87＝-2.76
a0＝0.2·(△x-vs·th)+0.6·△v＝0.2×(2.86-8.87×0.61)+0.6×(-2.76)＝-2.17
thus, the initial acceleration is-2.17 m/s2I.e. without taking into account a lane change (i.e. continuing straight), the target vehicle should now assume 2.17m/s2The initial acceleration decelerates.
And step 62, calculating the target vehicle following pressure coefficient.
Because of the initial acceleration a0<0，L1'>L4'
Step 63, calculating the suggested acceleration: a ═ k2·a0＝0.83×(-2.17)＝-1.80
Thus, under examinationUnder the pressure game generated by vehicles in front of and behind the target vehicle, the target vehicle is recommended to be 1.80m/s2To wait for a lane change opportunity that satisfies a safe lane change condition.
And 7, repeating the steps 1 to 6 until the target vehicle meets the safe lane changing condition, and switching the target vehicle into the right target lane.
In the embodiment, the speed of the vehicle is always higher than the speed of the vehicle, so that the distance between the vehicle and the vehicle is continuously reduced, and the target vehicle
Waiting for changing lanes after the car leaves, and calculating the target car by the computer
The lane change may be made after waiting 2 seconds for deceleration.
Although the preferred embodiments of the present invention have been described in detail, the present invention is not limited to the details of the embodiments, and various equivalent modifications can be made within the technical spirit of the present invention, and the scope of the present invention is also within the scope of the present invention.
Claims (4)
1. A method for selecting a right switching lane gap of an intelligent vehicle intersection is characterized by comprising the following steps: the method comprises the following steps:
step 1, obtaining microscopic lane change information of a target vehicle: acquiring microscopic lane changing information of a target vehicle by sensing the running state of the whole traffic system; the microscopic lane changing information of the target vehicle comprises position and speed data of the target vehicle, position and speed data of a leading vehicle of the target vehicle, position data and speed data of a leading vehicle in a target lane and a following vehicle in a target lane, the queuing length of a vehicle behind the target vehicle, the distance between the target vehicle and the tail of a front queuing vehicle, and the distance between the target vehicle and the starting point of a lane changing prohibition solid line of an intersection entrance lane;
step 2, calculating a pressure coefficient k for changing the lane of the target vehicle1: calculating the mesh by using the following formulaThe lane change pressure coefficient of the target vehicle;
L1'＝max(L1,e) (2)
L4'＝max(L4,e) (3)
L4＝min(L2,L3) (4)
wherein L is1Representing the queuing length of the vehicles behind the lane where the target vehicle is located; l is2Representing the distance between the target vehicle and the tail of the vehicle queue in front of the queue; l is3Representing the distance between the target vehicle and the starting point of the lane change prohibition solid line of the intersection entrance lane; l is4Is L2And L3The minimum of the two; alpha is alpha1A weight coefficient representing an influence of the rear vehicle on the target vehicle pressure; alpha is alpha2A weight coefficient representing an influence of the preceding vehicle on the target vehicle pressure; e is a natural constant;
step 3, calculating a critical safe lane changing clearance L for allowing the target vehicle to change into the target laneg: changing the pressure coefficient k of the target vehicle calculated in the step 21Substituting the following formula (5), calculating to obtain a critical safe lane change clearance L for allowing the target vehicle to change into the target laneg(ii) a Wherein, the expression of formula (5) is:
wherein v isfThe speed of a following vehicle in the target lane; v. oflIs the speed of the lead vehicle in the target lane; Δ t is the unit time step associated with the intersection road environment and the driver driving characteristics; l isvehIs the target vehicle length;
step 4, calculating the actual lane change gap L in the target lanes: calculating to obtain the position data of the leading vehicle in the target lane and the position data of the following vehicle in the target lane according to the position data of the leading vehicle in the target lane and the position data of the following vehicle in the target lane acquired in the step 1Actual lane change clearance Ls(ii) a Wherein, the actual lane changing gap L in the target lanesThe distance difference in the direction of travel between a leading vehicle in the target lane and a following vehicle in the target lane;
step 5, judging the track changing time: the critical safe lane changing gap L calculated in the step 3gAnd step 4, calculating the actual lane changing gap L in the target lanesComparing; when L iss≥LgIf so, the target vehicle safety lane changing condition is met, and the target vehicle is switched into a right target lane; when L iss＜LgIf so, the target vehicle safe lane changing condition is not met, and the step 6 is carried out;
step 6, decelerating and waiting for the safe track change time: the target vehicle decelerates according to the suggested acceleration a to wait for a lane change opportunity meeting the safe lane change condition; the calculation method of the suggested acceleration a comprises the following steps:
step 61, calculating the following acceleration a of the target vehicle0The specific calculation formula is as follows:
a0＝0.2·(△x-vs·th)+0.6·△v (6)
△x＝xls-xs-Lveh (7)
△v＝vls-vs (8)
wherein, the delta x is the distance between the target vehicle and the front guide vehicle; x is the number oflsThe position of the head of the target vehicle front guide vehicle is; x is the number ofsThe position of the head of the target vehicle is; l isvehThe length of the target vehicle front guide vehicle; delta v is the speed difference between the target vehicle and the leading vehicle, vlsThe instantaneous speed of the target vehicle front guide vehicle; v. ofsIs the instantaneous speed of the target vehicle; v. ofmaxThe speed limit for the road section intersection approach; t is thA start time for the target vehicle;
step 62, calculating the following pressure coefficient k of the target vehicle2: according toThe following acceleration a of the target vehicle calculated at step 610Calculating a following pressure coefficient k of the target vehicle2The specific calculation formula is as follows:
L1'＝max(L1,e)
L4'＝max(L4,e)
step 63, calculating the suggested acceleration a, wherein a specific calculation formula is as follows:
a＝k2·a0 (11)
and 7, repeating the steps 1 to 6 until the target vehicle meets the safe lane changing condition, and switching the target vehicle into the right target lane.
2. The intelligent vehicle intersection right switch lane gap selection method as claimed in claim 1, wherein: in step 2, α1、α2Respectively taking the values of 0.5 and 0.6; in step 3, Δ t takes a value of 1 second.
3. An intelligent vehicle intersection right switch lane gap selection device based on the intelligent vehicle intersection right switch lane gap selection method of any one of claims 1-2 is characterized in that: the system comprises an intelligent vehicle state sensing module, a data storage module, a track-changing pressure coefficient calculation module, a critical safe track-changing gap calculation module, a target vehicle following acceleration calculation module, a target vehicle following pressure coefficient and suggested acceleration calculation module and a target vehicle right track-changing opportunity confirmation module; wherein the content of the first and second substances,
the intelligent vehicle state sensing module is used for sensing the running state of the whole traffic system and acquiring the micro information of the lane change of the target vehicle;
the data storage module is used for storing history and real-time lane changing data;
the lane changing pressure coefficient calculation module is used for calculating a lane changing pressure coefficient of the target vehicle;
the critical safe lane changing clearance calculation module is used for calculating a critical safe lane changing clearance for allowing the target vehicle to be changed into the target lane;
the target vehicle following acceleration calculation module is used for calculating the following acceleration of the target vehicle;
the target vehicle following pressure coefficient and suggested acceleration calculation module is used for calculating the target vehicle following pressure coefficient and suggested acceleration adopted by the target vehicle in the process of waiting for changing tracks;
and the target vehicle right lane change opportunity confirmation module is used for monitoring whether the clearance between the leading vehicle and the following vehicle on the target lane exceeds the critical safe lane change clearance or not and determining the safe lane change opportunity.
4. The intelligent vehicle intersection right switch lane gap selection device of claim 3, wherein: the intelligent vehicle state sensing module comprises a target vehicle state self-sensing unit, a target vehicle front and rear vehicle state sensing unit, a sensing unit of a leading vehicle and a following vehicle in a target lane and a sensing unit of intersection geometric position information; wherein the content of the first and second substances,
the target vehicle state self-sensing unit is used for acquiring speed and position data of a target vehicle;
the target vehicle front and rear vehicle state sensing unit is used for acquiring speed and position data of front and rear vehicles of the target vehicle;
the sensing units of the leading vehicle and the following vehicle in the target lane are used for acquiring the speed and position data of the leading vehicle and the following vehicle in the target lane;
and the sensing unit of the geometric position information of the intersection is used for acquiring geometric characteristic data of the intersection.
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