CN112562371B - Lightweight scheduling method based on automatic driving motorcade at signal lamp-free intersection - Google Patents
Lightweight scheduling method based on automatic driving motorcade at signal lamp-free intersection Download PDFInfo
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/09—Arrangements for giving variable traffic instructions
- G08G1/0962—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages
- G08G1/0967—Systems involving transmission of highway information, e.g. weather, speed limits
- G08G1/096708—Systems involving transmission of highway information, e.g. weather, speed limits where the received information might be used to generate an automatic action on the vehicle control
- G08G1/096725—Systems involving transmission of highway information, e.g. weather, speed limits where the received information might be used to generate an automatic action on the vehicle control where the received information generates an automatic action on the vehicle control
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/07—Controlling traffic signals
- G08G1/081—Plural intersections under common control
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/16—Anti-collision systems
- G08G1/168—Driving aids for parking, e.g. acoustic or visual feedback on parking space
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/20—Monitoring the location of vehicles belonging to a group, e.g. fleet of vehicles, countable or determined number of vehicles
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/20—Monitoring the location of vehicles belonging to a group, e.g. fleet of vehicles, countable or determined number of vehicles
- G08G1/207—Monitoring the location of vehicles belonging to a group, e.g. fleet of vehicles, countable or determined number of vehicles with respect to certain areas, e.g. forbidden or allowed areas with possible alerting when inside or outside boundaries
Abstract
The invention discloses a lightweight scheduling method at a signal lamp-free intersection based on an automatic driving fleet, which comprises the steps of dividing the intersection into square frames comprising a plurality of cells, setting the serial numbers of the cells, and presetting an entry point or an EXIT point for each lane connected to the intersection, so that a leader vehicle of the automatic driving fleet can run a collision detection algorithm to guide the vehicle to run at the intersection, and the leader vehicle and a tail vehicle of the automatic driving fleet use three safety messages, namely ENTER message, CROSS message and EXIT message to carry out information interaction with the leader vehicle and the tail vehicle of other automatic driving fleets in a communication range, so as to realize the fleet scheduling of the intersection; compared with a signal lamp scheduling method, the traffic efficiency is higher.
Description
Technical Field
The invention relates to the technical field of vehicle networking communication, in particular to a lightweight scheduling method based on an automatic driving motorcade at a signal lamp-free intersection.
Background
Under the background that the current automatic driving technology is rapidly developed and the relevant standards of the internet of vehicles are increasingly perfected and matured, aiming at the problems that the quantity of urban motor vehicles is rapidly increased, the traffic jam of a road intersection and the safety of the motor vehicles are increasingly serious, the internet of vehicles communication technology is utilized to replace signal lamps to dispatch automatic driving motorcades, the intersection passing efficiency is improved, and collision detection is carried out, so that the effective solution for solving the problems of the traffic jam and the safety of the vehicles is provided.
V2V, as the name implies, is vehicle-to-vehicle, which is a communication technology not limited to fixed base stations, providing direct end-to-end wireless communication for moving vehicles. Through the V2V communication technology, vehicle terminals can directly exchange wireless information with each other without being forwarded through a base station. The system can be used for monitoring the speed, the position and other information of other running vehicles on the lane.
Autonomous formation of vehicles is one of the innovations in the automotive industry, and the formation of vehicles enables vehicles to travel safely close together, which reduces the space occupied by vehicles on the road. Vehicle formation significantly reduces the drag experienced by each vehicle. This reduction in drag means less fuel consumption, higher fuel efficiency and less pollution. Vehicle formation systems are considered more efficient than most human drivers.
Disclosure of Invention
Aiming at the problems, the invention provides a lightweight scheduling method based on an automatic driving motorcade at a traffic signal-free intersection.
In order to realize the aim of the invention, the invention provides a lightweight scheduling method at a traffic light-free intersection based on an automatic driving motorcade, which comprises the following steps:
s10, dividing the intersection into square frames including a plurality of cells, setting the serial number of each cell, and presetting each lane connected to the intersection as an entry point or an exit point;
s20, running a collision detection algorithm by a leader vehicle of the automatic driving fleet to guide the vehicle to run at the intersection; the formation of the automatic driving vehicles consists of a plurality of automatic driving vehicles which are arranged, the vehicle positioned at the head of the formation is called a leading vehicle, the vehicle positioned at the tail of the formation is called a tail vehicle, the vehicles in the same formation have the same steering information, and the other vehicles in the formation maintain the stability of the whole formation of the automatic driving vehicles through real-time communication with the leading vehicle;
s30, the leader vehicle and the tail vehicle of the automatic driving fleet use the ENTER message, the CROSS message and the EXIT message to carry out information interaction with the leader vehicle and the tail vehicle of other automatic driving fleets in the communication range, so as to realize the fleet scheduling of the intersection; the ENTER message represents a pre-entry message identifier, the CROSS message represents a passing intersection message identifier, and the EXIT message represents an EXIT intersection message identifier.
In one embodiment, running a collision detection algorithm by a leader vehicle of an autonomous fleet of vehicles to direct a host vehicle to travel at an intersection includes:
the method comprises the steps that a leader vehicle of an automatic driving fleet accesses a digital map database of an intersection, the current vehicle position is mapped to corresponding cells according to a vehicle-mounted GPS, each cell occupied by the vehicle when the vehicle passes through the intersection is recorded by using a running track table, and the running track table broadcasts to other vehicles of the automatic driving fleet and the leader vehicles of other automatic driving fleets;
determining that there is a potential collision of two or more vehicles when a leader vehicle of the autonomous vehicle fleet detects that there is a temporal and spatial conflict between the two or more vehicles when crossing the intersection and the two or more vehicles occupy at least one common cell on a trajectory through the intersection;
if two or more vehicles have the potential collision possibility, the two or more vehicles are assigned with priorities, and the passing of each vehicle is controlled according to the priorities.
In one embodiment, two or more vehicles are assigned priorities, and controlling the passage of each vehicle according to the priorities comprises:
setting the priority of the vehicle which arrives at the intersection first as a high-level priority; if two or more vehicles arrive at the intersection at the same time, comparing the priority numbers of the vehicles, and setting the priority of the vehicle with the higher priority number as the high-level priority;
sequentially sending traffic information to vehicles with priority levels of all levels from high to low according to the priority levels, so that each vehicle passes through the intersection; wherein, after the vehicle of the high-level priority passes through the intersection, the vehicle of the latter priority level sends the traffic information.
Specifically, the method for realizing the fleet scheduling of the intersection includes the following steps that a leading vehicle and a trailing vehicle of an automatic driving fleet use three safety messages, namely ENTER, CROSS and EXIT, to carry out information interaction with the leading vehicle and the trailing vehicle of other automatic driving fleets within a communication range, so that the fleet scheduling of the intersection is realized:
step S31, when the automatic driving fleet runs to the distance intersection, the leading vehicle starts broadcasting the ENTER message, and starts detecting whether the CROSS message or the ENTER message of the leading vehicle of other automatic driving fleets is received, if not, the fleet directly crosses the intersection and broadcasts the CROSS message, when the fleet runs out of the intersection, the tail vehicle starts broadcasting the EXIT message;
step S32, if the leading vehicle only receives the ENTER message of the leading vehicle of other vehicle team and does not receive the CROSS message of the leading vehicle of other vehicle team, then judging whether the received ENTER message has higher priority, if yes, using a collision detection algorithm to judge whether the possibility of potential collision exists, if the possibility of potential collision is detected, the vehicle team stops at the intersection until the EXIT message of the tail vehicle of the automatic driving vehicle team sending the ENTER message is received, and the vehicle team crosses the intersection; if no potential collision is detected or the priority of the received RNTER message is lower, the fleet of vehicles directly traverses the intersection;
step S33, when the leading vehicle of the own fleet receives the CROSS message, using a collision detection algorithm to detect whether the possibility of the potential collision exists, if the possibility of the potential collision exists, selecting to stop, wait and record the priority number of the fleet which sends the CROSS message, when the EXIT message of the tail vehicle in the fleet which corresponds to the recorded priority number is received or the possibility of the potential collision does not exist, judging whether the RNTER message of the leading vehicle of other automatic driving fleets is received, if the RNTER message of the leading vehicle of the other automatic driving fleets is received, returning to execute step S32.
The light-weight scheduling method based on the automatic driving fleet at the signal-lamp-free intersection comprises the steps of dividing the intersection into square frames comprising a plurality of cells, setting the serial numbers of the cells, and presetting an entry point or an EXIT point for each lane connected to the intersection, so that a leader vehicle of the automatic driving fleet can run a collision detection algorithm to guide the vehicle to run at the intersection, and the leader vehicle and a tail vehicle of the automatic driving fleet use three safety messages, namely ENTER message, CROSS message and EXIT message to perform information interaction with the leader vehicle and the tail vehicle of other automatic driving fleets in a communication range, so as to realize fleet scheduling of the intersection; compared with a signal lamp scheduling method, the traffic efficiency is higher. Although the traffic efficiency of the intersection can be improved and the road congestion can be reduced by using the signalless intersection scheduling mode which uses a single vehicle as a scheduling unit, a large communication load can be brought to a channel at the same time, because each vehicle needs to send and receive data packets in the scheduling mode, the network congestion can be caused greatly, and the safety problem is caused. In the embodiment, the automatic driving formation is taken as a scheduling unit, and only the leading vehicle and the tail vehicle are responsible for sending and receiving the data packets to realize communication with other vehicle fleets, so that the data packets generated in the vehicle communication process are greatly reduced, and the method has important significance for relieving network congestion and improving the vehicle driving safety.
Drawings
FIG. 1 is a flow diagram of a method for lightweight dispatch at a turn-signal intersection based on an autonomous fleet of vehicles according to one embodiment;
FIG. 2 is an intersection schematic of an embodiment;
FIG. 3 is a flow diagram of a method for lightweight dispatch at a turn-signal intersection based on an autonomous fleet of vehicles, according to one embodiment.
Detailed Description
In order to make the objects, technical solutions and advantages of the present application more apparent, the present application is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the present application and are not intended to limit the present application.
Reference herein to "an embodiment" means that a particular feature, structure, or characteristic described in connection with the embodiment can be included in at least one embodiment of the application. The appearances of the phrase in various places in the specification are not necessarily all referring to the same embodiment, nor are separate or alternative embodiments mutually exclusive of other embodiments. It is explicitly and implicitly understood by one skilled in the art that the embodiments described herein can be combined with other embodiments.
Referring to fig. 1, fig. 1 is a flowchart of a lightweight dispatch method for an automated driving fleet at a non-signal intersection according to an embodiment, including the following steps:
s10, the intersection is divided into square frames including a plurality of cells, the number of each cell is set, and each lane connected to the intersection is set as an entry point or an exit point in advance.
Specifically, the intersection (intersection) can be defined as a square frame, the square frame is divided into 16 small cells, and each cell is associated with a unique serial number (1-16). And entrance and exit points are predefined for each lane connected to the intersection. In one example, a square frame corresponding to an intersection can be seen with reference to FIG. 2.
S20, running a collision detection algorithm by a leader vehicle of the automatic driving fleet to guide the vehicle to run at the intersection; the formation of the automatic driving vehicles is composed of a plurality of automatic driving vehicles in an arrangement mode, the vehicle at the head of the formation is called a leading vehicle, the vehicle at the tail of the formation is called a tail vehicle, the vehicles in the same formation have the same steering information, and the stability of the whole formation of the automatic driving vehicles is maintained through real-time communication with the leading vehicle.
In the actual running process, an automatic driving vehicle formation (automatic driving vehicle formation) is composed of a plurality of automatic driving vehicles arranged, the vehicle at the head of the formation is called a leading vehicle, the vehicle at the tail of the formation is called a tail vehicle, the vehicles in the same formation have the same steering information, and the stability of the whole vehicle formation is maintained by the other vehicles in the vehicle formation through real-time communication with the leading vehicle. And assuming that the shape, the size and the speed of each vehicle are equal, the distance between the vehicles is constant, the total length of the whole vehicle fleet is unchanged in the driving process, and the driving state is stable.
S30, the leader vehicle and the tail vehicle of the automatic driving fleet use the ENTER message, the CROSS message and the EXIT message to carry out information interaction with the leader vehicle and the tail vehicle of other automatic driving fleets in the communication range, so as to realize the fleet scheduling of the intersection; the ENTER message represents a pre-entry message identifier, the CROSS message represents a passing intersection message identifier, and the EXIT message represents an EXIT intersection message identifier.
The ENTER message, the CROSS message and the EXIT message are used for identifying the position of the vehicle and the road condition of the occupied intersection, and corresponding messages are broadcast when the vehicle is at different positions. These three messages are described below.
An ENTER message: a pre-entry message identification. The vehicle uses its own GPS coordinates, speed and map database to calculate the distance to the intersection, and if this distance is less than a threshold distance D, it starts setting ENTER, which contains the vehicle identification and the travel track table (TCT), to the type of safety message and broadcasts.
CROSS message: and passing through the intersection message identification. When a vehicle ENTERs the intersection area, a CROSS message is used in place of the ENTER message and broadcast until the vehicle exits the intersection area. The purpose of sending the CROSS message is to inform the surrounding vehicles that they are crossing the intersection themselves. The CROSS message contains identification information of the sending vehicle and a travel track table (TCT).
EXIT message: and driving out the intersection message identification. When the vehicle EXITs the intersection, an EXIT message will be set in place of the CROSS message and broadcast until the vehicle moves farther than the threshold distance parameter D. The purpose of sending the EXIT message is to inform the surrounding vehicles that the intersection is no longer in use by the vehicle.
The light-weight scheduling method based on the automatic driving fleet at the signal-lamp-free intersection comprises the steps of dividing the intersection into square frames comprising a plurality of cells, setting the serial numbers of the cells, and presetting an entry point or an EXIT point for each lane connected to the intersection, so that a leader vehicle of the automatic driving fleet can run a collision detection algorithm to guide the vehicle to run at the intersection, and the leader vehicle and a tail vehicle of the automatic driving fleet use three safety messages, namely ENTER message, CROSS message and EXIT message to perform information interaction with the leader vehicle and the tail vehicle of other automatic driving fleets in a communication range, so as to realize fleet scheduling of the intersection; compared with a signal lamp scheduling method, the traffic efficiency is higher. Although the traffic efficiency of the intersection can be improved and the road congestion can be reduced by using the signalless intersection scheduling mode which uses a single vehicle as a scheduling unit, a large communication load can be brought to a channel at the same time, because each vehicle needs to send and receive data packets in the scheduling mode, the network congestion can be caused greatly, and the safety problem is caused. In the embodiment, the automatic driving formation is taken as a scheduling unit, and only the leading vehicle and the tail vehicle are responsible for sending and receiving the data packets to realize communication with other vehicle fleets, so that the data packets generated in the vehicle communication process are greatly reduced, and the method has important significance for relieving network congestion and improving the vehicle driving safety.
In one embodiment, running a collision detection algorithm by a leader vehicle of an autonomous fleet of vehicles to direct a host vehicle to travel at an intersection includes:
the method comprises the steps that a leader vehicle of an automatic driving fleet accesses a digital map database of an intersection, the current vehicle position is mapped to corresponding cells according to a vehicle-mounted GPS, each cell occupied by the vehicle when the vehicle passes through the intersection is recorded by using a running track table, and the running track table broadcasts to other vehicles of the automatic driving fleet and the leader vehicles of other automatic driving fleets;
determining that there is a potential collision of two or more vehicles when a leader vehicle of the autonomous vehicle fleet detects that there is a temporal and spatial conflict between the two or more vehicles when crossing the intersection and the two or more vehicles occupy at least one common cell on a trajectory through the intersection;
if two or more vehicles have the potential collision possibility, the two or more vehicles are assigned with priorities, and the passing of each vehicle is controlled according to the priorities.
Specifically, the collision detection algorithm runs on top of the lead vehicles of the autonomous formation, and the specific process of the algorithm can also be expressed as the following process:
(1) assume that a vehicle can access a digital map database of intersection and lane information and map the current vehicle location to a corresponding cell number according to an onboard GPS. A driving track table (TCT) is used to identify the area occupied by a vehicle when traversing an intersection. The driving track table (TCT) stores cell numbers that the vehicle sequentially passes through when crossing an intersection. And will be broadcast to surrounding vehicles as part of a Basic Safety Message (BSM).
Taking the intersection shown in fig. 2 as an example, when an autonomous vehicle attempts to enter the intersection from the cell 8 and exit from the cell 5, the travel track table (TCT) of the vehicle will be set to [8,7,6,5], when the vehicle completely exits the cell 8, the travel track table (TCT) will be set to [7,6,5], and as the travel track table (TCT) of the vehicle will be set to [6,5], [5], it will be empty finally. A complete exit of the vehicle from the intersection is also indicated when the driving trajectory schedule (TCT) is empty.
(2) A potential collision may occur if two or more vehicles have a temporal and spatial conflict when crossing an intersection, i.e., the vehicles have an overlap in arrival time and exit time intervals, and they occupy at least one common cell on a trajectory through the intersection (i.e., multiple vehicles have the same cell number in their travel trajectory table (TCT)).
(3) If a potential collision is detected, the vehicle is assigned a priority using a First Come First Serve (FCFS) algorithm. Vehicles arriving at the intersection first have a higher priority and can pass before later arriving vehicles. If two or more vehicles arrive at the same time, the priority numbers (VIDs) of the vehicles are compared, and the higher priority VID vehicles pass with priority, and the VID of each vehicle is unique and set in advance for each vehicle. The First Come First Served (FCFS) algorithm and VID are factors that compare message priorities.
In one embodiment, two or more vehicles are assigned priorities, and controlling the passage of each vehicle according to the priorities comprises:
setting the priority of the vehicle which arrives at the intersection first as a high-level priority; if two or more vehicles arrive at the intersection at the same time, comparing the priority numbers of the vehicles, and setting the priority of the vehicle with the higher priority number as the high-level priority;
sequentially sending traffic information to vehicles with priority levels of all levels from high to low according to the priority levels, so that each vehicle passes through the intersection; wherein, after the vehicle of the high-level priority passes through the intersection, the vehicle of the latter priority level sends the traffic information.
Specifically, the method for realizing the fleet scheduling of the intersection includes the following steps that a leading vehicle and a trailing vehicle of an automatic driving fleet use three safety messages, namely ENTER, CROSS and EXIT, to carry out information interaction with the leading vehicle and the trailing vehicle of other automatic driving fleets within a communication range, so that the fleet scheduling of the intersection is realized:
step S31, when the automatic driving fleet runs to the distance intersection, the leading vehicle starts broadcasting the ENTER message, and starts detecting whether the CROSS message or the ENTER message of the leading vehicle of other automatic driving fleets is received, if not, the fleet directly crosses the intersection and broadcasts the CROSS message, when the fleet runs out of the intersection, the tail vehicle starts broadcasting the EXIT message;
step S32, if the leading vehicle only receives the ENTER message of the leading vehicle of other vehicle team and does not receive the CROSS message of the leading vehicle of other vehicle team, then judging whether the received ENTER message has higher priority, if yes, using a collision detection algorithm to judge whether the possibility of potential collision exists, if the possibility of potential collision is detected, the vehicle team stops at the intersection until the EXIT message of the tail vehicle of the automatic driving vehicle team sending the ENTER message is received, and the vehicle team crosses the intersection; if no potential collision is detected or the priority of the received RNTER message is lower, the fleet of vehicles directly traverses the intersection;
step S33, when the leading vehicle of the own fleet receives the CROSS message, using a collision detection algorithm to detect whether the possibility of the potential collision exists, if the possibility of the potential collision exists, selecting to stop, wait and record the priority number of the fleet which sends the CROSS message, when the EXIT message of the tail vehicle in the fleet which corresponds to the recorded priority number is received or the possibility of the potential collision does not exist, judging whether the RNTER message of the leading vehicle of other automatic driving fleets is received, if the RNTER message of the leading vehicle of the other automatic driving fleets is received, returning to execute step S32.
In a signalless intersection scheduling mode using a single vehicle as a scheduling unit, each vehicle needs to send and receive data packets, which may cause network congestion and cause safety problems. In one embodiment, the lightweight scheduling method based on the automated driving fleet at the signal lamp-free intersection takes the automated driving formation as a scheduling unit, and only the leading vehicle and the tail vehicle are responsible for sending and receiving the data packets, so that the data packets generated in the vehicle communication process are greatly reduced. In the invention, all vehicles are divided into a plurality of vehicle fleets according to the vehicle steering information, and each vehicle fleet is in charge of communication with the leading vehicle and the tail vehicle of other vehicle fleets by the leading vehicle and the tail vehicle, thereby reducing the communication burden, reducing the number of generated data packets and being beneficial to relieving the network congestion and the communication burden.
Referring to fig. 3, the lightweight scheduling method at the no-signal intersection based on the autonomous driving fleet may also include the following processes:
1. the intersection is defined as a perfect square frame and divided into 16 small cells, and each cell is associated with a unique serial number (1-16). And entrance and exit points are predefined for each lane connected to the intersection. As shown in fig. 2.
2. Collision detection algorithm
(1) The autonomous vehicle may access a digital map database of intersection and lane information and map the current vehicle location to a corresponding cell number according to a vehicle-mounted GPS. Stored using the travel track table (TCT) are cell numbers that the vehicle has traveled sequentially while crossing the intersection. And will be broadcast to surrounding vehicles as part of a Basic Safety Message (BSM).
(2) A potential collision may occur if two or more vehicles have a temporal and spatial conflict when crossing an intersection, i.e., the vehicles have an overlap in arrival time and exit time intervals, and they occupy at least one common cell on a trajectory through the intersection (i.e., multiple vehicles have the same cell number in their travel trajectory table (TCT)).
(3) If a potential collision is detected, the vehicle is assigned a priority using a First Come First Serve (FCFS) algorithm. Vehicles arriving at the intersection first have a higher priority and can pass before later arriving vehicles. If two or more vehicles arrive at the same time, the priority numbers (VIDs) of the vehicles are compared, and the higher priority VID vehicles pass with priority, and the VID of each vehicle is unique and set in advance for each vehicle. First Come First Served (FCFS) and VID are factors that compare message priorities.
3. Signal lamp-free intersection fleet scheduling strategy
Autonomous vehicles use three safety messages, ENTER, CROSS and EXIT to interact with other vehicles within communication range.
ENTER: each vehicle uses its own GPS coordinates, speed, and map database to calculate the distance to the intersection. If the distance is less than the threshold distance parameter D, then ENTER is initially set to a safety message type and broadcast, the ENTER message containing a vehicle identification and a travel trajectory table (TCT).
CROSS: when a vehicle ENTERs the intersection area, a CROSS message is used in place of the ENTER message and broadcast until the vehicle exits the intersection area. The purpose of sending the CROSS message is to inform the surrounding vehicles that they are crossing the intersection themselves.
The CROSS message contains identification information of the sending vehicle and a travel track table (TCT).
EXIT: when the vehicle EXITs the intersection, an EXIT message will be set in place of the CROSS message and broadcast until the vehicle moves farther than the threshold distance parameter D. The purpose of sending the EXIT message is to inform the surrounding vehicles that the intersection is no longer in use by the vehicle.
(1) When the autonomous fleet drives to distance intersection D, the lead vehicle begins broadcasting an ENTER message. Meanwhile, the leading vehicle starts to detect whether the safety messages of the CROSS or ENTER types of the leading vehicles of other motorcades are received, if not, the motorcade directly crosses the intersection and broadcasts the CROSS messages, and when the motorcade is driven out of the intersection, the tail vehicles start to broadcast the EXIT messages.
(2) If the leader vehicle receives only the ENTER messages of the leader vehicles of other fleets and does not receive the CROSS messages of the leader vehicles of other fleets, judging whether the received ENTER messages have higher priority, if so, judging whether potential collision exists by using a collision detection algorithm, if so, stopping the fleets at the intersection, and not starting to CROSS the intersection until receiving the EXIT message of the tail vehicles of the fleets which send the ENTER messages. If no potential collision is detected or the priority of the accepted RNTER message is lower, the fleet traverses the intersection directly.
(3) When the lead vehicle receives the CROSS message, a collision detection algorithm is used to detect whether a potential collision exists. If a collision is detected, the vehicle selects to stop waiting and record the VID of the fleet sending the CROSS messages, and when the recorded EXIT message of the tail vehicle of the VID fleet is received or no potential collision is detected, the judgment is made whether the RNTER message of other fleets is received or not, and the process is consistent with the process (2).
The technical features of the above embodiments can be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the above embodiments are not described, but should be considered as the scope of the present specification as long as there is no contradiction between the combinations of the technical features.
It should be noted that the terms "first \ second \ third" referred to in the embodiments of the present application merely distinguish similar objects, and do not represent a specific ordering for the objects, and it should be understood that "first \ second \ third" may exchange a specific order or sequence when allowed. It should be understood that "first \ second \ third" distinct objects may be interchanged under appropriate circumstances such that the embodiments of the application described herein may be implemented in an order other than those illustrated or described herein.
The terms "comprising" and "having" and any variations thereof in the embodiments of the present application are intended to cover non-exclusive inclusions. For example, a process, method, apparatus, product, or device that comprises a list of steps or modules is not limited to the listed steps or modules but may alternatively include other steps or modules not listed or inherent to such process, method, product, or device.
The above-mentioned embodiments only express several embodiments of the present application, and the description thereof is more specific and detailed, but not construed as limiting the scope of the invention. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the concept of the present application, which falls within the scope of protection of the present application. Therefore, the protection scope of the present patent shall be subject to the appended claims.
Claims (3)
1. A lightweight scheduling method based on an automatic driving motorcade at a signal lamp-free intersection is characterized by comprising the following steps:
s10, dividing the intersection into square frames including a plurality of cells, setting the serial number of each cell, and presetting each lane connected to the intersection as an entry point or an exit point;
s20, running a collision detection algorithm by a leader vehicle of the automatic driving fleet to guide the vehicle to run at the intersection; the formation of the automatic driving vehicles comprises a plurality of automatic driving vehicles which are arranged, wherein the vehicle at the head of the formation is called a leading vehicle, the vehicle at the tail of the formation is called a tail vehicle, the vehicles in the same formation have the same steering information, and the stability of the whole formation of the automatic driving vehicles is maintained by the other vehicles in the formation of the automatic driving vehicles through real-time communication with the leading vehicle;
s30, the leader vehicle and the tail vehicle of the automatic driving fleet use three safety messages of an ENTER message, a CROSS message and an EXIT message to carry out information interaction with the leader vehicle and the tail vehicle of other automatic driving fleets within the communication range, so as to realize the fleet scheduling of the intersection, and the method comprises the following steps:
step S31, when the automatic driving fleet runs to the distance intersection, the leading vehicle starts broadcasting the ENTER message, and starts detecting whether the CROSS message or the ENTER message of the leading vehicle of other automatic driving fleets is received, if not, the fleet directly crosses the intersection and broadcasts the CROSS message, when the fleet runs out of the intersection, the tail vehicle starts broadcasting the EXIT message;
step S32, if the leading vehicle only receives the ENTER message of the leading vehicle of other vehicle team and does not receive the CROSS message of the leading vehicle of other vehicle team, then judging whether the received ENTER message has higher priority, if yes, using a collision detection algorithm to judge whether the possibility of potential collision exists, if the possibility of potential collision is detected, the vehicle team stops at the intersection until the EXIT message of the tail vehicle of the automatic driving vehicle team sending the ENTER message is received, and the vehicle team crosses the intersection; if no potential collision is detected or the priority of the received RNTER message is lower, the fleet of vehicles directly traverses the intersection;
step S33, when the leading vehicle of the own fleet receives the CROSS message, using a collision detection algorithm to detect whether the possibility of the potential collision exists, if the possibility of the potential collision exists, selecting to stop, wait and record the priority number of the fleet which sends the CROSS message, when the EXIT message of the tail vehicle in the fleet which corresponds to the recorded priority number is received or the possibility of the potential collision does not exist, judging whether the RNTER message of the leading vehicle of other automatic driving fleets is received, if the RNTER message of the leading vehicle of the other automatic driving fleets is received, returning to execute the step S32;
the ENTER message represents a pre-entry message identifier, the CROSS message represents a passing intersection message identifier, and the EXIT message represents an EXIT intersection message identifier.
2. The automated driving fleet-based lightweight dispatch method at a signalless intersection according to claim 1, wherein running a collision detection algorithm by a leader vehicle of the automated driving fleet to direct the host vehicle to travel at the intersection comprises:
the method comprises the steps that a leader vehicle of an automatic driving fleet accesses a digital map database of an intersection, the current vehicle position is mapped to corresponding cells according to a vehicle-mounted GPS, each cell occupied by the vehicle when the vehicle passes through the intersection is recorded by using a running track table, and the running track table broadcasts to other vehicles of the automatic driving fleet and the leader vehicles of other automatic driving fleets;
determining that there is a potential collision of two or more vehicles when a leader vehicle of the autonomous vehicle fleet detects that there is a temporal and spatial conflict between the two or more vehicles when crossing the intersection and the two or more vehicles occupy at least one common cell on a trajectory through the intersection;
if two or more vehicles have the potential collision possibility, the two or more vehicles are assigned with priorities, and the passing of each vehicle is controlled according to the priorities.
3. The automated driverless fleet vehicle-based lightweight dispatch method for a signalless intersection of claim 2, wherein two or more vehicles are assigned a priority and controlling the passage of each vehicle according to the priority comprises:
setting the priority of the vehicle which arrives at the intersection first as a high-level priority; if two or more vehicles arrive at the intersection at the same time, comparing the priority numbers of the vehicles, and setting the priority of the vehicle with the higher priority number as the high-level priority;
sequentially sending traffic information to vehicles with priority levels of all levels from high to low according to the priority levels, so that each vehicle passes through the intersection; wherein, after the vehicle of the high-level priority passes through the intersection, the vehicle of the latter priority level sends the traffic information.
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| PCT/CN2021/125545 WO2022089307A1 (en) | 2020-11-02 | 2021-10-22 | Self-driving platoon-based lightweight scheduling method for uncontrolled intersection |
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| CN113256961B (en) * | 2021-06-25 | 2022-05-24 | 上海交通大学 | Crossing autonomous vehicle scheduling and control method based on vehicle formation |
| CN113450570B (en) * | 2021-07-06 | 2022-04-12 | 湖南大学 | Autonomous intersection management system and method based on signal lamp-free intersection |
| CN113570868A (en) * | 2021-09-26 | 2021-10-29 | 华砺智行(武汉)科技有限公司 | Intersection green light passing rate calculation method, device, equipment and storage medium |
| CN113963540B (en) * | 2021-10-20 | 2022-06-28 | 浙江海康智联科技有限公司 | Non-signalized intersection lane-level guidance system and method based on vehicle-road cooperation |
| CN114822056A (en) * | 2022-04-27 | 2022-07-29 | 西安优迈智慧矿山研究院有限公司 | Open pit mine haulage vehicle is compiled operation right of way management and control system thoughtlessly |
| CN115035724B (en) * | 2022-07-13 | 2022-12-02 | 吉林大学 | Logistics vehicle punctuality transportation vehicle and road cooperative control method based on ecological formation |
| CN116311987A (en) * | 2022-12-28 | 2023-06-23 | 山东港口渤海湾港集团有限公司 | Method, device, equipment and medium for avoiding deadlock of automatic driving vehicle |
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