CN112614367A - Vehicle control method, device, electronic device and storage medium - Google Patents
Vehicle control method, device, electronic device and storage medium Download PDFInfo
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- CN112614367A CN112614367A CN202011440084.2A CN202011440084A CN112614367A CN 112614367 A CN112614367 A CN 112614367A CN 202011440084 A CN202011440084 A CN 202011440084A CN 112614367 A CN112614367 A CN 112614367A
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- vehicle
- roundabout
- information
- vehicles
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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
- G08G1/09—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
- G08G1/096766—Systems involving transmission of highway information, e.g. weather, speed limits where the system is characterised by the origin of the information transmission
- G08G1/096775—Systems involving transmission of highway information, e.g. weather, speed limits where the system is characterised by the origin of the information transmission where the origin of the information is a central station
Abstract
The utility model discloses a vehicle control method, device, electronic equipment and storage medium, which belongs to the technical field of unmanned driving, wherein the vehicle control method comprises the following steps: acquiring first vehicle information of vehicles to be converged into the roundabout; acquiring second vehicle information of vehicles on the roundabout according to the first vehicle information; and controlling the vehicles to be converged into the roundabout to converge into and out of the roundabout based on the first vehicle information and the second vehicle information. The method enables vehicles which are imported and exported from the roundabout to orderly run, solves the problem of uneven import and export of the roundabout traffic flow, and avoids serious blockage.
Description
Technical Field
The disclosure relates to the technical field of unmanned driving, in particular to a vehicle control method and device, electronic equipment and a storage medium.
Background
Compared with a common plane intersection, the roundabout has the advantages of few conflict points, continuous traffic flow, convenience for U-shaped turning (turning around) and the like. However, with the large increase of the vehicle reserves in China, the traffic jam phenomenon frequently occurs in the roundabout traffic network. Most roundabouts in cities are not commanded by traffic lights, and due to the problems of judgment and prediction errors caused by artificial driving, the traffic flow of the roundabouts is unevenly converged and converged by drivers irregularly, so that serious congestion is caused.
Disclosure of Invention
An object of the embodiments of the present disclosure is to provide a vehicle control method, an apparatus, an electronic device, and a storage medium, so as to at least solve the problem of congestion caused by uneven merging and merging of roundabout traffic flows due to irregular merging and merging of existing vehicles in the roundabout.
The technical scheme of the disclosure is as follows:
according to a first aspect of embodiments of the present disclosure, there is provided a vehicle control method, which may include:
acquiring first vehicle information of vehicles to be converged into the roundabout;
acquiring second vehicle information of the vehicles on the roundabout according to the first vehicle information;
and controlling vehicles to be imported into the roundabout to be imported into and out of the roundabout based on the first vehicle information and the second vehicle information.
According to a second aspect of the embodiments of the present disclosure, there is provided a vehicle control apparatus, which may include:
the acquisition module is used for acquiring first vehicle information of vehicles to be converged into the roundabout;
the acquisition module is also used for acquiring second vehicle information of the vehicles on the roundabout according to the first vehicle information;
and the control module is used for controlling vehicles to be converged into the roundabout to converge into and out of the roundabout based on the first vehicle information and the second vehicle information.
According to a third aspect of the embodiments of the present disclosure, there is provided an electronic apparatus, which may include:
a processor;
a memory for storing processor-executable instructions;
wherein the processor is configured to execute instructions to implement a vehicle control method as shown in any one of the embodiments of the first aspect.
According to a fourth aspect of the embodiments of the present disclosure, there is provided a storage medium in which instructions are executed by a processor of an information processing apparatus or a server to cause the information processing apparatus or the server to implement the vehicle control method as shown in any one of the embodiments of the first aspect.
The technical scheme provided by the embodiment of the disclosure at least brings the following beneficial effects:
according to the embodiment of the disclosure, the first vehicle information of the vehicles to be converged into the roundabout is acquired, the second vehicle information of the vehicles on the roundabout is acquired according to the first vehicle information, and the vehicles to be converged into the roundabout are controlled to be converged into and out of the roundabout based on the first vehicle information and the second vehicle information. Vehicles which are converged into and out of the roundabout are enabled to run orderly, the problem that roundabout traffic flow is uneven in convergence and outflow is solved, and the serious blocking phenomenon is avoided.
It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the disclosure.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present disclosure and, together with the description, serve to explain the principles of the disclosure and are not to be construed as limiting the disclosure.
FIG. 1 is a schematic flow diagram illustrating a vehicle control method according to an exemplary embodiment;
FIG. 2 is a first scenario vehicle control schematic diagram, shown in accordance with an exemplary embodiment;
FIG. 3 is a second scenario vehicle control schematic diagram shown in accordance with an exemplary embodiment;
FIG. 4 is a third scenario vehicle control schematic diagram, shown in accordance with an exemplary embodiment;
FIG. 5 is a schematic flow diagram illustrating a branch vehicle control method according to an exemplary embodiment;
FIG. 6 is a schematic flow diagram illustrating a rotary island vehicle control method according to an exemplary embodiment;
FIG. 7 is a schematic flow diagram illustrating a method for merge control of rotary island vehicles in accordance with an exemplary embodiment;
FIG. 8 is a schematic diagram of an electronic device shown in accordance with an exemplary embodiment;
fig. 9 is a schematic diagram illustrating a hardware structure of an electronic device according to an example embodiment.
Detailed Description
In order to make the technical solutions of the present disclosure better understood by those of ordinary skill in the art, the technical solutions in the embodiments of the present disclosure will be clearly and completely described below with reference to the accompanying drawings.
It should be noted that the terms "first," "second," and the like in the description and claims of the present disclosure and in the above-described drawings are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used is interchangeable under appropriate circumstances such that the embodiments of the disclosure described herein are capable of operation in sequences other than those illustrated or otherwise described herein. The implementations described in the exemplary embodiments below are not intended to represent all implementations consistent with the present disclosure. Rather, they are merely examples of apparatus and methods consistent with certain aspects of the present disclosure, as detailed in the appended claims.
Fig. 1 is a schematic flowchart of an embodiment of a vehicle control method provided in the present application. As shown in fig. 1, the vehicle control method may include:
step 100: acquiring first vehicle information of vehicles to be converged into the roundabout;
step 200: acquiring second vehicle information of the vehicles on the roundabout according to the first vehicle information;
step 300: and controlling vehicles to be imported into the roundabout to be imported into and out of the roundabout based on the first vehicle information and the second vehicle information.
According to the embodiment, the first vehicle information of the vehicles to be converged into the roundabout is obtained, the second vehicle information of the vehicles on the roundabout is obtained according to the first vehicle information, and the vehicles to be converged into the roundabout are controlled to be converged into and out of the roundabout based on the first vehicle information and the second vehicle information. Vehicles which are converged into and out of the roundabout are enabled to run orderly, the problem that roundabout traffic flow is uneven in convergence and outflow is solved, and the serious blocking phenomenon is avoided.
The specific implementation of step 100, step 200 and step 300 is described below.
First, a specific implementation of step 100 is described.
In an embodiment of the present application, the first vehicle information includes: the first distance between the vehicle to be converged into the rotary island and the rotary island convergence opening and the lane information of the vehicle to be converged into the rotary island.
and acquiring second vehicle information of the vehicles on the roundabout according to the lane information.
In the embodiment of the present application, when the lane information is an outside lane;
the second vehicle information includes: a second distance between the vehicle on the outer lane on the roundabout and the roundabout entrance, and second speed information of the vehicle.
calculating to obtain the first time when the vehicle of the outer lane on the roundabout reaches the junction according to the second distance and the second speed information;
calculating to obtain first speed information of the vehicles to be converged into the rotary island according to the first time and the first distance;
and controlling vehicles to be imported into the rotary island to be imported into and out of the rotary island based on the first speed information.
In the embodiment of the present application, when the lane information is an inner lane;
the second vehicle information includes:
third speed information of the vehicle on the outer lane on the roundabout and a third distance between the vehicle and the roundabout entrance;
the fourth speed information of the vehicle of the inner lane on the roundabout and the fourth distance between the vehicle and the roundabout entrance.
In an embodiment of the application, controlling vehicles to be imported into and exported from the roundabout based on the first vehicle information and the second vehicle information includes:
calculating to obtain second time for the vehicle of the outer lane on the roundabout to reach the junction according to the third distance and the third speed information;
calculating to obtain third time for the vehicles of the inner lane on the roundabout to reach the junction according to the fourth distance and the fourth speed information;
determining a smaller time value of the second time and the third time;
calculating to obtain second speed information of the vehicles to be converged into the roundabout according to the smaller time value and the first distance;
and controlling vehicles to be converged into the rotary island to converge into and out of the rotary island based on the second speed information.
In the embodiment of the application, when the vehicles of the inner lane on the rotary island are suddenly converged out from the next intersection;
acquiring the distance information of vehicles on an outer lane on the roundabout;
and controlling the vehicles of the inner lane on the roundabout to merge into the outer lane of the roundabout based on the distance information.
In an embodiment of the present application, a specific control flow is shown in fig. 5, and a first scenario is a one-way two-lane roundabout road network. The roundabout is provided with four outlets, and the inside of the roundabout is provided with two lanes. The length of the control zone of each outlet branch is specified to be L according to the signal coverage of the control tower. The length S of the afflux area is specified by each afflux and afflux outlet on the loopinLength S of the lead-out areaoutAnd the vehicle is collected in and out through the collection area and the collection area. The working condition of the cooperative control of the roundabout comprises three operations of vehicle entering, vehicle exiting and vehicle in-loop merging, and the three operations are related according to the vehicle driving intention but are not necessarily related. Thus, the control steps are describedThe above is distinguished according to the vehicle driving intention of the importation.
Under the working condition I, no parallel wire input and output operation is performed, as shown in FIG. 2:
a. merge operation
Vehicle with branch road
Vehicle C1After entering the control area L, the central control tower controls the constant speed vinAnd (5) running. Vehicle C1Meanwhile, the speed, the acceleration and the position of the vehicle are sent, and the intention information is input and output to the central control tower. Suppose vehicle C1Expected to merge from the right road and exit from the next exit (e.g. first scenario C)1Represented by a driving arrow). Cloud control vehicle C1And collecting the outside lane of the loop, driving along the outside lane of the loop, and finally collecting the outside lane of the loop. In the control process, the vehicles running on the outer side road on the ring road need to be regulated and controlled to avoid and converge into the vehicles. V is controlled by cloud end to drive vehicles on the looprAnd (5) driving at a constant speed. The cloud decides whether to allow C according to the information of the distance between the vehicles about to enter the convergence area in the loop1And (4) merging. According to the division of the region of the road into which the vehicle enters, the cloud end can stipulate the driving speed v of the control area according to the length L of the control areainCalculating C1Time t of arrival at sink inlet1. According to the running condition and the uniform running speed v of the vehicles on the outer lane on the looprIs predictable at time t1And then, the distance d between the vehicle on the loop closest to the merging opening and the merging opening is set. The cloud end simultaneously calculates the distance S between the vehicles passing through the gathering inlet loop and the vehicles about to arrive at the gathering inlet loopinter. If Sinter≥Sin+ δ, then allow C1And (4) merging. Cloud according to d and vehicle C1Length h1A preset safety vehicle interval delta and a convergence area length SinAnd planning the vehicle convergence speed. Assume that a vehicle on a ring road that is about to reach an intake zone is at a distance S from the intake zone boundary. The arrival time of the ring road vehicle at the merging area is
At trIn, C1Needs to complete the import operation and execute SinThe + delta distance. Thus, C1Speed gaugeScribe for drawing
To ensure C1Merging into the loop and maintaining the safe inter-vehicle distance delta.
In-branch road vehicles, as shown in figure 3
For vehicle C in the branch road2If the driving intention is to be converged from the next road, the cloud end arrives at the convergence inlet according to the distance d of the vehicles on the two lanes on the loopin、doutAnd the distance S between the vehicles already passing through the merging area and the vehicles coming to the merging port on the two lanes on the loopinter-in、Sinter-outDetermination of C2Can directly enter the inner lane of the loop. Suppose a loop C2The distance of driving into the inner lane of the circular road is Y2. If it is
And Sinter-out≥Sin+ δ, then allow C2Directly merging into the inner channel of the circular channel. The cloud can calculate the time required for the vehicle to arrive at the junction on the two lanes on the loop
At tin、toutThe shorter one of them is selected. Let tinShorter, the cloud can calculate C2Speed of merge planning
To ensure C2Merging into the inner road of the loop and maintaining the safe inter-vehicle distance delta. If it is
Or Sinter-out<SinAnd + delta, the vehicles on the inner lane of the branch can not directly enter the lane on the inner side of the loop. The cloud end needs to identify the condition as a working condition two and executes the working condition two according to a control strategy. If the vehicle in the branch road is C2If the next port is not remitted, the remittance policy may be executed.
b. Export operation
Vehicle on outside lane of loop
For the vehicles which are already running outside the loop, the problem of blocking other roads does not exist, and the loop speed v can be directly adoptedrIs collected through a collection area, and then the speed change is controlled by the cloud end to be a branch speed limit voutAnd exiting the control area. After exiting, the vehicle's own ACC takes over the driving.
Vehicle with inner lane of loop
For vehicles coming out from the inner lane of the loop, the traffic flow condition of the outer lane needs to be considered. The cloud end needs to obtain the distance d from the nearest vehicle in the remittance area to the remittance area according to the distance between the lanes outside the loopoutV running speed vrCalculate its time to the remittance
If the vehicles in the outer lane of the ring also request to be remitted, the vehicles in the inner lane of the ring can be directly in vrIs collected to the branch inner passage through the collection area, and then the speed change is controlled by the cloud end to be the branch speed limit voutAnd exiting the control area. After exiting, the vehicle's own ACC takes over the driving. If the vehicles on the outer side of the loop do not converge, the vehicles on the inner side of the loop are supposed to converge for the required driving distance din. Then the velocity plan is remitted
So as to ensure that the vehicles on the inner lane of the loop can be collected and do not collide with the vehicles on the outer lane of the loop.
The operation is the working condition operation of the circular island in-out and out-out without parallel lines. This condition is used when the above described conditions are met to minimize vehicle doubling operations to ensure safety.
And under the second working condition, the lane sharing afflux operation is shown in the figures 2-3:
a. merge operation
Under the working condition, if the inner side lane of the loop is pretty, the reserved vehicle distance is more than or equal to Sin+ δ, and vehicle C1、C2All plan to merge at the next intersection (as shown by the merging arrow in scene 2), then enterEntering a working condition II: the lane sharing merge operation. C1Still under working condition one C1The control method is imported. C2Waiting at the sink boundary. Wait for C1Execute after completion of the Convergence C2And (4) merging operation. Vehicle C2Merging into the outer lane of the ring, thus performing C-like1The merge operation of (1). With the difference that2Requiring multiple travel by one lane width dtrackThen, then
C1、C2The merge operation is performed in an alternate manner since the lanes are shared. But the cloud end can decide the import sequence according to the traffic accumulation condition of the inner lane and the outer lane of the branch road. The principle is that the number of vehicle piles in the inner and outer lanes of the branch is smaller than the preset maximum limit number. The cloud will allow the merge operation to be performed with a maximum limited number of lanes possible first.
b. Export operation
In the export operation, vehicles directly exported from the inner lane of the rotary island to the inner lane of the branch road is more efficient than vehicles merged into the outer lane of the rotary island to be imported into the outer lane of the branch road, so that the export strategy of the first working condition can be adopted. Vehicle collection of the lane outside the loop still follows a collection strategy of working condition.
And under the working condition III, performing doubling operation in a loop, as shown in figure 4:
in the scene, the safety and the high efficiency of the input and output areas are considered, the inner and outer lanes of the branch are input as far as possible according to the first and second strategies of the working condition, and the operation of combining the lines in the input and output areas is not carried out. After the vehicle is completely merged, the vehicle is put on the loop with vrAnd (4) performing doubling operation during constant-speed running (the cloud end starts to summarize the summarization intentions of surrounding vehicles after each vehicle enters the loop so as to plan the vehicle doubling operation). In principle, vehicles needing to be drawn out as soon as possible are merged to the lane outside the roundabout, and the vehicles are not suddenly drawn out and merged to the lane inside the roundabout. As shown in FIG. 7, vehicle C3Is urgent to be converged out from the next path of port. In the circuit, the cloud is according to vehicle C4And vehicle C3Relative distance d ofinter、C4And C3The laneDistance between front and rear of vehicle, C3Length h of vehicle3And determining a doubling strategy. If d isinter≥h3+ δ, and C4The distance between the front vehicle and the front vehicle is more than or equal to h3+ delta (road condition 1), then directly control C3Merging into the lane outside the loop at a constant speed (only steering operation is carried out, and acceleration and deceleration operation is not carried out). If d isinter<h3+ δ, and C4The distance between the front vehicle and the front vehicle is more than h3+ delta (road condition 2), control C3Accelerating to merge into the lane outside the loop. It is planned to be C3Acceleration override C4To a distance h3And after + delta, the constant speed is converged into a lane at the outer side of the loop. If d isinter<h3+ δ, and C4The distance between the front vehicle and the front vehicle is less than h3+ delta (road condition 3), then C is required3Acceleration override C4To a distance h3+ delta with C4Acceleration of front vehicle to sum C4At a distance h3+ delta rear, C3Converge into the lane outside the loop at a constant speed. C4Whether the acceleration operation of the front vehicle is possible or not is determined according to the distance between the front vehicles. If the pulling-off cannot be accelerated, and C4A distance of C3Without doubling or slowing down at C according to distance from rear car4And then doubling after passing. If d isinter≥h3+ δ, and C4The distance between the front vehicle and the front vehicle is less than h3+ delta (road condition 4), then C3Do not proceed to in C4And front doubling is carried out, and acceleration and deceleration can be determined according to the front-rear distance of the bicycle to find other positions for doubling.
For C4Doubling to the inside lane of the loop to follow C3Doubling strategy and with C3Interfering vehicles for the inner lane. If the vehicles cannot be merged due to the fact that the vehicles are crowded in the loop, when the vehicles are required to be drawn out, the cloud end conducts drawing-out operation according to the traffic information of the drawing-out area and the working condition I or II.
To sum up, for cooperative control of vehicles at a roundabout, the cloud end needs to determine the merging and exporting intentions of the branch road merging vehicles, then divide working conditions (working condition one and working condition two) according to the traffic conditions of the merging and exporting areas, and plan and merge operation (working condition three) on the roundabout according to the merging and exporting intentions of the running vehicles.
Based on the same inventive concept, the embodiment of the present disclosure also provides a vehicle control apparatus, which may include:
the acquisition module is used for acquiring first vehicle information of vehicles to be converged into the roundabout;
the acquisition module is also used for acquiring second vehicle information of the vehicles on the roundabout according to the first vehicle information;
and the control module is used for controlling vehicles to be converged into the roundabout to converge into and out of the roundabout based on the first vehicle information and the second vehicle information.
The device of the embodiment obtains the first vehicle information of the vehicles to be converged into the roundabout through the obtaining module, obtains the second vehicle information of the vehicles on the roundabout according to the first vehicle information, and controls the vehicles to be converged into the roundabout to be converged into and out of the roundabout based on the first vehicle information and the second vehicle information. Vehicles which are converged into and out of the roundabout are enabled to run orderly, the problem that roundabout traffic flow is uneven in convergence and outflow is solved, and the serious blocking phenomenon is avoided.
Optionally, as shown in fig. 8, an electronic device 800 is further provided in this embodiment of the present application, and includes a processor 801, a memory 802, and a program or an instruction stored in the memory 802 and executable on the processor 801, where the program or the instruction is executed by the processor 801 to implement each process of the vehicle control method embodiment, and can achieve the same technical effect, and in order to avoid repetition, details are not repeated here.
It should be noted that the electronic device in the embodiment of the present application includes the mobile electronic device and the non-mobile electronic device described above.
Fig. 9 is a schematic diagram of a hardware structure of an electronic device implementing an embodiment of the present application.
The electronic device 900 includes, but is not limited to: a radio frequency unit 901, a network module 902, an audio output unit 903, an input unit 904, a sensor 905, a display unit 906, a user input unit 907, an interface unit 908, a memory 909, and a processor 910.
Those skilled in the art will appreciate that the electronic device 900 may further include a power source (e.g., a battery) for supplying power to various components, and the power source may be logically connected to the processor 910 through a power management system, so as to manage charging, discharging, and power consumption management functions through the power management system. The electronic device structure shown in fig. 9 does not constitute a limitation of the electronic device, and the electronic device may include more or less components than those shown, or combine some components, or arrange different components, and thus, the description is not repeated here.
It should be understood that, in the embodiment of the present application, the input Unit 904 may include a Graphics Processing Unit (GPU) 9041 and a microphone 9042, and the Graphics Processing Unit 9041 processes image data of a still picture or a video obtained by an image capturing device (such as a camera) in a video capturing mode or an image capturing mode. The display unit 906 may include a display panel 9061, and the display panel 9061 may be configured in the form of a liquid crystal display, an organic light emitting diode, or the like. The user input unit 907 includes a touch panel 9071 and other input devices 9072. A touch panel 9071 also referred to as a touch screen. The touch panel 9071 may include two parts, a touch detection device and a touch controller. Other input devices 9072 may include, but are not limited to, a physical keyboard, function keys (e.g., volume control keys, switch keys, etc.), a trackball, a mouse, and a joystick, which are not described in detail herein. Memory 909 can be used to store software programs as well as various data including, but not limited to, application programs and operating systems. The processor 910 may integrate an application processor, which primarily handles operating systems, user interfaces, applications, etc., and a modem processor, which primarily handles wireless communications. It is to be appreciated that the modem processor described above may not be integrated into processor 910.
The embodiment of the present application further provides a readable storage medium, where a program or an instruction is stored on the readable storage medium, and when the program or the instruction is executed by a processor, the program or the instruction implements each process of the embodiment of the vehicle control method, and can achieve the same technical effect, and in order to avoid repetition, details are not repeated here.
The processor is the processor in the electronic device described in the above embodiment. The readable storage medium includes a computer readable storage medium, such as a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk, and so on.
The embodiment of the present application further provides a chip, the chip includes a processor and a communication interface, the communication interface is coupled to the processor, the processor is configured to run a program or an instruction, implement each process of the embodiment of the vehicle control method, and achieve the same technical effect, and the details are not repeated here to avoid repetition.
It should be understood that the chips mentioned in the embodiments of the present application may also be referred to as system-on-chip, system-on-chip or system-on-chip, etc.
It should be noted that, in this document, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other like elements in a process, method, article, or apparatus that comprises the element. Further, it should be noted that the scope of the methods and apparatus of the embodiments of the present application is not limited to performing the functions in the order illustrated or discussed, but may include performing the functions in a substantially simultaneous manner or in a reverse order based on the functions involved, e.g., the methods described may be performed in an order different than that described, and various steps may be added, omitted, or combined. In addition, features described with reference to certain examples may be combined in other examples.
Through the above description of the embodiments, those skilled in the art will clearly understand that the method of the above embodiments can be implemented by software plus a necessary general hardware platform, and certainly can also be implemented by hardware, but in many cases, the former is a better implementation manner. Based on such understanding, the technical solutions of the present application may be embodied in the form of a software product, which is stored in a storage medium (such as ROM/RAM, magnetic disk, optical disk) and includes instructions for enabling a terminal (such as a mobile phone, a computer, a server, an air conditioner, or a network device) to execute the method according to the embodiments of the present application.
While the present embodiments have been described with reference to the accompanying drawings, it is to be understood that the invention is not limited to the precise embodiments described above, which are meant to be illustrative and not restrictive, and that various changes may be made therein by those skilled in the art without departing from the spirit and scope of the invention as defined by the appended claims.
Claims (10)
1. A vehicle control method characterized by comprising:
acquiring first vehicle information of vehicles to be converged into the roundabout;
acquiring second vehicle information of vehicles on the roundabout according to the first vehicle information;
and controlling the vehicles to be converged into the roundabout to converge into and out of the roundabout based on the first vehicle information and the second vehicle information.
2. The method of claim 1, wherein the first vehicle information comprises: the first distance between the vehicle to be converged into the rotary island and the rotary island convergence opening and the lane information of the vehicle to be converged into the rotary island are obtained;
the obtaining of the second vehicle information of the vehicle on the roundabout according to the first vehicle information specifically includes:
and acquiring second vehicle information of the vehicles on the roundabout according to the lane information.
3. The method according to claim 2, wherein when the lane information is an outside lane;
the second vehicle information includes: a second distance between the vehicle on the outer lane on the roundabout and the roundabout entrance, and second speed information of the vehicle.
4. The method of claim 3, wherein the controlling the vehicles to be imported into and out of the roundabout based on the first vehicle information and the second vehicle information comprises:
calculating to obtain the first time when the vehicle of the outer lane on the roundabout reaches the junction according to the second distance and the second speed information;
calculating to obtain first speed information of the vehicle to be converged into the roundabout according to the first time and the first distance;
and controlling the vehicles to be converged into the rotary island to be converged into and out of the rotary island based on the first speed information.
5. The method according to claim 2, wherein when the lane information is an inner lane;
the second vehicle information includes:
third speed information of the vehicle on the outer lane on the roundabout and a third distance between the vehicle and the roundabout entrance;
the fourth speed information of the vehicle of the inner lane on the roundabout and the fourth distance between the vehicle and the roundabout entrance.
6. The method of claim 5, wherein the controlling the vehicles to be imported into and out of the roundabout based on the first vehicle information and the second vehicle information comprises:
calculating to obtain second time for the vehicle of the outer lane on the roundabout to reach the junction according to the third distance and the third speed information;
calculating to obtain third time for the vehicles of the inner lane on the roundabout to reach the junction according to the fourth distance and the fourth speed information;
determining a smaller time value of the second time and the third time;
calculating to obtain second speed information of the roundabout vehicle to be converged according to the smaller time value and the first distance;
and controlling the vehicles to be converged into and out of the roundabout to be converged into the roundabout based on the second speed information.
7. The method of claim 5, wherein when a vehicle in an inner lane on the rotary is hurry to exit from a next intersection;
acquiring the distance information of vehicles on an outer lane on the roundabout;
and controlling the vehicles of the inner lane on the rotary island to merge into the outer lane of the rotary island based on the distance information.
8. A vehicle control apparatus characterized by comprising:
the acquisition module is used for acquiring first vehicle information of vehicles to be converged into the roundabout;
the acquisition module is further used for acquiring second vehicle information of the vehicles on the roundabout according to the first vehicle information;
and the control module is used for controlling the vehicles to be converged into the roundabout to converge into and converge out of the roundabout based on the first vehicle information and the second vehicle information.
9. An electronic device, comprising:
a processor;
a memory for storing the processor-executable instructions;
wherein the processor is configured to execute the instructions to implement the vehicle control method of any one of claims 1-7.
10. A storage medium characterized in that when instructions in the storage medium are executed by a processor of an information processing apparatus or a server, the information processing apparatus or the server is caused to implement the vehicle control method according to any one of claims 1 to 7.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
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| CN113554870A (en) * | 2021-07-16 | 2021-10-26 | 中国联合网络通信集团有限公司 | Roundabout road traffic early warning method, system, terminal device and storage medium |
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