CN113380042A - 5G vehicle-road cooperative speed guiding control method, system, equipment and storage medium - Google Patents
5G vehicle-road cooperative speed guiding control method, system, equipment and storage medium Download PDFInfo
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- CN113380042A CN113380042A CN202110922677.0A CN202110922677A CN113380042A CN 113380042 A CN113380042 A CN 113380042A CN 202110922677 A CN202110922677 A CN 202110922677A CN 113380042 A CN113380042 A CN 113380042A
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/01—Detecting movement of traffic to be counted or controlled
- G08G1/0104—Measuring and analyzing of parameters relative to traffic conditions
- G08G1/0125—Traffic data processing
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/01—Detecting movement of traffic to be counted or controlled
- G08G1/0104—Measuring and analyzing of parameters relative to traffic conditions
- G08G1/0137—Measuring and analyzing of parameters relative to traffic conditions for specific applications
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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
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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
- G08G1/0968—Systems involving transmission of navigation instructions to the vehicle
- G08G1/0969—Systems involving transmission of navigation instructions to the vehicle having a display in the form of a map
Abstract
The invention relates to a 5G vehicle-road cooperative speed guide control method, a system, equipment and a storage medium, belonging to the field of vehicle-road cooperation, and solving the problems of short communication distance of a simple signal, limited length of a communication data frame and frame loss of the data frame at present; the system comprises a road side subsystem, a vehicle-mounted subsystem and a signal control unit; the road side subsystem receives an external vehicle road signal, and the road side subsystem and the vehicle-mounted subsystem are directly connected with two-way communication through the PC 5; the vehicle-mounted subsystem feeds back the road condition information provided by the road side subsystem to a driver by receiving the communication signal from the signal control unit; the 5G road side CPE arranged on the road side subsystem and the 5G vehicle-mounted CPE arranged on the vehicle-mounted subsystem are in two-way communication with the signal control unit through a Uu port to form a closed-loop control system to finish speed guidance; through a speed guide algorithm, a reasonable vehicle running speed interval is provided, the waiting time of a red light is reduced, the vehicle parking times are reduced, and the vehicle delay time at a signalized intersection is reduced.
Description
Technical Field
The invention relates to a speed guide control method based on vehicle-road cooperation, in particular to a speed guide control method, a speed guide control system, speed guide control equipment and a storage medium based on 5G vehicle-road cooperation, and belongs to the field of vehicle-road cooperation.
Background
Compared with single-vehicle intelligence, the vehicle-road cooperation can effectively compensate blind spots in perception, and automatic driving is changed from past individual combat into organized efficient cooperation. Particularly, under the background that the country greatly promotes new capital construction, the technology is huge to arrange vehicle and road cooperative projects at different times, and the maturity of the automatic driving industry is accelerated.
At present, a communication link for vehicle-road cooperation mainly comprises a conventional DSRC and LTE-V2X, wherein an on-board unit (OBU), a hardware unit which is installed on a vehicle and can realize V2X communication and support V2X application, and a Road Side Unit (RSU), a hardware unit which is installed on a roadside and can realize V2X communication and support V2X application, are used as basic construction of current vehicle-road cooperation equipment; the road side unit RSU is used as a core processing unit, is directly communicated with a signal machine and a laser radar, plays roles of storing, processing and distributing data such as signal countdown information, event information and map information, has high load pressure, cannot bear the functional requirements of vehicle queuing identification and processing and map updating one by one, and even has the conditions of data distribution overtime and system breakdown. In addition, both DSRC and LTE-V belong to broadcast communication, the communication distance is limited, and the maximum value cannot be exerted for areas which are dense with high buildings and are shielded too much.
The speed guidance is used as one of core service scenes of vehicle-road cooperation, the fine management of vehicles is enhanced, lane-level positioning and lane-level speed guidance are achieved, the speed guidance can provide safe and reasonable driving suggestions for drivers, the phenomenon of 'yellow light robbing' is avoided, and meanwhile, valuable values are provided for reducing the average stop times of intersections, reducing the delay time of vehicles at signal intersections and saving the fuel consumption cost of the vehicles.
The Zhang Ji provides a vehicle speed guiding method and a device, which are used for detecting whether a lane changing vehicle running in a lane changing mode exists in target vehicles within a vehicle speed guiding range, wherein the vehicle speed guiding range is a range which is a preset distance away from an intersection; if the lane change vehicle exists in the target vehicle, acquiring the running state information of the target vehicle on the lane where the lane change vehicle is located before and after lane change, wherein the running state information at least comprises: speed and position information of the vehicle; and updating the guiding speed of the target vehicle on the lane before and after the lane change of the lane change vehicle according to the running state information, wherein the guiding speed is the speed of the green light of the phase of the signal lamp when the target vehicle passes through the intersection. The method starts from the angle of vehicle lane change to guide the vehicle speed, aims to solve the problem of whether a preceding vehicle collides or not, does not consider the time cost and the oil consumption cost of the vehicle in the driving process, does not consider the queuing length of an intersection for an intersection with a high congestion index, does not indicate an acquisition channel and a transmission link of related data (signal countdown information and map information), and is poor in practicability. Therefore, based on the above-mentioned defects in the prior art, a speed guidance control method for vehicle-road cooperation is needed, which can consider driving cost and fuel consumption cost, control queuing time at intersections, and ensure transmission data quality with strong implementation.
Disclosure of Invention
In order to solve the problems that the intersection queuing length, the acquisition of intersection related data is incomplete, a channel and a transmission link are not clear and the oil consumption cost is not considered at present, the invention provides a 5G vehicle road cooperative speed guidance control method, a system, equipment and a storage medium, and the technical scheme of the invention is as follows:
the first scheme is as follows: the vehicle-road cooperative speed guidance control method is characterized by comprising the following steps: the method comprises the following specific steps:
acquiring queuing length information of vehicles on different lanes of each entrance lane of an intersection through external equipment and transmitting the information to a Road Side Unit (RSU);
combining the queuing length information in the step one, performing UPER coding on the countdown information and the next phase state duration of each entrance way of the intersection, and packaging the DSMP into standard SPAT information; finally, packaging the queuing length information into standard RSI information for broadcasting;
step three, using the edge MEC as a roadside data transfer station, storing lane-level MAP information of the intersection, and acquiring road condition information uploaded by the 5G roadside CPE through the 5G GNB to realize the updating function of the MAP MAP information of the intersection, wherein the edge MEC encapsulates a MAP into standard MAP information and sends the standard MAP information to the 5G vehicular CPE through the 5G GNB;
step four, the vehicle-mounted unit OBU acquires longitude and latitude information of an automatic driving vehicle, vehicle speed v, vehicle tolerance acceleration a, vehicle road direction angle and vehicle type information, acquires SPAT and RSI information through wireless short-range communication, acquires intersection MAP MAP information through 5G vehicle-mounted CPE, performs lane-level positioning, matches the signal states of a road section, a lane and a front intersection where the vehicle is currently driven, and then calls a vehicle speed guide model to construct;
step five, defining vehicle running parameters including maximum allowable speed
And minimum tolerated speed
The intersection saturation flow rate S, the vehicle speed guide range, the maximum recommended vehicle speed and the minimum recommended vehicle speed;
step six, calculating the time and the running distance of the vehicle for accelerating to the maximum tolerated speed, the time and the running distance for decelerating to the minimum tolerated speed and calculating the time and the running distance for decelerating to stop by the vehicle by combining the position of the vehicle at the current distance from the intersection;
step seven: analyzing whether the distance traveled by the vehicle when the vehicle accelerates and decelerates to the maximum and minimum tolerance speeds and the distance traveled by the vehicle when the vehicle reaches the intersection are the same or not, if the distance traveled by the vehicle when the vehicle reaches the intersection is not exceeded, calculating the time of the vehicle which is estimated to reach the intersection according to the principle that the vehicle accelerates firstly and then has a constant speed, and decelerates firstly and then has a constant speed, and calculating the time required by the vehicle to reach the intersection in the acceleration stage and the deceleration stage;
step eight, checking abnormal driving behaviors of the vehicle, calculating the time and the driving distance for the vehicle to decelerate to the maximum tolerated speed and the time and the driving distance for the vehicle to directly decelerate to stop when the speed of the vehicle exceeds the maximum tolerated speed, and calculating the time and the driving distance for the vehicle to accelerate to the minimum tolerated speed and the time and the driving distance for the vehicle to decelerate to stop when the speed of the vehicle is lower than the minimum tolerated speed;
step nine, determining a speed guide interval under each signal lamp condition according to the color of the countdown signal lamp by the speed guide;
and step ten, the vehicle-mounted unit OBU calculates a speed guide interval by calling a vehicle speed guide algorithm, transmits the speed guide interval to the vehicle-mounted PAD through WIFI or wired transmission, and displays the speed guide interval to a driver through a page or voice.
Further, in the first step, a road side camera and a laser radar device acquire queuing length information of different flow directions of each entrance way of the intersection, the queuing length information is transmitted to a vehicle-road cooperative special signal machine through a network port, signal countdown information and a signal control scheme of the intersection are acquired through the signal machine, the information is transmitted to the 5G road side CPE through the network port, the 5G road side CPE transmits the signal control scheme to an edge MEC unit through a uu interface and a UTRAN, one part of the signal countdown information, the signal control scheme and the queuing length information are transmitted to a road side unit RSU;
the signal control scheme refers to counting down the next phase state duration and phase configuration information.
Further, in step four, the vehicle speed guides the model building process, and the vehicle speed guides the model building process to be refined as follows:
step four, judging that the vehicle enters a guide area, and executing step two if the vehicle enters the guide area;
step four, acquiring a signal countdown state and a signal control scheme of the intersection by using a 5G communication link network, and simultaneously acquiring real-time vehicle state information and an intersection queuing state;
step four, matching the signal states of the road section, the lane and the intersection at which the vehicle runs at present, judging whether the vehicle can pass through the intersection or not through a vehicle speed guiding algorithm, if so, performing the step four, and if not, returning to the step two;
and fourthly, completing construction of the vehicle speed guide model.
Further, in step nine, the step of specifically determining the speed guidance interval is as follows:
ninthly, dividing scenes according to the colors of countdown signal lamps;
step nine two, calculating the time required for the vehicle to reach the intersection at the current speed;
step nine, judging whether the vehicle can pass through the intersection at the maximum speed limit or the minimum speed limit; if yes, suggesting that the guiding vehicle speed intervals are the maximum or minimum speed limit values of the road, otherwise guiding the vehicle to stop;
and when the time required by the vehicle to reach the intersection at the current vehicle speed is calculated, the frequency of updating the speed guide interval is 1 second/time.
Scheme II: the vehicle-road cooperative speed guiding control system comprises a road side subsystem, a vehicle-mounted subsystem and a signal control unit; the road side subsystem is used for receiving external vehicle road signals, and the road side subsystem and the vehicle-mounted subsystem are directly connected for bidirectional communication through the PC 5; the vehicle-mounted subsystem feeds back the road condition information provided by the road side subsystem to a driver by receiving the communication signal from the signal control unit; the 5G road side CPE arranged on the road side subsystem and the 5G vehicle-mounted CPE arranged on the vehicle-mounted subsystem are in two-way communication with the signal control unit through the Uu port, and the speed guide control is completed through a control system forming a closed loop.
Further, the road side subsystem comprises a 5G road side CPE, a road side unit RSU, a vehicle and road cooperative special signal machine and an external device; the external equipment transmits road condition information to a special traffic lane cooperative signal machine in an RJ45 communication mode, the control information is converted into an electric signal to be transmitted to the 5G road side CPE, the 5G road side CPE is in two-way communication with the signal control unit in a Uu port communication mode, and the 5G road side CPE transmits information to the road side unit RSU in an RJ45 communication mode;
the external equipment comprises a camera and a laser radar.
Further, the on-board subsystem comprises an on-board unit (OBU), an autonomous vehicle, an on-board PAD and a 5G on-board CPE; the OBU establishes bidirectional transmission with the automatic driving vehicle and the 5G vehicle-mounted CPE through wireless signals; the vehicle-mounted unit OBU sends guiding information to the vehicle-mounted PAD through signal transmission; the signal transmission comprises WIFI and wired transmission;
the guiding information mainly comprises the name of a road section where the vehicle is located, the attribute of a lane where the vehicle is located, a vehicle suggested speed interval and the distance from the vehicle to the intersection.
Further, the signal control unit comprises a 5G GNB and an edge MEC, the 5G GNB receives information from the 5G roadside CPE and the 5G vehicle-mounted CPE and transmits a wireless signal to the edge MEC to update the map data information in real time.
The third scheme is as follows: the speed guide control device with the vehicle-road cooperation comprises a memory and a processor, wherein the memory stores a computer program, and the processor realizes the steps of the speed guide control method with the vehicle-road cooperation when executing the computer program.
And the scheme is as follows: a computer-readable storage medium having stored thereon a computer program which, when executed by a processor, implements the vehicle-road cooperative speed guidance control system and method described above.
The invention has the beneficial effects that:
(1) the invention classifies and manages the vehicle-road cooperative message set, provides a speed guiding scheme based on 5G vehicle-road cooperation, fully utilizes the combination of 5G communication and wireless short-range communication, overcomes the defect of singly relying on wireless short-range broadcast communication (DSRC, LTE-V), increases the communication distance, enlarges the length of a data frame and effectively prevents the data frame from losing frames caused by entity or shielding.
(2) The speed guiding function is oriented, a reasonable vehicle running speed interval is provided through the speed guiding algorithm provided by the invention, the waiting time of red light is reduced, the phenomenon that the vehicle runs through the light at the end of green light and yellow light is avoided, the vehicle parking times are reduced, the success ratio is optimized to be more than 72%, the vehicle delay time at the signal intersection is reduced to be more than 84%, and further the vehicle oil consumption is reduced.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings needed to be used in the description of the embodiments are briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on the drawings without creative efforts.
FIG. 1 is a schematic diagram of a 5G vehicle-road cooperative speed guidance architecture according to an embodiment of the present invention;
FIG. 2 is a schematic diagram of the OBU end speed guidance provided by an embodiment of the present invention;
FIG. 3 is a schematic diagram of speed guidance under red light conditions according to an embodiment of the present invention;
FIG. 4 is a schematic diagram of speed guidance in a green light state according to an embodiment of the present invention;
fig. 5 is a schematic diagram of speed guidance in the yellow light state according to an embodiment of the present invention.
Detailed Description
Exemplary embodiments of the present disclosure are described in more detail by referring to the accompanying drawings. While exemplary embodiments are shown in the drawings, it should be understood that the present disclosure may be embodied in various forms and should not be limited by the embodiments set forth herein. Rather, these examples are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the technology to those skilled in the art.
The first embodiment is as follows: detecting whether a lane change vehicle running in a lane change mode exists in target vehicles within a vehicle speed guide range, wherein the vehicle speed guide range is a range of a preset distance from an intersection; if the lane change vehicle exists in the target vehicle, acquiring the running state information of the target vehicle on the lane where the lane change vehicle is located before and after lane change, wherein the running state information at least comprises: speed and position information of the vehicle; updating the guiding speed of the target vehicle on the lane before and after the lane change of the lane change vehicle according to the running state information, wherein the guiding speed is the speed of the green light at the phase of the signal light when the target vehicle passes through the intersection, as shown in figure 1,
wherein 5G GNB: a 5G communication base station (5 th-Generation G-nodeB);
5G CPE: 5G Customer Premise Equipment (5 th-Generation Customer Premise Equipment);
5G MEC: 5G Edge Computing unit (5 th-Generation Mobile Edge Computing);
BSM: a vehicle Basic Safety Message (Basic Safety Message);
SPAT: signal Phase and Timing Message;
RSI: a traffic event message (Road Side Information) issued by the Road Side unit;
MAP: road map information;
based on this, the present embodiment provides a speed guidance control method with 5G vehicle-road coordination, which includes the following specific steps:
firstly, a road side camera and a laser radar device acquire queuing length information of different flow directions of each entrance road of an intersection, the queuing length information is transmitted to a vehicle-road cooperative special signal machine through a network port, signal countdown information and a signal control scheme (counting down the time length of the next phase state, phase configuration information and the like) of the intersection are acquired through the signal machine, the information is transmitted to a 5G road side CPE unit of the road side through the network port, one part of the 5G road side CPE unit is transmitted to an edge MEC unit through a 5G GNB through a uu interface (an interface between UE (user Equipment) and UTRAN (UMTS Radio Access network)), and the other part of the signal countdown, signal control scheme and queuing length information are transmitted to a RSU of the road side unit.
And step two, the RSU serves as a standard data processing unit and a wireless short-range broadcasting unit, UPER coding is carried out on the countdown information and the next phase state duration in the signal control unit, DSMP is packaged into a standard SPAT message, the queuing length information is packaged into a standard RSI message, and then the RSU is broadcasted.
And step three, the edge MEC serves as a road side data transfer station and is responsible for storing lane-level MAP information (node information, road section information, lane information and the like) of the intersection and acquiring a signal control scheme uploaded by the 5G road side CPE through the 5G GNB to achieve the MAP information updating function, and the edge MEC encapsulates the MAP into standard MAP information and sends the standard MAP information to the vehicle-mounted CPE unit through the 5G GNB. The map information needs to cover the highest and lowest speed limits of the lanes, longitude and latitude sets of the center points of the lanes, information such as phase IDs of intersections in front of each lane and the like. The whole 5G communication link needs to construct a virtual Private network VPN (virtual Private network) on the basis of a public network, and end-to-end data transmission is achieved.
Step four, the vehicle-mounted unit OBU is used as a vehicle-road cooperative data integration unit and a speed guidance application processing unit, acquires longitude and latitude information, vehicle speed v, vehicle tolerance acceleration a, vehicle-road direction angle, vehicle type and other information of an automatic driving vehicle through a CAN bus, acquires SPAT and RSI information through wireless short-range communication, acquires intersection MAP MAP information through 5G vehicle-mounted CPE, performs lane-level positioning, matches signal states of a road section, a lane and a front intersection where the vehicle is currently running, and then calls a vehicle speed guidance model to construct, as shown in figure 2,
the steps can be further refined as:
step four, judging whether the vehicle enters a guide area or not through a short-range communication technology, and if so, executing step two;
step four, acquiring a signal countdown state and a signal control scheme of the intersection by using a 5G communication link network, and simultaneously acquiring real-time vehicle state information and an intersection queuing state;
step four, matching the signal states of the road section, the lane and the intersection at which the vehicle runs at present, judging whether the vehicle can pass through the intersection or not through a vehicle speed guiding algorithm, if so, performing the step four, and if not, returning to the step two;
and fourthly, completing construction of the vehicle speed guide model.
In the process of guiding the vehicle to enter the area, firstly, an environment basic database needs to be established, and the database comprises: lane-level map information, intersection queuing information, signal countdown information, a signal control scheme and vehicle real-time state information;
secondly, establishing an environment basic algorithm library, including a lane-level positioning algorithm, message set management and updating and vehicle control;
and finally, the scene operation library comprises a calibrated vehicle speed guide limit range, a limited vehicle speed guide updating period and the like.
Step five: defining a maximum tolerated speed of travel of a vehicle
And minimum tolerated speed
Crossing saturation flow rate S, vehicle speed guide range
Isoparametric, wherein the speed leads the calculated maximum recommended vehicle speed
And minimum recommended vehicle speed
。
Step six: the method is characterized in that the dynamic model of the vehicle is integrated, the current position of the vehicle away from the intersection is combined, and the time taken for the vehicle to accelerate to the maximum allowable speed is calculated according to the principle of uniform acceleration and deceleration
And distance traveled
And the time taken to decelerate to the minimum tolerated speed
And distance traveled
Additionally calculating the time taken for the vehicle to decelerate to a stop
And distance traveled
。
Step seven, calculating the optimal time for reaching the intersection, analyzing whether the distance traveled by the vehicle when the vehicle accelerates and decelerates to the maximum and minimum tolerance speeds exceeds the distance traveled by the vehicle when the vehicle reaches the intersection, if not, calculating the time for the vehicle to reach the intersection according to the principle that the vehicle accelerates firstly, then decelerates firstly and then decelerates secondly, and then the vehicle reaches the intersection in the acceleration stage
As shown in the following formula (1):
time required for reaching intersection in deceleration stage
As shown in the following formula (2):
step eight, checking the abnormal driving behavior of the vehicle, and calculating the time for the vehicle to decelerate to the maximum allowable speed when the speed of the vehicle exceeds the maximum allowable speed
And distance traveled
And the time taken for the vehicle to decelerate directly to a stop
And distance traveled
Calculating the time taken for the vehicle to accelerate to the minimum tolerated speed when the vehicle speed is below the minimum tolerated speed
And distance traveled
And the time taken to decelerate to a stop
And distance traveled
。
Step nine, the speed guidance is divided into scenes according to the countdown light color, as shown in fig. 3, 4 and 5:
(A) when the countdown state of the intersection is red, defining the countdown as T, and the time length of the countdown immediately next phase state is T
、
、
In which queue dissipation time
According to the number of vehicles in line in the lane where the vehicles are located and the intersection saturation flow rate. Firstly, the time required for the vehicle to reach the intersection at the current speed is calculated
Provided that a
If the vehicle can arrive at the intersection without stopping at the current vehicle speed, the maximum suggested vehicle speed can be calculated
When the vehicle is in the acceleration stage, the time just needed when the vehicle reaches the intersection is
If, if
Then the maximum recommended vehicle speed
The following conditions need to be satisfied:
if it is not
Then, then
. If it is not
Then the maximum solution is taken. Calculating a minimum recommended vehicle speed
Description of vehicle acceleration
Slow down if
When the vehicle is decelerated to the minimum speed before reaching the intersection, the vehicle is driven to the minimum speed
Otherwise, calculating
A value of, if
Then, then
Otherwise
. If it is not
And if the vehicle needs to stop when the current vehicle speed reaches the intersection, the vehicle is recommended to run at a reduced speed. If it is not
The following conditions are required to be met to show that the performance of the existing vehicle can meet the condition of the suggested vehicle speed interval:
note: queue dissipation time takes a fraction of the green time.
If it is not
Then the vehicle speed interval is suggested
，
。
If it is not
，
Then the vehicle speed interval is suggested
，
。
If it is not
When the vehicle still needs to queue up when arriving at the intersection, the result is obtained
Must be less than
Then the vehicle is guided to stop.
If the current queue dissipation time
Then the vehicle is guided to stop.
(B) When the vehicle enters the guiding area, the countdown state of the front intersection is green, and the queue of the intersection is dissipated. Under the condition, the purpose of vehicle speed guidance is to ensure that the vehicle safely passes through the intersection before the green light is finished, so as to avoid the phenomenon of 'light robbing'.
Firstly, the time required for the vehicle to reach the intersection at the current speed is calculated
If, if
Indicating that the current vehicle speed may pass through the intersection, then
，
。
If it is not
Indicating that the vehicle must be accelerated to pass through the intersection, wherein
The duration of the red light immediately following the green light.
If it is not
It means that the vehicle can pass the vehicle only when the vehicle is driven at the maximum allowable speed, if
Then, then
Wherein
The minimum of the two solutions is taken.
If it is not
Then, it is recommended that the vehicle speed interval satisfies the following condition:
if it is not
When the green light countdown is about to end, the vehicle cannot pass the acceleration, the vehicle needs to run at a reduced speed, the maximum and minimum recommended vehicle speed when the next green light time is reached is calculated, and the following formula (9) is met, wherein the maximum solution of the formula is
The minimum solution is
. If the maximum solution is greater than
Minimum solution is less than
Then, then
Is the maximum solution, and the solution is,
is composed of
。
If the minimum solution is greater than
Then, then
Is the maximum solution, and the solution is,
is the minimum solution.
If the current vehicle speed exceeds the maximum speed limit
Or below the minimum speed limit
At the moment, judge the vehicle to
Or
And if the vehicle can pass through the intersection, the vehicle speed guiding interval is recommended to be the maximum (minimum) speed limit value of the road, otherwise, the vehicle is guided to stop.
(C) When the vehicle enters the guiding area, the countdown state of the front intersection is a yellow light, and the intersection queues up. Because the yellow light time is short, the processing procedure under the yellow light condition is similar to that of the red light, but the phenomenon that the yellow light is robbed due to too close distance between the vehicle and the road needs to be avoided.
Firstly, the time required for the vehicle to reach the intersection at the current speed is calculated
If, if
Wherein
For the queuing length of the current intersection, the current speed can ensure that the vehicle does not collide with the queued vehicle before the next green light, so
Then, then
，
If, if
,
，
If, if
Then it is determined that the vehicle cannot pass through the intersection at the minimum speed, and if so, then it is determined that the vehicle cannot pass through the intersection
，
Otherwise
，
. If it is not
If the current vehicle speed is in collision with the queued vehicle before the next green light, the judgment is further made
Then the vehicle is guided to stop, otherwise
，
The following derivation condition of equation (10) is satisfied:
according to the practical situation, the queuing length of the intersection is changed constantly along with the time, so that the optimized speed interval is not a fixed value, the vehicle needs to be optimized for many times in the driving process, and the calculation and updating frequency is recommended to be 1 second/time.
And step ten, after the OBU calculates a speed guide interval by calling a vehicle speed guide algorithm, the speed guide interval is transmitted to the vehicle-mounted PAD through WIFI or wired transmission, the vehicle-mounted PAD is displayed to a driver through a page or voice, the driver can know information such as the current vehicle speed through screen display and voice broadcasting of the guide speed interval, and can obtain voice indication of driving in time.
The second embodiment is as follows: in addition to the vehicle-road cooperative speed guidance control method described in the first embodiment, the present application may also be implemented by forming a specific vehicle-road cooperative speed guidance control system by refining and splicing the modules, where the system includes: the vehicle-road cooperative speed guiding control system comprises a road side subsystem, a vehicle-mounted subsystem and a signal control unit; the road side subsystem is used for receiving external vehicle road signals, and the road side subsystem and the vehicle-mounted subsystem are directly connected for bidirectional communication through the PC 5; the vehicle-mounted subsystem feeds back the traffic information provided by the road side subsystem to the personnel in the vehicle by receiving the communication signal from the signal control unit; the 5G road side CPE arranged on the road side subsystem and the 5G vehicle-mounted CPE arranged on the vehicle-mounted subsystem are in two-way communication with the signal control unit through the Uu port, and the speed guide control is completed through a control system forming a closed loop.
Specifically, the road side subsystem comprises a 5G road side CPE, a road side unit RSU, a vehicle and road cooperative special signal machine and external equipment; the external equipment transmits road condition information to a special traffic lane cooperative signal machine in an RJ45 communication mode, the control information is converted into an electric signal to be transmitted to the 5G road side CPE, the 5G road side CPE is in two-way communication with the signal control unit in a Uu port communication mode, and the 5G road side CPE transmits information to the road side unit RSU in an RJ45 communication mode; the external equipment comprises a camera and a laser radar.
Specifically, the on-board subsystem comprises an on-board unit (OBU), an automatic driving vehicle, an on-board PAD and a 5G on-board CPE; the OBU establishes bidirectional transmission with the automatic driving vehicle and the 5G vehicle-mounted CPE through wireless signals; the vehicle-mounted unit OBU sends the guiding information to the vehicle-mounted PAD through signal transmission; the signal transmission includes WIFI and wired transmission.
Specifically, the signal control unit comprises a 5G GNB and an edge MEC, wherein the 5G GNB receives information from the 5G roadside CPE and the 5G vehicle-mounted CPE and transmits a wireless signal to the edge MEC to update the map data information in real time.
The third concrete implementation mode: the present embodiments may be provided as a method, system, or computer program product by those skilled in the art using the systems and methods mentioned in the foregoing embodiments. Accordingly, the present application may take the form of an entirely hardware embodiment, an entirely software embodiment, or an embodiment combining software and hardware aspects, or a combination of both. Furthermore, the present embodiments may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.
A flowchart or block diagram of a method, apparatus (system), and computer program product according to the present embodiments is depicted. It will be understood that each flow or block of the flowchart illustrations or block diagrams, and combinations of flows or blocks in the flowchart illustrations or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows, or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows or block diagram block or blocks.
In a typical configuration, a computing device includes one or more processors (CPUs), input/output interfaces, network interfaces, and memory.
The memory may include forms of volatile memory in a computer readable medium, Random Access Memory (RAM) and/or non-volatile memory, such as Read Only Memory (ROM) or flash memory (flash RAM). The memory is an example of a computer-readable medium.
Computer-readable media, including both non-transitory and non-transitory, removable and non-removable media, may implement information storage by any method or technology. The information may be computer readable instructions, data structures, modules of a program, or other data. Examples of computer storage media include, but are not limited to, phase change memory (PRAM), Static Random Access Memory (SRAM), Dynamic Random Access Memory (DRAM), other types of Random Access Memory (RAM), Read Only Memory (ROM), Electrically Erasable Programmable Read Only Memory (EEPROM), flash memory or other memory technology, compact disc read only memory (CD-ROM), Digital Versatile Discs (DVD) or other optical storage, magnetic cassettes, magnetic tape, magnetic disk storage or other magnetic storage devices, or any other non-transmission medium that can be used to store information that can be accessed by a computing device. As defined herein, a computer readable medium does not include a transitory computer readable medium such as a modulated data signal and a carrier wave.
The above are merely examples of the present application and are not intended to limit the present application. Various modifications and changes may occur to those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application should be included in the scope of the claims of the present application.
Claims (10)
- The 1.5G vehicle-road cooperative speed guidance control method is characterized by comprising the following steps: the method comprises the following specific steps:acquiring queuing length information of vehicles on different lanes of each entrance lane of an intersection through external equipment and transmitting the information to a Road Side Unit (RSU);combining the queuing length information in the step one, performing UPER coding on the countdown information and the next phase state duration of each entrance way of the intersection, and packaging the DSMP into standard SPAT information; finally, packaging the queuing length information into standard RSI information for broadcasting;step three, using the edge MEC as a roadside data transfer station, storing lane-level MAP information of the intersection, and acquiring road condition information uploaded by the 5G roadside CPE through the 5G GNB to realize the updating function of the MAP MAP information of the intersection, wherein the edge MEC encapsulates a MAP into standard MAP information and sends the standard MAP information to the 5G vehicular CPE through the 5G GNB;step four, the vehicle-mounted unit OBU acquires longitude and latitude information of an automatic driving vehicle, vehicle speed v, vehicle tolerance acceleration a, vehicle road direction angle and vehicle type information, acquires SPAT and RSI information through wireless short-range communication, acquires intersection MAP MAP information through 5G vehicle-mounted CPE, performs lane-level positioning, matches the signal states of a road section, a lane and a front intersection where the vehicle is currently driven, and then calls a vehicle speed guide model to construct;step five, defining vehicle running parameters including maximum allowable speed VmaxMinimum tolerated speed VminThe intersection saturation flow rate S, the vehicle speed guide range, the maximum recommended vehicle speed and the minimum recommended vehicle speed;step six, calculating the time and the running distance of the vehicle for accelerating to the maximum tolerated speed, the time and the running distance for decelerating to the minimum tolerated speed and calculating the time and the running distance for decelerating to stop by the vehicle by combining the position of the vehicle at the current distance from the intersection;step seven: analyzing whether the distance traveled by the vehicle when the vehicle accelerates and decelerates to the maximum and minimum tolerance speeds and the distance traveled by the vehicle when the vehicle reaches the intersection are the same or not, if the distance traveled by the vehicle when the vehicle reaches the intersection is not exceeded, calculating the time of the vehicle which is estimated to reach the intersection according to the principle that the vehicle accelerates firstly and then has a constant speed, and decelerates firstly and then has a constant speed, and calculating the time required by the vehicle to reach the intersection in the acceleration stage and the deceleration stage;step eight, checking abnormal driving behaviors of the vehicle, calculating the time and the driving distance for the vehicle to decelerate to the maximum tolerated speed and the time and the driving distance for the vehicle to directly decelerate to stop when the speed of the vehicle exceeds the maximum tolerated speed, and calculating the time and the driving distance for the vehicle to accelerate to the minimum tolerated speed and the time and the driving distance for the vehicle to decelerate to stop when the speed of the vehicle is lower than the minimum tolerated speed;step nine, determining a speed guide interval under each signal lamp condition according to the color of the countdown signal lamp by the speed guide;and step ten, the vehicle-mounted unit OBU calculates a speed guide interval by calling a vehicle speed guide algorithm, transmits the speed guide interval to the vehicle-mounted PAD through WIFI or wired transmission, and displays the speed guide interval to a driver through a page or voice.
- 2. The 5G vehicle-road cooperative speed guidance control method according to claim 1, characterized in that: in the first step, a road side camera and a laser radar device acquire queuing length information of different flow directions of each entrance way of an intersection, the queuing length information is transmitted to a vehicle-road cooperative special signal machine through a network port, signal countdown information and a signal control scheme of the intersection are acquired through the signal machine, the information is transmitted to the 5G road side CPE through the network port, the 5G road side CPE transmits the signal control scheme to an edge MEC unit through a uu interface and a UTRAN, one part of the signal countdown information and the signal control scheme and the queuing length information are transmitted to a road side unit RSU;the signal control scheme refers to counting down the next phase state duration and phase configuration information.
- 3. The 5G vehicle-road cooperative speed guidance control method according to claim 2, characterized in that: in the fourth step, the vehicle speed guides the construction process of the model, and the construction process is refined as follows:step four, judging that the vehicle enters a guide area, and executing step two if the vehicle enters the guide area;step four, acquiring a signal countdown state and a signal control scheme of the intersection by using a 5G communication link network, and simultaneously acquiring real-time vehicle state information and an intersection queuing state;step four, matching the signal states of the road section, the lane and the intersection at which the vehicle runs at present, judging whether the vehicle can pass through the intersection or not through a vehicle speed guiding algorithm, if so, performing the step four, and if not, returning to the step two;and fourthly, completing construction of the vehicle speed guide model.
- 4. The 5G vehicle-road cooperative speed guidance control method according to claim 3, characterized in that: in step nine, the step of specifically determining the speed guidance interval is as follows:ninthly, dividing scenes according to the colors of countdown signal lamps;step nine two, calculating the time required for the vehicle to reach the intersection at the current speed;step nine, judging whether the vehicle can pass through the intersection at the maximum speed limit or the minimum speed limit; if yes, suggesting that the guiding vehicle speed intervals are the maximum or minimum speed limit values of the road, otherwise guiding the vehicle to stop;and when the time required by the vehicle to reach the intersection at the current vehicle speed is calculated, the frequency of updating the speed guide interval is 1 second/time.
- 5.5G vehicle and road coordinated speed guide control system, its characterized in that: the system comprises a road side subsystem, a vehicle-mounted subsystem and a signal control unit; the road side subsystem is used for receiving external vehicle road signals, and the road side subsystem and the vehicle-mounted subsystem are directly connected for bidirectional communication through the PC 5; the vehicle-mounted subsystem feeds back the road condition information provided by the road side subsystem to a driver by receiving the communication signal from the signal control unit; the 5G road side CPE arranged on the road side subsystem and the 5G vehicle-mounted CPE arranged on the vehicle-mounted subsystem are in two-way communication with the signal control unit through the Uu port, and the speed guide control is completed through a control system forming a closed loop.
- 6. The 5G vehicle-road cooperative speed guidance control system according to claim 5, characterized in that: the road side subsystem comprises a 5G road side CPE, a road side unit RSU, a vehicle and road cooperative special signal machine and external equipment; the external equipment transmits road condition information to a special traffic lane cooperative signal machine in an RJ45 communication mode, the control information is converted into an electric signal to be transmitted to the 5G road side CPE, the 5G road side CPE is in two-way communication with the signal control unit in a Uu port communication mode, and the 5G road side CPE transmits information to the road side unit RSU in an RJ45 communication mode;the external equipment comprises a camera and a laser radar.
- 7. The 5G vehicle-road cooperative speed guidance control system according to claim 6, characterized in that: the vehicle-mounted subsystem comprises a vehicle-mounted unit OBU, an automatic driving vehicle, a vehicle-mounted PAD and a 5G vehicle-mounted CPE; the OBU establishes bidirectional transmission with the automatic driving vehicle and the 5G vehicle-mounted CPE through wireless signals; the vehicle-mounted unit OBU sends guiding information to the vehicle-mounted PAD through signal transmission; the signal transmission comprises WIFI and wired transmission;the guiding information mainly comprises the name of a road section where the vehicle is located, the attribute of a lane where the vehicle is located, a vehicle suggested speed interval and the distance from the vehicle to the intersection.
- 8. The 5G vehicle-road cooperative speed guidance control system according to claim 7, characterized in that: the signal control unit comprises a 5G GNB and an edge MEC, wherein the 5G GNB receives information from a 5G roadside CPE and a 5G vehicle-mounted CPE and transmits a wireless signal to the edge MEC to update map data information in real time.
- 9.5G vehicle and road coordinated speed guide control equipment, its characterized in that: the 5G vehicle-road cooperative speed guiding control method comprises a memory and a processor, wherein the memory stores a computer program, and the processor realizes the steps of the 5G vehicle-road cooperative speed guiding control method according to any one of claims 1 to 4 when executing the computer program.
- 10. A computer-readable storage medium having stored thereon a computer program, characterized in that: the computer program, when executed by a processor, implements the 5G vehicle-road cooperative speed guidance control method of any one of claims 1 to 4.
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