CN113470406A - Method and device for automatically driving to pass through high-speed toll station based on vehicle-road cooperation - Google Patents
Method and device for automatically driving to pass through high-speed toll station based on vehicle-road cooperation Download PDFInfo
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- CN113470406A CN113470406A CN202110661260.3A CN202110661260A CN113470406A CN 113470406 A CN113470406 A CN 113470406A CN 202110661260 A CN202110661260 A CN 202110661260A CN 113470406 A CN113470406 A CN 113470406A
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- 238000000034 method Methods 0.000 title claims abstract description 31
- 230000001133 acceleration Effects 0.000 claims abstract description 24
- 238000004364 calculation method Methods 0.000 claims description 4
- 238000004590 computer program Methods 0.000 claims description 2
- 239000000126 substance Substances 0.000 claims description 2
- 238000004891 communication Methods 0.000 description 6
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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
- G08G1/0968—Systems involving transmission of navigation instructions to the vehicle
- G08G1/096805—Systems involving transmission of navigation instructions to the vehicle where the transmitted instructions are used to compute a route
- G08G1/096811—Systems involving transmission of navigation instructions to the vehicle where the transmitted instructions are used to compute a route where the route is computed offboard
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/30—Services specially adapted for particular environments, situations or purposes
- H04W4/40—Services specially adapted for particular environments, situations or purposes for vehicles, e.g. vehicle-to-pedestrians [V2P]
Abstract
The invention discloses a method and a device for automatically driving to pass through a high-speed toll station based on vehicle-road cooperation, belonging to the technical field of path planning, wherein the method comprises the following steps: planning a driving route from each lane outlet of a lane area with the normal width of the toll station to a corresponding gate port through a lane expansion area at the front end of the toll station; calculating the time of the current vehicle passing through the gate in each driving route, and selecting the vehicle which needs the longest time to reach the gate in each driving route; selecting a running route which has short time and meets the corresponding requirements of height limiting and weight limiting factors from vehicles needing the longest time for reaching a gate port in each running route to be pushed to a target vehicle to enter a front-end lane expansion area of a toll station; and pushing the running acceleration of the vehicle to the target vehicle according to the running speed of the target vehicle at the current moment and the running distance to the gate. The invention collects the basic state information and the running state information of the vehicle which is about to pass through the toll station through V2X to carry out unified processing, thereby realizing vehicle-vehicle cooperation.
Description
Technical Field
The invention belongs to the technical field of path planning, and particularly relates to a method and a device for automatically driving to pass through a high-speed toll station based on vehicle-road cooperation.
Background
At present, the high-grade self-driven automobile facing L3 and L4 still cannot automatically go up and down at high speed, the basic reason is that when the automobile goes in and out of a high-speed intersection, a lane line is unclear and autonomous guidance is difficult to carry out according to the lane line, the current passing mode is that an external environment recognition device is used for recognizing whether a toll station appears or not, then a travel route is planned through an automatic driving controller under the assistance of positioning and a map, and the automobile is automatically driven to pass through the toll station after the payment of an ETC device is confirmed.
Because the lane lines are not clear or do not have at toll station exit, and the toll station probably takes place to reform transform, ETC passageway and manual toll collection passageway probably exchange this moment or some ETC passageways are closed temporarily and all can lead to the vehicle can't the autopilot to pass through the toll station region.
Because the automatic driving vehicles run according to a fixed rule, the automatic driving vehicles can not cooperate with surrounding vehicles like drivers, when a large number of automatic driving vehicles are gathered together and are prepared to automatically drive to pass through a toll station, the automatic driving vehicles can not automatically drive to pass through by completely depending on a vehicle automatic driving system without a uniform cooperation rule.
Disclosure of Invention
In order to overcome the defects or the improvement requirements of the prior art, the invention provides a method and a device for automatically driving to pass through a high-speed toll station based on vehicle-road coordination, which collect and uniformly process the basic state information and the running state information of the vehicle about to pass through the toll station through a V2X wireless communication technology, comprehensively plan the vehicle about to pass through, and push a running route and a running speed to each vehicle, so that the automatically driven vehicle can smoothly and comfortably automatically drive to pass through the toll station.
To achieve the above object, according to one aspect of the present invention, there is provided a method for automatically driving through a toll booth based on vehicle-road coordination, comprising:
(1) planning a driving route from each lane outlet of a lane area with the normal width of the toll station to a corresponding gate port through a lane expansion area at the front end of the toll station;
(2) calculating the time of the current vehicle passing through the gate in each driving route, and selecting the vehicle which needs the longest time to reach the gate in each driving route;
(3) selecting a running route which has short time and meets the corresponding requirements of height limiting and weight limiting factors from vehicles needing the longest time for reaching a gate port in each running route to be pushed to a target vehicle to enter a front-end lane expansion area of a toll station;
(4) and pushing the running acceleration of the vehicle to the target vehicle according to the running speed of the target vehicle at the current moment and the running distance to the gate.
In some alternative embodiments, step (2) comprises:
(2.1) for each driving route, supposing that the time for the first vehicle to pass through the gate opening is obtained according to the driving distance from the first vehicle closest to the gate opening of the toll station to the gate opening, the current driving speed of the first vehicle, the charging distance required by the toll station and the highest speed of the payment speed in the driving route;
and (2.2) for each second vehicle behind the first vehicle, obtaining the time of the second vehicle passing through the gate according to the running distance of the second vehicle from the gate of the toll station, the current running speed of the second vehicle, the charging distance required by the toll station and the highest speed of the payment speed, wherein the distance between the second vehicle and the nearest preceding vehicle in the whole running process is greater than or equal to the preset safety distance.
In some alternative embodiments, step (2.1) comprises:
when the distance from the first vehicle to the gate is less than or equal to the charging distance required by the toll station, the time that the first vehicle passes through the gate
Wherein S isA1For the distance traveled to the gate opening for the first vehicle on the route closest to the gate opening of the toll station, vA1Is the current travel speed of the first vehicle;
when the distance from the first vehicle to the gate opening is greater than the charging distance required by the toll station and vA1When v is less than or equal to v, the time of the first vehicle passing through the gate
Wherein v is the highest speed of the payment speed required by the toll station;
when the distance from the first vehicle to the gate opening is greater than the charging distance required by the toll station and vA1When v is greater, the time when the first vehicle passes through the gate
Wherein S is the charging distance required by the toll station.
In some alternative embodiments, step (2.2) comprises:
for each second vehicle behind the first vehicle
Obtaining the time t of the second vehicle passing through the brake portAnWherein S isAnFor each second vehicle behind the first vehicle, the distance traveled from the gate of the toll station, vAnThe current running speed of each second vehicle behind the first vehicle is S, the charging distance required by the toll station is S, the maximum speed of the payment speed required by the toll station is v, and n is 2,3 and ….
In some optional embodiments, when the inter-vehicle distance between the second vehicle and the nearest preceding vehicle is less than the preset safety distance during the whole running process, the value of the deceleration of the second vehicle is increased until the inter-vehicle distance between the second vehicle and the nearest preceding vehicle is greater than or equal to the preset safety distance during the whole running process, and the time for the second vehicle to pass through the brake port is further determined.
In some of the alternative embodiments, the first and second,the step (4) comprises the following steps: by
Determining acceleration a of target vehicle travelEWherein v isEIs the current running speed of the target vehicle, SEThe driving distance from the target vehicle to the gate corresponding to the recommended driving route is obtained.
In some optional embodiments, the method further comprises:
determining a target vehicle at a suggested acceleration aEIf the distance between the target vehicle and the nearest front vehicle is greater than or equal to the preset safety distance, the target vehicle is accelerated at the recommended acceleration aEDriving, if the distance between the target vehicle and the nearest preceding vehicle is less than the preset safety distance, determining the acceleration
Wherein the content of the first and second substances,
SBnfor the distance traveled in the recommended route, v, nearest the preceding vehicle to the gate of the toll stationBnIs the driving speed, t, of the current time of the vehicle closest to the target vehicle in the recommended driving routeBnD is the time when the nearest preceding vehicle in the recommended driving route passes through a brake gate, a is the preset safety distanceBnThe acceleration of the recommended driving route closest to the current moment of the preceding vehicle in the nearest vicinity of the target vehicle.
According to another aspect of the present invention, there is provided an automatic driving through high-speed toll station apparatus based on vehicle-road coordination, comprising:
the system comprises a general route planning module, a gateway control module and a gateway control module, wherein the general route planning module is used for planning a driving route from each lane outlet of a lane area with the normal width of a toll station to a corresponding gate port through a lane expansion area at the front end of the toll station;
the driving time calculation module is used for calculating the time of the current vehicle passing through the gate in each driving route and selecting the vehicle which needs the longest time to reach the gate in each driving route;
the driving route planning module is used for selecting a driving route which has short time and meets the height and weight limiting factors from the vehicles which need the longest time to reach the gate port in each driving route and pushing the driving route to a target vehicle to enter a front-end lane expansion area of the toll station;
and the acceleration suggestion module is used for pushing the running acceleration of the vehicle to the target vehicle according to the running speed of the target vehicle at the current moment and the running distance to the gate.
According to another aspect of the present invention, there is provided a cloud platform including the above-described vehicle-road coordination-based automatic driving through high-speed toll booth device.
According to another aspect of the invention, a computer-readable storage medium is provided, on which a computer program is stored which, when being executed by a processor, carries out the steps of the method of any of the above.
In general, compared with the prior art, the above technical solution contemplated by the present invention can achieve the following beneficial effects:
(1) according to the invention, the basic state information and the running state information of the vehicle about to pass through the toll station are collected and uniformly processed through the V2X wireless communication technology, the automatic driving vehicle about to pass is comprehensively planned, and a running route and a running speed are pushed to each vehicle, so that the automatic driving vehicle can smoothly and comfortably automatically drive to pass through the toll station.
(2) According to the invention, the cloud platform uniformly plans and prepares the driving route and the driving state of the automatic driving through the highway toll gate, so that vehicle-vehicle cooperation is realized, and the confusion of the whole traffic system is easily caused when the current automatic driving system cannot reach the situation that a driver drives a vehicle, and when the current automatic driving system decelerates and gives way and when the current automatic driving system accelerates to rush the lane, the judgment is completely carried out by the single-vehicle automatic driving system. The invention also provides a logic method for specifically pushing the driving route and a calculation method for driving data.
Drawings
Fig. 1 is a schematic diagram of a vehicle-cloud (V2N) communication system architecture according to an embodiment of the present invention;
FIG. 2 is a schematic flow chart of a method for automatically driving through a high-speed toll station based on vehicle-road coordination according to an embodiment of the present invention;
FIG. 3 is a schematic diagram of a driving route from a crossing with a normal width to a gate provided by an embodiment of the present invention;
fig. 4 is a schematic structural diagram of an apparatus for automatically driving through a high-speed toll station based on vehicle-road coordination according to an embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention 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 invention and are not intended to limit the invention. In addition, the technical features involved in the embodiments of the present invention described below may be combined with each other as long as they do not conflict with each other.
In the present examples, "first", "second", etc. are used for distinguishing different objects, and are not used for describing a specific order or sequence.
Example one
The autonomous vehicle can obtain the position information of the autonomous vehicle through a positioning device such as a mounted inertial navigation device and a GPS (global positioning system), and then upload the basic state information (including but not limited to the information such as the length, the width, the height of the autonomous vehicle and a unique mark of the autonomous vehicle) and the driving state information (including but not limited to the information such as the position, the speed and the acceleration) of the autonomous vehicle to the cloud platform through a vehicle-to-outside information exchange (V2X) wireless communication technology.
As shown in fig. 1, a vehicle-cloud platform (V2N) communication system architecture is provided, which generally includes the following subsystems:
1) radio communications subsystem-receive and transmit V2N signals.
2) Antenna-enables the reception and transmission of radio frequency signals.
3) And the information processing and computing unit is mainly responsible for carrying out unified planning processing on the data received by the information processing and computing unit.
Fig. 2 is a schematic flow chart of a method for automatically driving through a high-speed toll station based on vehicle-road coordination according to an embodiment of the present invention, where the method shown in fig. 2 includes the following steps:
s1: planning a driving route from each lane outlet of a lane area with the normal width of the toll station to a corresponding gate port through a lane expansion area at the front end of the toll station;
in this embodiment, the cloud platform plans in advance a driving route from each lane exit of the regular-width lane area of the toll station to the corresponding gate port through the front-end lane expansion area of the toll station, as shown in fig. 3, where the driving routes are b1、b2、b3And b4Respectively of length Sb1、Sb2、Sb3And Sb4。
S2: calculating the time of the current vehicle passing through the gate in each driving route, and selecting the vehicle which needs the longest time to reach the gate in each driving route;
in the present embodiment, step S2 can be implemented by:
s2.1: for each driving route, supposing that in the driving route, the time of the first vehicle passing through the gate opening is obtained according to the driving distance from the first vehicle closest to the gate opening of the toll station to the gate opening, the current driving speed of the first vehicle, the charging distance required by the toll station and the highest speed of the payment speed;
s2.2: and for each second vehicle behind the first vehicle, obtaining the time for the second vehicle to pass through the gate according to the running distance of the second vehicle from the gate of the toll station, the current running speed of the second vehicle, the charging distance required by the toll station and the highest payment speed, wherein the vehicle distance between the second vehicle and the nearest preceding vehicle in the whole running process is more than or equal to the preset safety distance.
In particular, let b be1First vehicle A closest to gate port of toll station on track1The running distance from the running to the gate is SA1The current running speed is vA1Calculating the first vehicle A by combining the charging distance S required by the toll station and the maximum speed v of the payment speed1The time of passing through the gate is tA1。
a) When the first vehicle A1When the distance to the gate port is less than or equal to S,
b) when the first vehicle A1The distance from the gate opening is greater than S and vA1When the pressure is less than or equal to v,
c) when the first vehicle A1The distance from the gate opening is greater than S and vA1At > v, at this time
Then
aA1Is a first vehicle A1The acceleration value of (1).
Let b be1On track of a first vehicle A1The second vehicle A behind2The running distance from the gate of the toll station is SA2The current running speed is vA2Calculating a second vehicle A by combining the charging distance S required by the toll station2The time of passing through the gate is tA2From
Then
Second vehicle A2The distance between the vehicle and the nearest front vehicle is required to be greater than or equal to a preset safety distance d in the whole driving process, namely the following requirements are met:
if it occurs
Then, the second vehicle A may be added2Deceleration aA2Until Δ S ≧ d is satisfied, and
find tA2。
Obtaining t by the above methodA1、tA2…tAn，tB1、tB2…tBn，tC1、tC2…tCnAnd tD1、tD2…tDnAnd storing the data in the cloud.
The preset safe distance d can be determined according to actual needs, and the embodiment is not limited uniquely.
S3: selecting a running route which has short time and meets the factors of height limitation and weight limitation from the vehicles which need the longest time to reach a gate port at present in each running route and pushing the running route to a target vehicle to enter a front-end lane expansion area of a toll station;
when a route is recommended, the short time and the height limit and the weight limit are simultaneously satisfied, for example, the time spent by a vehicle which currently reaches a gate and needs the longest time in each driving route can be sequenced from short to long, theoretically, the route corresponding to the shortest time is recommended, but if the route corresponding to the shortest time does not satisfy the requirement of the height limit and the weight limit, the short time route is recommended, and so on.
S4: and pushing the running acceleration of the vehicle to the target vehicle according to the running speed of the target vehicle at the current moment and the running distance to the gate.
In the present embodiment, the running speed v according to the current time of the target vehicle EEA driving distance S of the gate corresponding to the target vehicle to the recommended driving routeEPushing the acceleration a of vehicle travel to the target vehicleESo that the vehicle can smoothly run, wherein,
in this embodiment, the method further includes: determining the target vehicle E at the recommended acceleration aEIf the vehicle is in collision with the nearest vehicle, the pushed lane is assumed to be b2Wherein the distance between the target vehicle and the nearest preceding vehicle is
When the delta S is larger than or equal to d, the target vehicle E runs at the suggested acceleration; when the value of Delta S is less than d,
SBnfor the distance traveled in the recommended route, v, nearest the preceding vehicle to the gate of the toll stationBnIs the driving speed, t, of the current time of the vehicle closest to the target vehicle in the recommended driving routeBnD is the time when the nearest preceding vehicle in the recommended driving route passes through a brake gate, a is the preset safety distanceBnThe acceleration of the recommended driving route closest to the current moment of the preceding vehicle in the nearest vicinity of the target vehicle.
Example two
Fig. 4 is a schematic structural diagram of an apparatus for automatically driving through a high-speed toll station based on vehicle-road coordination according to an embodiment of the present invention, including:
the general route planning module 201 is used for planning a driving route from each lane exit of a road area with normal width of the toll station to a corresponding gate port through a lane expansion area at the front end of the toll station;
the running time calculation module 202 is configured to calculate a time when the current vehicle passes through the gate in each running route, and select a vehicle that requires the longest time to reach the gate in each running route;
the driving route planning module 203 is used for selecting a driving route which has short time and meets the height and weight limiting factors from the vehicles which need the longest time to reach the gate in each driving route and pushing the driving route to a target vehicle to enter a front-end lane expansion area of the toll station;
and the acceleration suggesting module 204 is used for pushing the running acceleration of the vehicle to the target vehicle according to the running speed of the target vehicle at the current moment and the running distance to the gate.
The specific implementation of each module may refer to the description of the above method embodiment, and this embodiment will not be repeated.
It should be noted that, according to the implementation requirement, each step/component described in the present application can be divided into more steps/components, and two or more steps/components or partial operations of the steps/components can be combined into new steps/components to achieve the purpose of the present invention.
It will be understood by those skilled in the art that the foregoing is only a preferred embodiment of the present invention, and is not intended to limit the invention, and that any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the scope of the present invention.
Claims (10)
1. A method for automatically driving to pass through a high-speed toll station based on vehicle-road coordination is characterized by comprising the following steps:
(1) planning a driving route from each lane outlet of a lane area with the normal width of the toll station to a corresponding gate port through a lane expansion area at the front end of the toll station;
(2) calculating the time of the current vehicle passing through the gate in each driving route, and selecting the vehicle which needs the longest time to reach the gate in each driving route;
(3) selecting a running route which has short time and meets the corresponding requirements of height limiting and weight limiting factors from vehicles needing the longest time for reaching a gate port in each running route to be pushed to a target vehicle to enter a front-end lane expansion area of a toll station;
(4) and pushing the running acceleration of the vehicle to the target vehicle according to the running speed of the target vehicle at the current moment and the running distance to the gate.
2. The method of claim 1, wherein step (2) comprises:
(2.1) for each driving route, supposing that the time for the first vehicle to pass through the gate opening is obtained according to the driving distance from the first vehicle closest to the gate opening of the toll station to the gate opening, the current driving speed of the first vehicle, the charging distance required by the toll station and the highest speed of the payment speed in the driving route;
and (2.2) for each second vehicle behind the first vehicle, obtaining the time of the second vehicle passing through the gate according to the running distance of the second vehicle from the gate of the toll station, the current running speed of the second vehicle, the charging distance required by the toll station and the highest speed of the payment speed, wherein the distance between the second vehicle and the nearest preceding vehicle in the whole running process is greater than or equal to the preset safety distance.
3. The method of claim 2, wherein step (2.1) comprises:
when the distance from the first vehicle to the gate is less than or equal to the charging distance required by the toll station, the time that the first vehicle passes through the gate
Wherein S isA1For the distance traveled to the gate opening for the first vehicle on the route closest to the gate opening of the toll station, vA1Is the current travel speed of the first vehicle;
when the distance from the first vehicle to the gate opening is greater than the charging distance required by the toll station and vA1When v is less than or equal to v, the time of the first vehicle passing through the gate
Wherein v is the highest speed of the payment speed required by the toll station;
when the distance from the first vehicle to the gate opening is greater than the charging distance required by the toll station andvA1when v is greater, the time when the first vehicle passes through the gate
Wherein S is the charging distance required by the toll station.
4. The method of claim 2, wherein step (2.2) comprises:
for each second vehicle behind the first vehicle
Obtaining the time t of the second vehicle passing through the brake portAnWherein S isAnFor each second vehicle behind the first vehicle, the distance traveled from the gate of the toll station, vAnThe current driving speed of each second vehicle behind the first vehicle is S is the charging distance required by the toll station, v is the maximum speed of the payment speed required by the toll station, and n is 2, 3.
5. The method according to claim 4, wherein when the inter-vehicle distance between the second vehicle and the nearest preceding vehicle is less than the preset safety distance during the entire travel of the second vehicle, the value of the deceleration of the second vehicle is increased until the inter-vehicle distance between the second vehicle and the nearest preceding vehicle is equal to or greater than the preset safety distance during the entire travel of the second vehicle, and the time for the second vehicle to pass through the brake port is determined.
6. The method according to any one of claims 1 to 5, wherein step (4) comprises: by
Determining acceleration a of target vehicle travelEWherein v isEIs the current running speed of the target vehicle, SEThe driving distance from the target vehicle to the gate corresponding to the recommended driving route is obtained.
7. The method of claim 6, further comprising:
determining a target vehicle at a suggested acceleration aEIf the distance between the target vehicle and the nearest front vehicle is greater than or equal to the preset safety distance, the target vehicle is accelerated at the recommended acceleration aEDriving, if the distance between the target vehicle and the nearest preceding vehicle is less than the preset safety distance, determining the acceleration
Wherein the content of the first and second substances,
SBnfor the distance traveled in the recommended route, v, nearest the preceding vehicle to the gate of the toll stationBnIs the driving speed, t, of the current time of the vehicle closest to the target vehicle in the recommended driving routeBnD is the time when the nearest preceding vehicle in the recommended driving route passes through a brake gate, a is the preset safety distanceBnThe acceleration of the recommended driving route closest to the current moment of the preceding vehicle in the nearest vicinity of the target vehicle.
8. An automatic driving through high-speed toll station device based on vehicle-road coordination, characterized by comprising:
the system comprises a general route planning module, a gateway control module and a gateway control module, wherein the general route planning module is used for planning a driving route from each lane outlet of a lane area with the normal width of a toll station to a corresponding gate port through a lane expansion area at the front end of the toll station;
the driving time calculation module is used for calculating the time of the current vehicle passing through the gate in each driving route and selecting the vehicle which needs the longest time to reach the gate in each driving route;
the driving route planning module is used for selecting a driving route which has short time and meets the height and weight limiting factors from the vehicles which need the longest time to reach the gate port in each driving route and pushing the driving route to a target vehicle to enter a front-end lane expansion area of the toll station;
and the acceleration suggestion module is used for pushing the running acceleration of the vehicle to the target vehicle according to the running speed of the target vehicle at the current moment and the running distance to the gate.
9. A cloud platform comprising the vehicle-road coordination-based automated driving through high-speed toll booth apparatus of claim 8.
10. A computer-readable storage medium, on which a computer program is stored, which, when being executed by a processor, carries out the steps of the method of any one of claims 1 to 7.
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| CN115116222A (en) * | 2022-06-21 | 2022-09-27 | 湖南省醴潭高速公路建设开发有限公司 | Multi-lane remote control method and system |
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