CN113838285A - Method and device for realizing vehicle group decision under cooperative vehicle and road environment - Google Patents

Abstract

This paper discloses a method and device for realizing vehicle group decision-making in a vehicle-road collaborative environment. The embodiment of the present invention treats the automatic driving vehicles passing through the conflict zone, and gradually determines the sequence of vehicles passing through the conflict zone according to the steering of the vehicles in each lane and the sequence of the vehicles. And calculate the total time for vehicles to pass through the conflict area. While gradually determining the order of vehicles passing through the conflict area, when the same vehicle passes through the conflict area in different orders, delete the scheduling scheme except for other vehicles with the shortest total duration, which reduces the operation of scheduling operations. It improves the decision-making speed and real-time performance of vehicle collaboration.

Description

A method and device for realizing vehicle group decision-making in a vehicle-road collaborative environment

technical field

This article involves but is not limited to autonomous driving technology, especially a method and device for realizing vehicle group decision-making in a vehicle-road collaborative environment.

Background technique

Vehicle-road coordination is to effectively integrate roads, vehicles and technologies, and realize real-time information interaction between vehicles and vehicles, vehicles and roads, vehicles and people, and vehicles and networks through technologies such as wireless communication and the Internet. On the basis of integration, we will carry out vehicle-road coordination safety and road active control, fully realize the effective coordination of people, vehicles and roads, ensure traffic safety, improve traffic efficiency, and form safe, efficient and environmentally friendly road traffic. Vehicle wireless communication technology V2X (vehicle to everything) is a basic platform for vehicle-road collaboration. By interconnecting vehicles with pedestrians, road infrastructure, etc., vehicles have stronger perception capabilities and achieve high-precision integration with the traffic environment. Positioning, vehicle real-time dynamic operation information interaction, collaborative control, collaborative security and other functions.

其中，下标i为标识车辆i。基于上述，所有车辆通过路口的时间可表示为：

进一步地，车辆协同的决策目标函数可表示为：

车辆数量较少时，上述问题可以通过遍历计算获得；但在车辆数较多的情况下，上述问题的解空间很大，采用遍历计算难以满足实时性的要求。Different from the traditional implementation methods of autonomous driving, the autonomous driving based on the vehicle-road coordination system is a brand-new technology. With the assistance of the vehicle-road coordination system, the requirements for sensor accuracy and algorithm performance are reduced, and it is a low-cost, high-precision, real-time autonomous driving solution. The automatic driving based on the vehicle-road coordination system can be applied to the traffic scene without signal lights (herein referred to as the no-signal intersection scene). Figure 1 is a schematic diagram of the scene of an unsignaled intersection. As shown in Figure 1, the decision-making goal of the vehicle coordination system is to make the vehicles near the intersection (vehicle A, vehicle B, vehicle C, vehicle D and vehicle E in the figure). ) takes the shortest time to pass through the intersection. This problem can be transformed into the optimization problem of vehicle traffic order, that is, in which order vehicles A, B, C, D and E pass through the intersection, which is most conducive to improving traffic efficiency. Assuming that the vehicle enters the conflict area (the geometric center of the intersection is taken as the center of the conflict area, and the area with a preset distance from the center is defined as the conflict area) and then drives at a constant speed, the vehicle traffic sequence optimization problem can be further transformed into the distribution of vehicles entering the area. time in conflict zone

Among them, the subscript i is the identification vehicle i. Based on the above, the time for all vehicles to pass through the intersection can be expressed as:

Further, the decision objective function of vehicle cooperation can be expressed as:

When the number of vehicles is small, the above problem can be obtained by traversal calculation; but in the case of a large number of vehicles, the solution space of the above problem is very large, and it is difficult to meet the real-time requirements by using traversal calculation.

How to improve the decision-making speed of vehicle collaboration, so that the calculation can meet the real-time requirements, has become a problem to be solved.

SUMMARY OF THE INVENTION

The following is an overview of the topics detailed in this article. This summary is not intended to limit the scope of protection of the claims.

The embodiments of the present invention provide a method and device for realizing vehicle group decision-making in a vehicle-road collaboration environment, which can improve the decision-making speed and real-time performance of vehicle collaboration.

The embodiment of the present invention provides a method for realizing vehicle group decision-making in a vehicle-road collaborative environment, including:

Determine the first turn of the vehicle to be dispatched in the lane to be processed, divide the vehicle to be dispatched with the first turn in the same lane as the first vehicle into a group, and calculate the total number of the first vehicles in each group passing through the conflict area. duration;

For each grouping, the grouping process is as follows: take other vehicles in the vehicles to be dispatched except the first vehicle in the group as the second vehicle, and determine the second steering of the second vehicle; The second vehicle is added to the group as the newly added first vehicle to form multiple new groups; calculate the total duration of the first vehicle in each new group passing through the conflict zone;

Determine whether the second vehicles in the new group formed by the groups corresponding to different lanes are the same, and for the new group including the same second vehicle, delete other new groups except the new group with the shortest total duration; For the remaining new groupings after the new groupings other than the new groupings, when it is determined that the remaining new groups do not contain all the vehicles to be dispatched, continue grouping processing for the remaining new groups;

For the remaining new groups after deleting other new groups except the new group with the shortest total duration, when it is judged that the new group contains all the vehicles to be dispatched, dispatch the vehicles to be dispatched according to the new group with the shortest total duration in the remaining new groups;

Wherein, the vehicles to be dispatched include: automatic driving vehicles to pass through the conflict zone; the first turning and the second turning include: turning of the vehicle closest to the conflict zone; when vehicles in the same lane are adjacent and turn the same for a turn.

On the other hand, an embodiment of the present invention further provides a computer storage medium, where a computer program is stored, and when the computer program is executed by a processor, the above-mentioned method for realizing vehicle group decision-making in a vehicle-road collaborative environment is implemented.

In another aspect, an embodiment of the present invention further provides a terminal, including: a memory and a processor, where a computer program is stored in the memory; wherein,

the processor is configured to execute the computer program in the memory;

When the computer program is executed by the processor, the above-mentioned method for realizing vehicle group decision-making in a vehicle-road coordination environment is implemented.

In another aspect, an embodiment of the present invention also provides a device for realizing vehicle group decision-making in a vehicle-road coordination environment, including: a division unit, a grouping processing unit, a deletion processing unit, a judgment processing unit, and a scheduling unit; wherein,

The dividing unit is set to: determine the first turn of the vehicle to be dispatched in the lane to be processed, divide the vehicle to be dispatched with the first turn in the same lane as the first vehicle into a group, and calculate the first vehicle in each group The total time passed through the conflict zone;

The grouping processing unit is set to: for each grouping, the grouping processing is as follows: take other vehicles in the vehicles to be dispatched except the first vehicle in the group as the second vehicle, and determine the second steering of the second vehicle; The second vehicle with the second turn in the group is added to the group as the newly added first vehicle, forming a plurality of new groups; calculate the total time for the first vehicle in each new group to pass through the conflict area;

The deletion processing unit is set to: determine whether the second vehicles in the new group formed by the groups corresponding to different lanes are the same, and for the new group including the same second vehicle, delete other new groups except the new group with the shortest total duration;

The judgment processing unit is set to: for the remaining new groups after deleting other new groups except the new group with the shortest total duration, when it is judged that all the vehicles to be dispatched are not included in the remaining new groups, continue to perform grouping processing on the remaining new groups ;

The scheduling unit is set to: for the remaining new group after deleting other new groups except the new group with the shortest total duration, when it is judged that the new group contains all the vehicles to be dispatched, treat the new group with the shortest total duration according to the remaining new groups. dispatch vehicles for dispatch;

Wherein, the vehicles to be dispatched include: automatic driving vehicles to pass through the conflict area; the first steering and the second steering: the steering of the vehicle closest to the conflict area; when the vehicles in the same lane are adjacent and have the same steering, a turn.

The technical solution of the present application includes: determining the first turn of the vehicle to be dispatched in the lane to be processed, dividing the vehicle to be dispatched with the first turn in the same lane as the first vehicle into a group, and calculating the first turn in each group. The total duration of vehicles passing through the conflict area; for each grouping, the grouping process is as follows: take the other vehicles in the vehicles to be dispatched except the first vehicle in the group as the second vehicle, and determine the second turn of the second vehicle; The second vehicles with the second steering in different lanes are respectively added to the group as the newly added first vehicles to form multiple new groups; the total duration of the first vehicles in each new group passing through the conflict zone is calculated; Whether the second vehicles in the new group formed by the groups corresponding to different lanes are the same, for the new group including the same second vehicle, delete other new groups except the new group with the shortest total duration; If it is determined that the remaining new groups do not contain all the vehicles to be dispatched, the remaining new groups will continue to be grouped; the new groups other than the new group with the shortest total duration will be deleted. For the remaining new grouping after grouping, when it is judged that the new grouping contains all the vehicles to be dispatched, the vehicles to be dispatched are dispatched according to the new grouping with the shortest total duration in the remaining new groups; wherein, the vehicles to be dispatched include: to be passed through the conflict area The first turning and the second turning include: the turning of the vehicle closest to the conflict area; when the vehicles in the same lane are adjacent and have the same turning, it is one turning. The embodiment of the present invention treats the self-driving vehicles passing through the conflict zone. According to the steering of the vehicles in each lane, the sequence of vehicles passing through the conflict zone is gradually determined according to the vehicle sequence, and the total duration of the vehicles passing through the conflict zone is calculated. At the same time, when the same vehicle passes through the conflict area in different order, the scheduling scheme of other vehicles except the shortest total duration is deleted, which reduces the amount of operation of scheduling operations and improves the decision-making speed and real-time performance of vehicle coordination.

Other features and advantages of the present invention will be set forth in the description which follows, and in part will be apparent from the description, or may be learned by practice of the invention. The objectives and other advantages of the invention may be realized and attained by the structure particularly pointed out in the description, claims and drawings.

Description of drawings

The accompanying drawings are used to provide a further understanding of the technical solutions of the present invention, and constitute a part of the specification. They are used to explain the technical solutions of the present invention together with the embodiments of the present application, and do not limit the technical solutions of the present invention.

Figure 1 is a schematic diagram of an unsignaled intersection scene;

2 is a flowchart of a method for implementing vehicle group decision-making in a vehicle-road collaborative environment according to an embodiment of the present invention;

3 is a schematic diagram of a vehicle steering according to an embodiment of the present invention;

4 is a schematic diagram of another vehicle steering according to an embodiment of the present invention;

5 is a schematic diagram of yet another vehicle steering according to an embodiment of the present invention;

6 is a schematic diagram of another vehicle steering according to an embodiment of the present invention;

7 is a schematic diagram of the distribution of vehicles to be dispatched according to an embodiment of the present invention;

8 is a schematic diagram of a state transition function according to an embodiment of the present invention;

9 is a structural block diagram of an apparatus for realizing vehicle group decision-making in a vehicle-road collaborative environment according to an embodiment of the present invention;

FIG. 10 is a flowchart of an application example of the present invention.

Detailed ways

In order to make the objectives, technical solutions and advantages of the present invention clearer, the embodiments of the present invention will be described in detail below with reference to the accompanying drawings. It should be noted that, the embodiments in the present application and the features in the embodiments may be arbitrarily combined with each other if there is no conflict.

The steps shown in the flowcharts of the figures may be performed in a computer system, such as a set of computer-executable instructions. Also, although a logical order is shown in the flowcharts, in some cases the steps shown or described may be performed in an order different from that herein.

FIG. 2 is a flowchart of a method for realizing vehicle group decision-making in a vehicle-road collaborative environment according to an embodiment of the present invention, as shown in FIG. 2 , including:

Step 201: Determine the first turn of the vehicle to be dispatched in the lane to be processed, divide the vehicle to be dispatched with the first turn in the same lane as the first vehicle into a group, and calculate the collision of the first vehicle in each group. the total duration of the zone;

Step 202: For each grouping, the grouping process is as follows: take other vehicles in the vehicles to be dispatched except the first vehicle in the group as the second vehicle, and determine the second steering of the second vehicle; The second vehicle of the second turn is added to the group as a newly added first vehicle to form a plurality of new groups; the total duration of the first vehicle in each new group passing through the conflict zone is calculated;

Step 203, determining whether the second vehicles in the new groups formed by the groups corresponding to different lanes are the same, and for the new groups including the same second vehicles, delete other new groups except the new group with the shortest total duration;

Step 204: Continue grouping processing on the remaining new groups when it is judged that the remaining new groups do not contain all the vehicles to be dispatched for the remaining new groups after deleting other new groups except the new group with the shortest total duration;

Step 205: For the remaining new groups after deleting other new groups except the new group with the shortest total duration, when it is determined that the new group contains all the vehicles to be dispatched, the vehicles to be dispatched are determined according to the new group with the shortest total duration in the remaining new groups. to schedule;

The vehicles to be dispatched include: automatic driving vehicles to pass through the conflict area; the first turn and the second turn include: the turn of the vehicle closest to the conflict area; a turn is one when the vehicles in the same lane are adjacent and turn the same.

In an exemplary embodiment, the above-mentioned processing may be performed by a roadside device in this embodiment of the present invention; in an exemplary embodiment, the above-mentioned processing may also be performed by a preset processor in this embodiment of the present invention;

The embodiment of the present invention treats the self-driving vehicles passing through the conflict zone. According to the steering of the vehicles in each lane, the sequence of vehicles passing through the conflict zone is gradually determined according to the vehicle sequence, and the total duration of the vehicles passing through the conflict zone is calculated. At the same time, when the same vehicle passes through the conflict area in different order, the scheduling scheme of other vehicles except the shortest total duration is deleted, which reduces the amount of operation of scheduling operations and improves the decision-making speed and real-time performance of vehicle coordination.

In an exemplary example, vehicles that do not collide in the lane are not included in the vehicles to be dispatched in the embodiment of the present invention.

In an exemplary example, the steering of the vehicle to be dispatched according to the embodiment of the present invention may include four types of steering as shown in FIG. 3 to FIG. 6 (the direction of the arrow in the figure represents the steering of the vehicle): steering r=1: from south to North and from north to south; turn r=2: west to east and east to west; turn r=3: north to east and south to west; turn r=4: west to east and east to south.

In this embodiment of the present invention, the process of adding the first vehicle to the group can be represented by the following state transition function:

s _r' (n' ₁ ,n' ₂ ,n' ₃ ,n' ₄ )=Γ(s _r (n ₁ ,n ₂ ,n ₃ ,n ₄ ),u);

Among them, (s _r (n ₁ , n ₂ , n ₃ , n ₄ ) on the right side of the formula represents the scheduling time information recorded when the newly added first vehicle is added, and n ₁ , n ₂ , n ₃ and n ₄ represent the added The number of vehicles in each lane already included in the new group before the newly added first vehicle; u represents the second turn of the newly added first vehicle; Γ( ) is the state transition function, used to represent the added new first vehicle Post-vehicle operations, the calculation process can include:

When u=1, n' ₁ =n ₁ +Δn ₁ , n' ₃ =n ₃ +Δn ₃ , where Δn ₁ and Δn ₃ respectively represent lane 1 and lane 3 after removing the first vehicle included in the current group. The number of vehicles entering the conflict zone (continuous straight vehicles); the embodiment of the present invention can determine the time when each first vehicle enters the conflict zone and the total duration of the current second turning first vehicle passing through the conflict zone through calculation;

When u=2, n' ₂ =n ₂ +Δn ₂ , n' ₄ =n ₄ +Δn ₄ , where Δn ₂ and Δn ₄ respectively represent lanes 2 and 4 after removing the first vehicle included in the current group. The number of vehicles entering the conflict zone (continuous straight vehicles); the embodiment of the present invention can determine the time when each first vehicle enters the conflict zone and the total duration of the current second turning first vehicle passing through the conflict zone through calculation;

When u=3, n' ₁ =n ₁ +Δn ₁ , n' ₃ =n ₃ +Δn ₃ , where Δn ₁ and Δn ₃ respectively represent lanes 1 and 3 after removing the first vehicle included in the current group. The number of vehicles entering the conflict zone (continuous straight vehicles); the embodiment of the present invention can determine the time when each first vehicle enters the conflict zone and the total duration of the current second turning first vehicle passing through the conflict zone through calculation;

When u=4, n' ₂ =n ₂ +Δn ₂ , n' ₄ =n ₄ +Δn ₄ , where Δn ₂ and Δn ₄ respectively represent lanes 2 and 4 after removing the first vehicle included in the current group. Obtain the number of vehicles entering the conflict zone (continuous straight vehicles); the embodiment of the present invention can determine the time of each first vehicle entering the conflict zone and the total duration of the current second turning first vehicle passing through the conflict zone through calculation.

Based on the above state transition function, calculating the total duration of the first vehicle in the new group after adding the first vehicle passing through the conflict area satisfies the following recurrence relation, as follows:

J(s _r' (n' ₁ ,n' ₂ ,n' ₃ ,n' ₄ ))=J(s _r (n ₁ ,n ₂ ,n ₃ ,n ₄ ))+ΔT;

Among them, J(s _r (n ₁ , n ₂ , n ₃ , n ₄ )) represents the total time that the first vehicle included in the calculated group passes through the conflict zone before the newly added first vehicle is added, and ΔT represents Added the duration of the newly added first vehicle to pass through the conflict zone.

In an exemplary example, when the vehicles included in two or more new groups in this embodiment of the present invention are the same, the new group with the shortest total duration may be determined by the following formula:

Among them, J ^* represents the new group with the shortest total duration, s represents one of all new groups containing the same vehicle, S represents all new groups containing the same vehicle, and J ^s represents the total duration of the new group s.

The following briefly describes the embodiment of the present invention through an example. FIG. 7 is a schematic diagram of the distribution of vehicles to be dispatched according to the embodiment of the present invention. As shown in FIG. 7 , the steering of vehicle A is from north to south (r=1), and the steering of vehicle B is From west to north (r=4), vehicle C turns from south to north (r=1), vehicle D from north to east (r=3), vehicle E from east to west (r=2); according to the same lane When the vehicles in the interior are adjacent and the steering is the same, it is defined as one steering. It can be determined that the steering of each vehicle in FIG. 3 is different. In the embodiment of the present invention, the vehicle to be dispatched with the first steering in the same lane is firstly used as the first vehicle. Divide into one group; further, the process of adding the first vehicle in each new group is: after determining the second turn of the vehicle closest to the conflict area, the second vehicle with the second turn located in a different lane is used as the newly added vehicle The first vehicles in the group are respectively added to the group to form multiple new groups. Therefore, if the first vehicle in the new group does not include vehicle A, vehicle D cannot be dispatched; FIG. 8 is the state transition of the embodiment of the present invention. The schematic diagram of the function, as shown in Figure 8, corresponds to the vehicle to be dispatched in Figure 7. In order to facilitate the understanding of the same scheduling process, the embodiment of the present invention uses a tree-like structure to illustrate the grouping process. At the vertex of the data structure, first add S ₀ node, the dotted line in the figure indicates that the steering vehicle contains other steering vehicles and cannot be dispatched; the solid line indicates that the steering vehicle can be dispatched, and the first vehicle can be added to the new group to perform the operation of the state transition function ; S _i in the circle records the second turn of the newly added first vehicle in the current new group, the number of each lane, and the time when the vehicle in the new group passes through the conflict zone; for example, the complete expression of S ₁₂₃ is S ₁₂₃ (1, 1, 2, 0) records that the steering of all the first vehicles added in the current new group includes r=1, r=2 and =3, and the new group includes lanes 1 to 4 waiting for The numbers of dispatched vehicles are 1, 1, 2, and 0, respectively, and the value of S ₁₂₃ (1,1,2,0) represents the total time for all the first vehicles in the new group to pass through the conflict zone; in an exemplary example , the embodiment of the present invention can record the time information of each first vehicle in the new group passing through the conflict zone in S ₁₂₃ (1,1,2,0); the child nodes that are not connected to the expression at the end of the figure but are connected to the origin Indicates: when the vehicles contained in two or more new groups are the same, except for the new group with the shortest total duration, other new groups are deleted, and the addition of the first vehicle is not continued; when each new group completes the passing conflict of all the first vehicles When calculating the total duration of the zone, the embodiment of the present invention selects a new group with the shortest total duration from the remaining new groups, and schedules vehicles to be dispatched according to the selected new group with the shortest total duration.

Embodiments of the present invention realize vehicle collaborative decision-making at unsignaled intersections in a vehicle-road collaborative environment. Based on roadside equipment and V2I platforms, vehicles can pass through conflict areas in a collaborative manner, thereby improving traffic safety and efficiency. The embodiment of the present invention adopts a small-scale operation to quickly obtain the global optimal solution, that is, the operation efficiency of the scheduling system is taken into consideration. The embodiment of the present invention fully considers the vehicle-vehicle conflict relationship at the non-signal intersection, and performs vehicle scheduling according to the conflict relationship, so that the algorithm is not constrained by the geometric topology of the intersection (such as the number of lanes), and effectively ensures the accuracy of the method in the embodiment of the present invention. applicability.

In an exemplary example, the embodiment of the present invention may use a dedicated short-range communication technology (DSRC) to realize real-time information interaction between an autonomous vehicle and roadside equipment; a preset programming language (C++) is used to program the implementation of the embodiment of the present invention. The above-mentioned method; the vehicle bottom controller can receive the speed information calculated based on the dispatch instruction through the in-vehicle local area network (CAN) bus, and then execute the speed control of the vehicle.

In an exemplary example, before it is determined that the vehicle to be dispatched is located in the to-be-processed lane before the first turn, the method of the embodiment of the present invention further includes:

Obtain the vehicle driving information of the vehicle to be dispatched according to a preset period;

Wherein, the vehicle driving information includes: steering information of the vehicle.

In an exemplary example, the embodiment of the present invention may determine the above-mentioned preset period according to the speed limit of vehicles in the vehicle dispatching area, the efficiency calculated by the embodiment of the present invention, the number of vehicles to be dispatched, and the like; in an example In a typical example, the length of the preset period in this embodiment of the present invention may be 2 to 5 seconds;

In an exemplary example, the embodiment of the present invention may collect vehicle driving information through roadside equipment.

In an exemplary example, the embodiment of the present invention schedules vehicles to be dispatched according to the new group with the shortest total duration among the remaining new groups, including:

Determine the order of adding the first vehicle in the new group with the shortest total duration according to the remaining new groups;

According to the determined order of adding the first vehicle, the vehicle to be dispatched is dispatched to pass through the conflict area.

In an exemplary example, the vehicle driving information in this embodiment of the present invention may further include: location information of the vehicle. In an exemplary embodiment, the embodiment of the present invention may set the vehicle to pass through the conflict zone at a preset speed; in an exemplary embodiment, the embodiment of the present invention may set the vehicle to maintain a certain safety distance, if the vehicle is waiting When the vehicle in front passes, it can be determined when to start and accelerate through the relevant scheduling algorithm, so that the vehicle can pass the conflict zone at the preset speed and keep a safe distance; The embodiment of the present invention can calculate and determine the total duration in the embodiment of the present invention;

In an exemplary example, the vehicle travel information in the embodiment of the present invention may further include: position information and travel speed information of the vehicle. In an exemplary example, the embodiment of the present invention can set the original driving speed of the vehicle to pass through the conflict area; the embodiment of the present invention sets a certain safety distance between vehicles. If the vehicle is waiting for the vehicle in front to pass, the relevant scheduling algorithm is used It can be determined when to start and accelerate, so that the vehicle can pass through the conflict zone according to the original speed of the vehicle and maintain a safe distance. Calculate and determine the total duration in the embodiment of the present invention;

In an exemplary example, the embodiment of the present invention calculates the total duration that the first vehicle in each new group passes through the conflict zone, including:

Calculate the time information of each first vehicle passing through the conflict zone;

According to the calculated time information of each first vehicle passing through the conflict zone, the total duration of the first vehicle in the new group passing through the conflict zone is determined.

In an exemplary example, when calculating the total duration that the first vehicle in each new group passes through the conflict zone, the method according to the embodiment of the present invention further includes:

Record the calculated time information of each first vehicle passing through the conflict zone.

In an exemplary example, the embodiment of the present invention schedules vehicles to be dispatched according to the new group with the shortest total duration among the remaining new groups, including:

According to the time information of each first vehicle passing through the conflict area recorded when calculating the new group with the shortest total duration among the remaining new groups, the vehicles to be dispatched are scheduled to pass through the conflict area.

Embodiments of the present invention further provide a computer storage medium, in which a computer program is stored, and when the computer program is executed by a processor, the above-mentioned method for realizing vehicle group decision-making in a vehicle-road coordination environment is implemented.

An embodiment of the present invention further provides a terminal, including: a memory and a processor, and a computer program is stored in the memory; wherein,

the processor is configured to execute the computer program in the memory;

When the computer program is executed by the processor, the method for realizing vehicle group decision-making in the above-mentioned vehicle-road coordination environment is realized.

FIG. 9 is a structural block diagram of an apparatus for realizing vehicle group decision-making in a vehicle-road coordination environment according to an embodiment of the present invention. As shown in FIG. 9 , it includes: a division unit, a grouping processing unit, a deletion processing unit, a judgment processing unit, and a scheduling unit; wherein,

The dividing unit is set to: determine the first turn of the vehicle to be dispatched in the lane to be processed, divide the vehicle to be dispatched with the first turn in the same lane as the first vehicle into a group, and calculate the first vehicle in each group The total time passed through the conflict zone;

The grouping processing unit is set to: for each grouping, the grouping processing is as follows: take other vehicles in the vehicles to be dispatched except the first vehicle in the group as the second vehicle, and determine the second steering of the second vehicle; The second vehicle with the second turn in the group is added to the group as the newly added first vehicle, forming a plurality of new groups; calculate the total time for the first vehicle in each new group to pass through the conflict area;

The deletion processing unit is set to: determine whether the second vehicles in the new group formed by the groups corresponding to different lanes are the same, and for the new group including the same second vehicle, delete other new groups except the new group with the shortest total duration;

The judgment processing unit is set to: for the remaining new groups after deleting other new groups except the new group with the shortest total duration, when it is judged that all the vehicles to be dispatched are not included in the remaining new groups, continue to perform grouping processing on the remaining new groups ;

The scheduling unit is set to: for the remaining new group after deleting other new groups except the new group with the shortest total duration, when it is judged that the new group contains all the vehicles to be dispatched, treat the new group with the shortest total duration according to the remaining new groups. dispatch vehicles for dispatch;

The vehicles to be dispatched include: automatic driving vehicles to pass through the conflict area; first and second steering: the steering of the vehicle closest to the conflict area; one steering when the vehicles in the same lane are adjacent and have the same steering.

The embodiment of the present invention treats the self-driving vehicles passing through the conflict zone. According to the steering of the vehicles in each lane, the sequence of vehicles passing through the conflict zone is gradually determined according to the vehicle sequence, and the total duration of the vehicles passing through the conflict zone is calculated. At the same time, when the same vehicle passes through the conflict area in different order, the scheduling scheme of other vehicles except the shortest total duration is deleted, which reduces the amount of operation of scheduling operations and improves the decision-making speed and real-time performance of vehicle coordination.

In an exemplary embodiment, the apparatus according to the embodiment of the present invention further includes an obtaining unit, configured as:

Obtain the vehicle driving information of the vehicle to be dispatched according to a preset period;

The vehicle driving information includes steering information.

In an exemplary example, the scheduling unit in this embodiment of the present invention is set to:

Determine the order of adding the first vehicle in the new group with the shortest total duration according to the remaining new groups;

According to the determined order of adding the first vehicle, the vehicle to be dispatched is dispatched to pass through the conflict area.

In an exemplary example, the grouping processing unit according to the embodiment of the present invention is configured to calculate the total duration for the first vehicle in each new group to pass through the conflict zone, including:

Calculate the time information of each first vehicle passing through the conflict zone;

According to the calculated time information of each first vehicle passing through the conflict zone, the total duration of the first vehicle in the new group passing through the conflict zone is determined.

In an exemplary instance, the packet processing unit is further configured to:

Record the calculated time information of each first vehicle passing through the conflict zone.

In an exemplary example, the scheduling unit in this embodiment of the present invention is set to:

According to the time information of each first vehicle passing through the conflict area recorded when calculating the new group with the shortest total duration among the remaining new groups, the vehicles to be dispatched are scheduled to pass through the conflict area.

The following briefly describes the embodiments of the present invention through application examples, which are only used to describe the embodiments of the present invention, and are not used to limit the protection scope of the present invention.

Application example

This application example implements the collaborative decision-making function of autonomous vehicles at intersections without traffic lights. Both the autonomous vehicle and the roadside equipment are equipped with V2I communication equipment and GPS positioning system, which can ensure real-time communication between the vehicle and the roadside equipment, and the roadside equipment can send control commands to the vehicle. The underlying controller of the vehicle receives the speed information through the in-vehicle local area network (CAN) bus, and then executes the speed control of the vehicle; this application example executes collaborative decision-making processing according to a preset cycle, which can be a value within 2 to 5 seconds . FIG. 10 is a flowchart of an application example of the present invention. As shown in FIG. 10 , the collaborative decision-making process of this application example includes:

Step 1001 , the autonomous vehicle sends information such as its own position, speed, and steering to the roadside equipment.

Step 1002, the roadside equipment determines the number of vehicles in each lane;

Step 1003 , the roadside equipment determines the vehicle scheduling decision with the shortest total duration according to the information on the number of vehicles, the steering and speed information of each vehicle. Here, the vehicle scheduling decision with the shortest total duration refers to the scheduling scheme corresponding to the sub-branch with the shortest total duration after completing the calculation of the total duration of all vehicles passing through the conflict zone in the embodiment of the present invention;

Step 1004: The roadside equipment allocates the time for each vehicle to enter the conflict zone according to the vehicle scheduling decision, and sends the allocated time to the vehicle; this application example sends the allocated time to each vehicle through V2I.

Step 1005, the vehicle performs speed control according to the received time of entering the conflict area, and passes through the conflict area.

"It can be understood by those of ordinary skill in the art that all or some steps in the methods disclosed above, functional modules/units in systems and devices can be implemented as software, firmware, hardware and their appropriate combinations. In the hardware implementation , the division between functional modules/units mentioned in the above description does not necessarily correspond to the division of physical components; for example, one physical component may have multiple functions, or one function or step may be performed cooperatively by several physical components. Some or all of the components may be implemented as software executed by a processor, such as a digital signal processor or microprocessor, or as hardware, or as an integrated circuit, such as an application specific integrated circuit. Such software may be distributed On computer-readable media, computer-readable media can include computer storage media (or non-transitory media) and communication media (or transitory media). As is known to those of ordinary skill in the art, the term computer storage media is included in Volatile and nonvolatile, removable and non-removable media implemented in any method or technology for storage of information, such as computer readable instructions, data structures, program modules or other data. Computer storage media includes, but does not Limited to RAM, ROM, EEPROM, flash memory or other memory technology, CD-ROM, Digital Versatile Disc (DVD) or other optical disk storage, magnetic cartridges, magnetic tape, magnetic disk storage or other magnetic storage devices, or may be used to store desired information And any other medium that can be accessed by the computer.In addition, it is well known to those of ordinary skill in the art that communication medium usually contains computer readable instructions, data structures, program modules or modulated data signals such as carrier waves or other transport mechanisms. other data, and may include any information delivery medium."

Claims (9)

1. A method for realizing vehicle group decision-making in a vehicle-road collaborative environment, comprising: Determine the first turn of the vehicle to be dispatched in the lane to be processed, divide the vehicle to be dispatched with the first turn in the same lane as the first vehicle into a group, and calculate the total number of the first vehicles in each group passing through the conflict area. duration; For each grouping, the grouping process is as follows: take other vehicles in the vehicles to be dispatched except the first vehicle in the group as the second vehicle, and determine the second steering of the second vehicle; The second vehicle is added to the group as the newly added first vehicle to form multiple new groups; calculate the total duration of the first vehicle in each new group passing through the conflict zone; Determine whether the second vehicles in the new group formed by the groups corresponding to different lanes are the same, and for the new group including the same second vehicle, delete other new groups except the new group with the shortest total duration; For the remaining new groups after deleting other new groups except the new group with the shortest total duration, when it is judged that the remaining new groups do not contain all the vehicles to be dispatched, continue grouping processing for the remaining new groups; For the remaining new groups after deleting other new groups except the new group with the shortest total duration, when it is judged that the new group contains all the vehicles to be dispatched, dispatch the vehicles to be dispatched according to the new group with the shortest total duration in the remaining new groups; Wherein, the vehicles to be dispatched include: automatic driving vehicles to pass through the conflict zone; the first turning and the second turning include: turning of the vehicle closest to the conflict zone; when vehicles in the same lane are adjacent and turn the same for a turn. 2 . The method according to claim 1 , wherein the determining is located before the first turn of the vehicle to be dispatched in the lane to be processed, the method further comprises: 2 . Acquiring vehicle driving information of the to-be-scheduled vehicle according to a preset period; Wherein, the vehicle driving information includes steering information. 3. The method according to claim 1 or 2, wherein the scheduling of vehicles to be dispatched according to the new group with the shortest total duration in the remaining new groups, comprising: determining the order of adding the first vehicle in the new group with the shortest total duration according to the remaining new groups; According to the determined sequence of adding the first vehicle, the vehicle to be dispatched is dispatched to pass through the conflict area. 4. The method according to claim 1 or 2, wherein the calculating the total duration for the first vehicle in each new group to pass through the conflict zone comprises: calculating the time information of each of the first vehicles passing through the conflict zone; According to the calculated time information of each of the first vehicles passing through the conflict zone, the total duration of the first vehicle in the new group passing through the conflict zone is determined. 5 . The method according to claim 4 , wherein, when calculating the total duration for the first vehicle in each new group to pass through the conflict zone, the method further comprises: 6 . The calculated time information of each of the first vehicles passing through the conflict zone is recorded. 6. The method according to claim 5, wherein the scheduling of vehicles to be dispatched according to the new group with the shortest total duration in the remaining new groups, comprising: The vehicle to be dispatched is scheduled to pass through the conflict area according to the time information of each of the first vehicles passing through the conflict area recorded when calculating the new group with the shortest total duration among the remaining new groups. 7. A computer storage medium, wherein a computer program is stored in the computer storage medium, and when the computer program is executed by a processor, a vehicle group is realized in the vehicle-road coordination environment according to any one of claims 1 to 6. method of decision-making. 8. A terminal, comprising: a memory and a processor, wherein a computer program is stored in the memory; wherein, the processor is configured to execute the computer program in the memory; When the computer program is executed by the processor, the method for realizing vehicle group decision-making in a vehicle-road cooperative environment according to any one of claims 1 to 6 is implemented. 9. A device for realizing vehicle group decision-making in a vehicle-road coordination environment, comprising: a division unit, a grouping processing unit, a deletion processing unit, a judgment processing unit and a scheduling unit; wherein, The dividing unit is set to: determine the first turn of the vehicle to be dispatched in the lane to be processed, divide the vehicle to be dispatched with the first turn in the same lane as the first vehicle into a group, and calculate the first vehicle in each group The total time passed through the conflict zone; The grouping processing unit is set to: for each grouping, the grouping processing is as follows: take other vehicles in the vehicles to be dispatched except the first vehicle in the group as the second vehicle, and determine the second steering of the second vehicle; The second vehicle with the second turn in the group is added to the group as the newly added first vehicle, forming a plurality of new groups; calculate the total time for the first vehicle in each new group to pass through the conflict area; The deletion processing unit is set to: determine whether the second vehicles in the new group formed by the groups corresponding to different lanes are the same, and for the new group including the same second vehicle, delete other new groups except the new group with the shortest total duration; The judgment processing unit is set to: for the remaining new groups after deleting other new groups except the new group with the shortest total duration, when it is judged that all the vehicles to be dispatched are not included in the remaining new groups, continue to perform grouping processing on the remaining new groups ; The scheduling unit is set to: for the remaining new group after deleting other new groups except the new group with the shortest total duration, when it is judged that the new group contains all the vehicles to be dispatched, treat the new group with the shortest total duration according to the remaining new groups. dispatch vehicles for dispatch; Wherein, the vehicles to be dispatched include: automatic driving vehicles to pass through the conflict area; the first steering and the second steering: the steering of the vehicle closest to the conflict area; when the vehicles in the same lane are adjacent and have the same steering, a turn.

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