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

Method and device for realizing vehicle group decision under cooperative vehicle and road environment Download PDF

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CN113838285A
CN113838285A CN202111161285.3A CN202111161285A CN113838285A CN 113838285 A CN113838285 A CN 113838285A CN 202111161285 A CN202111161285 A CN 202111161285A CN 113838285 A CN113838285 A CN 113838285A
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vehicle
group
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steering
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CN113838285B (en
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张毅
裴华鑫
姚丹亚
胡坚明
葛经纬
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Tsinghua University
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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
    • G08G1/0145—Measuring and analyzing of parameters relative to traffic conditions for specific applications for active traffic flow control
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/07—Controlling traffic signals
    • G08G1/08—Controlling traffic signals according to detected number or speed of vehicles
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/16—Anti-collision systems

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Abstract

The embodiment of the invention discloses a method and a device for realizing vehicle group decision-making in a vehicle-road cooperative environment, wherein automatic driving vehicles to pass through a conflict area are determined step by step according to the sequence of the vehicles and the total time length of the vehicles passing through the conflict area is calculated according to the steering of the vehicles of all lanes, and when the sequence of the vehicles passing through the conflict area is determined step by step and the same vehicle passes through the conflict area according to different sequences, a scheduling scheme of other vehicle sequences except the sequence with the shortest total time length is deleted, so that the calculation amount of scheduling calculation is reduced, and the decision-making speed and the real-time performance of vehicle cooperation are improved.

Description

Method and device for realizing vehicle group decision under cooperative vehicle and road environment
Technical Field
The present disclosure relates to, but not limited to, automatic driving technologies, and in particular, to a method and an apparatus for implementing vehicle group decision-making in a vehicle-road cooperative environment.
Background
The vehicle-road cooperation is to effectively fuse roads, vehicles and technologies, realize real-time information interaction of vehicles and vehicles, vehicles and roads, vehicles and people, vehicles and networks through technologies such as wireless communication and internet, develop vehicle-road cooperation safety and road active control on the basis of full-time dynamic traffic information acquisition and fusion, fully realize effective cooperation of people, vehicles and roads, ensure traffic safety, improve traffic efficiency, and form safe, efficient and environment-friendly road traffic. The vehicle wireless communication technology V2X (vehicle to evolution) is a basic platform for vehicle-road coordination, and by interconnecting vehicles with pedestrians and road infrastructure, the vehicles have stronger sensing capability, and functions of high-precision positioning, vehicle real-time dynamic operation information interaction, coordination control, coordination safety and the like combined with a traffic environment are realized.
Different from the traditional automatic driving implementation method, the automatic driving based on the vehicle-road cooperative system is a brand new technology. The requirement on the accuracy and the algorithm performance of the sensor is reduced by the aid of a vehicle-road cooperative system, and the method is a low-cost, high-accuracy and real-time automatic driving solution. The automatic driving based on the vehicle-road cooperative system can be applied to a traffic scene without signal light indication (herein, simply referred to as a no-signal intersection scene), and in this scene, only automatic driving vehicles (hereinafter, the vehicles are all referred to as automatic driving vehicles) run in a road; FIG. 1 is a schematic diagram of a signal-free intersection scene, and as shown in FIG. 1, the decision-making goal of the vehicle cooperation system is to make the intersectionThe time for which the nearby vehicles (vehicle a, vehicle B, vehicle C, vehicle D, and vehicle E in the figure) all pass through the intersection is the shortest. This problem can be translated into an optimization of the order of vehicle passage, i.e., in what order vehicles A, B, C, D and E pass through the intersection is most beneficial to improving traffic efficiency. Assuming that the vehicles run at a constant speed after entering the collision zone (the geometric center of the intersection is taken as the center of the collision zone, and the zone with a preset distance from the center is defined as the collision zone), the traffic sequence optimization problem of the vehicles can be further converted into the time allocated by each vehicle to enter the collision zone
Figure BDA0003290288930000021
Wherein the subscript i identifies the vehicle i. Based on the above, the time for all vehicles to pass through the intersection can be expressed as:
Figure BDA0003290288930000022
further, the decision objective function of vehicle cooperation may be expressed as:
Figure BDA0003290288930000023
when the number of vehicles is small, the problems can be obtained through traversal calculation; however, when the number of vehicles is large, the solution space of the above problem is large, and it is difficult to satisfy the requirement of real-time performance by using the traversal calculation.
How to improve the decision speed of vehicle cooperation so that the calculation can meet the real-time requirement becomes a problem to be solved.
Disclosure of Invention
The following is a summary of the subject matter described in detail herein. This summary is not intended to limit the scope of the claims.
The embodiment of the invention provides a method and a device for realizing vehicle group decision under a vehicle-road cooperative environment, which can improve the decision speed and the real-time performance of vehicle cooperation.
The embodiment of the invention provides a method for realizing vehicle group decision under a vehicle-road cooperative environment, which comprises the following steps:
determining first steering of vehicles to be dispatched in a lane to be processed, dividing the vehicles to be dispatched with the first steering in the same lane as first vehicles into a group, and calculating the total time length of the first vehicles in each group passing through a conflict area;
for each packet, the packet processing is as follows: taking other vehicles except the first vehicle in the group as second vehicles in the vehicles to be dispatched, and determining second steering of the second vehicles; adding second vehicles with second steering positioned in different lanes as newly added first vehicles into the group respectively to form a plurality of new groups; calculating the total time length for the first vehicle in each new group to pass through the collision zone;
determining whether second vehicles in new groups formed by groups corresponding to different lanes are the same or not, and deleting other new groups except the new group with the shortest total time length for the new groups including the same second vehicles; when the remaining new groups except the new group with the shortest total duration are deleted and all the vehicles to be dispatched are not contained in the remaining new groups, the remaining new groups are continuously subjected to grouping processing;
when the new groups remaining after deleting other new groups except the new group with the shortest total time length judge that all vehicles to be dispatched are contained in the new groups, dispatching the vehicles to be dispatched according to the new group with the shortest total time length in the remaining new groups;
wherein the vehicle to be dispatched comprises: an autonomous vehicle to pass through the conflict zone; the first steering and the second steering include: steering of the vehicle closest to the collision zone; the vehicles in the same lane are adjacent and turn the same direction as one another.
On the other hand, the embodiment of the present invention further provides a computer storage medium, where a computer program is stored in the computer storage medium, and when the computer program is executed by a processor, the computer program implements the method for implementing the vehicle group decision under the vehicle-road coordination environment.
In another aspect, an embodiment of the present invention further provides a terminal, including: a memory and a processor, the memory having a computer program stored therein; wherein,
the processor is configured to execute the computer program in the memory;
the computer program, when executed by the processor, implements a method for implementing vehicle group decision-making in a vehicle-road collaborative environment as described above.
In another aspect, an embodiment of the present invention further provides a device for implementing a vehicle group decision in a vehicle-road collaborative environment, where the device includes: the system comprises a dividing unit, a grouping processing unit, a deleting processing unit, a judging processing unit and a scheduling unit; wherein,
the dividing unit is set as: determining first steering of vehicles to be dispatched in a lane to be processed, dividing the vehicles to be dispatched with the first steering in the same lane as first vehicles into a group, and calculating the total time length of the first vehicles in each group passing through a conflict area;
the packet processing unit is configured to: for each packet, the packet processing is as follows: taking other vehicles except the first vehicle in the group as second vehicles in the vehicles to be dispatched, and determining second steering of the second vehicles; adding second vehicles with second steering positioned in different lanes as newly added first vehicles into the group respectively to form a plurality of new groups; calculating the total time length for the first vehicle in each new group to pass through the collision zone;
the deletion processing unit is configured to: determining whether second vehicles in new groups formed by groups corresponding to different lanes are the same or not, and deleting other new groups except the new group with the shortest total time length for the new groups including the same second vehicles;
the judgment processing unit is configured to: when the remaining new groups except the new group with the shortest total duration are deleted and all the vehicles to be dispatched are not contained in the remaining new groups, the remaining new groups are continuously subjected to grouping processing;
the scheduling unit is set as follows: when the new groups remaining after deleting other new groups except the new group with the shortest total time length judge that all vehicles to be dispatched are contained in the new groups, dispatching the vehicles to be dispatched according to the new group with the shortest total time length in the remaining new groups;
wherein the vehicle to be dispatched comprises: an autonomous vehicle to pass through the conflict zone; the first steering and the second steering: steering of the vehicle closest to the collision zone; the vehicles in the same lane are adjacent and turn the same direction as one another.
The technical scheme of the application includes: determining first steering of vehicles to be dispatched in a lane to be processed, dividing the vehicles to be dispatched with the first steering in the same lane as first vehicles into a group, and calculating the total time length of the first vehicles in each group passing through a conflict area; for each packet, the packet processing is as follows: taking other vehicles except the first vehicle in the group as second vehicles in the vehicles to be dispatched, and determining second steering of the second vehicles; adding second vehicles with second steering positioned in different lanes as newly added first vehicles into the group respectively to form a plurality of new groups; calculating the total time length for the first vehicle in each new group to pass through the collision zone; determining whether second vehicles in new groups formed by groups corresponding to different lanes are the same or not, and deleting other new groups except the new group with the shortest total time length for the new groups including the same second vehicles; when the remaining new groups except the new group with the shortest total duration are deleted and all the vehicles to be dispatched are not contained in the remaining new groups, the remaining new groups are continuously subjected to grouping processing; when the new groups remaining after deleting other new groups except the new group with the shortest total time length judge that all vehicles to be dispatched are contained in the new groups, dispatching the vehicles to be dispatched according to the new group with the shortest total time length in the remaining new groups; wherein the vehicle to be dispatched comprises: an autonomous vehicle to pass through the conflict zone; the first steering and the second steering include: steering of the vehicle closest to the collision zone; the vehicles in the same lane are adjacent and turn the same direction as one another. According to the embodiment of the invention, the sequence of the vehicles passing through the conflict area is gradually determined according to the vehicle sequence and the total time length of the vehicles passing through the conflict area is calculated according to the steering of the vehicles of each lane, and when the sequence of the vehicles passing through the conflict area is gradually determined and the same vehicle passes through the conflict area according to different sequences, the scheduling scheme of the sequence of other vehicles except the vehicles with the shortest total time length is deleted, so that the calculation amount of scheduling calculation is reduced, and the decision speed and the real-time performance of vehicle cooperation are improved.
Additional features and advantages of the invention will be set forth in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. The objectives and other advantages of the invention will be realized and attained by the structure particularly pointed out in the written description and claims hereof as well as the appended drawings.
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The accompanying drawings are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the example serve to explain the principles of the invention and not to limit the invention.
FIG. 1 is a schematic diagram of a no-signal intersection scenario;
FIG. 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;
FIG. 3 is a schematic view of a vehicle steering system according to an embodiment of the present invention;
FIG. 4 is a schematic view of another vehicle steering arrangement according to an embodiment of the present invention;
FIG. 5 is a schematic view of another vehicle steering in accordance with an embodiment of the present invention;
FIG. 6 is a schematic view of a steering system for another vehicle according to an embodiment of the present invention;
FIG. 7 is a schematic distribution diagram of vehicles to be dispatched according to an embodiment of the invention;
FIG. 8 is a diagram illustrating a state transition function according to an embodiment of the present invention;
FIG. 9 is a block diagram of an apparatus for implementing 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 Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, embodiments of the present invention will be described in detail below with reference to the accompanying drawings. It should be noted that the embodiments and features of the embodiments in the present application may be arbitrarily combined with each other without conflict.
The steps illustrated in the flow charts of the figures may be performed in a computer system such as a set of computer-executable instructions. Also, while a logical order is shown in the flow diagrams, in some cases, the steps shown or described may be performed in an order different than here.
Fig. 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, as shown in fig. 2, including:
step 201, determining a first steering of a vehicle to be dispatched in a lane to be processed, dividing the vehicle to be dispatched with the first steering in the same lane as a first vehicle into a group, and calculating the total time length of the first vehicle in each group passing through a conflict area;
for each packet, the packet processing is as follows, step 202: taking other vehicles except the first vehicle in the group as second vehicles in the vehicles to be dispatched, and determining second steering of the second vehicles; adding second vehicles with second steering positioned in different lanes as newly added first vehicles into the group respectively to form a plurality of new groups; calculating the total time length for the first vehicle in each new group to pass through the collision zone;
step 203, determining whether second vehicles in new groups formed by groups corresponding to different lanes are the same, and deleting other new groups except the new group with the shortest total duration for the new groups including the same second vehicles;
step 204, when the remaining new groups except the new group with the shortest total duration are deleted and all the vehicles to be dispatched are not contained in the remaining new groups, continuing grouping the remaining new groups;
step 205, when the remaining new groups except the new group with the shortest total duration are deleted and all the vehicles to be dispatched are judged to be contained in the new groups, dispatching the vehicles to be dispatched according to the new group with the shortest total duration in the remaining new groups;
wherein, the vehicle of waiting to dispatch includes: an autonomous vehicle to pass through the conflict zone; the first steering and the second steering include: steering of the vehicle closest to the collision zone; the vehicles in the same lane are adjacent and turn the same direction as one another.
In an illustrative example, the embodiment of the present invention may perform the above-described processing by the roadside apparatus; in an exemplary embodiment, the above processing may be executed by a preset processor;
according to the embodiment of the invention, the sequence of the vehicles passing through the conflict area is gradually determined according to the vehicle sequence and the total time length of the vehicles passing through the conflict area is calculated according to the steering of the vehicles of each lane, and when the sequence of the vehicles passing through the conflict area is gradually determined and the same vehicle passes through the conflict area according to different sequences, the scheduling scheme of the sequence of other vehicles except the vehicles with the shortest total time length is deleted, so that the calculation amount of scheduling calculation is reduced, and the decision speed and the real-time performance of vehicle cooperation are improved.
In an exemplary embodiment, vehicles that do not collide in the lane are not included in the vehicles to be scheduled in the embodiments 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 steering directions as shown in fig. 3 to 6 (the arrow direction in the figure indicates the steering direction of the vehicle): the steering r is 1: north to south and north to south; the steering r is 2: from west to east and from east to west; the steering r is 3: north to east and south to west; the steering r is 4: from west to east and from east to south.
Embodiments of the present invention may represent the process of adding a first vehicle in a group by the following state transfer function:
sr'(n’1,n'2,n'3,n'4)＝Γ(sr(n1,n2,n3,n4),u)；
wherein, the right side of the formula(s)r(n1,n2,n3,n4) Indicating the scheduled time information recorded when the newly added first vehicle was added, n1、n2、n3And n4Representing the number of vehicles in each lane already included in the new group before the addition of the newly added first vehicle; u represents a second steering of the newly added first vehicle; Γ () is a state transfer function representing the operation after the addition of the newly added first vehicle, and the calculation process may include:
n 'when u is 1'1＝n1+Δn1，n'3＝n3+Δn3Wherein, Δ n1And Δ n3Respectively indicates the number of vehicles (consecutive straight vehicles) entering the collision zone on the lane 1 and the lane 3 after removing the first vehicle included in the current group; according to the embodiment of the invention, the time for each first vehicle to enter the conflict area and the total time for the first vehicle in the current second steering to pass the conflict area can be determined through calculation;
n 'when u is 2'2＝n2+Δn2，n'4＝n4+Δn4Wherein, Δ n2And Δ n4Respectively indicate the number of vehicles (consecutive straight vehicles) entering the collision zone on the lane 2 and the lane 4 after removing the first vehicle included in the current group; according to the embodiment of the invention, the time for each first vehicle to enter the conflict area and the total time for the first vehicle in the current second steering to pass the conflict area can be determined through calculation;
n 'when u is 3'1＝n1+Δn1，n'3＝n3+Δn3Wherein, Δ n1And Δ n3Respectively indicates the number of vehicles (consecutive straight vehicles) entering the collision zone on the lane 1 and the lane 3 after removing the first vehicle included in the current group; according to the embodiment of the invention, the time for each first vehicle to enter the conflict area and the total time for the first vehicle in the current second steering to pass the conflict area can be determined through calculation;
n 'when u is 4'2＝n2+Δn2，n'4＝n4+Δn4Wherein, Δ n2And Δ n4Respectively indicating the number of vehicles (continuous straight-going vehicles) entering the conflict area obtained on the lane 2 and the lane 4 after removing the first vehicle contained in the current group; according to the embodiment of the invention, each first vehicle can be determined through calculationThe time to enter the conflict zone and the total length of time that the first vehicle currently in the second turn passes through the conflict zone.
Based on the state transition function, calculating that the total time length of the first vehicle in the new group after the first vehicle is added to pass through the conflict area meets the following recursion relation, as follows:
J(sr'(n’1,n'2,n'3,n'4))＝J(sr(n1,n2,n3,n4))+ΔT；
wherein, J(s)r(n1,n2,n3,n4) Represents the total length of time that the first vehicle included in the calculated grouping passed through the collision zone before the newly added first vehicle was not added, and Δ T represents the length of time that the newly added first vehicle passed through the collision zone.
In an exemplary case where the vehicles included in two or more new groups are the same, the new group having the shortest total duration may be determined by the following formula:
Figure BDA0003290288930000081
wherein, J*New group with shortest total time length, S one of all new groups containing vehicles identical, S all new groups containing vehicles identical, JsRepresenting the total duration of the new packet s.
In the following, briefly explaining the embodiment of the present invention by way of example, fig. 7 is a schematic distribution diagram of vehicles to be dispatched according to the embodiment of the present invention, and as shown in fig. 7, the vehicle a turns from north to south (r ═ 1), the vehicle B turns from west to north (r ═ 4), the vehicle C turns from south to north (r ═ 1), the vehicle D turns from north to east (r ═ 3), and the vehicle E turns from east to west (r ═ 2); according to the definition that the vehicles in the same lane are adjacent and the same steering is one steering, it can be determined that the steering of each vehicle in fig. 3 is different, and in the embodiment of the invention, the vehicle to be dispatched, which is positioned in the same lane and has the first steering, is divided into a group as the first vehicle; further, each new point isThe process of the first vehicle added in the group is: after determining the second steering of the vehicle closest to the collision zone, adding the second vehicles with the second steering in different lanes as newly added first vehicles into the group respectively to form a plurality of new groups, so that if the first vehicles in the new groups do not contain the vehicle A, the vehicle D cannot be dispatched; FIG. 8 is a schematic diagram of a state transition function according to an embodiment of the present invention, and as shown in FIG. 8, corresponding to the vehicle to be scheduled in FIG. 7, for facilitating understanding of belonging to the same scheduling process, the embodiment of the present invention illustrates a grouping process by a tree-like structure, where S is added at the top of the data structure first0The dotted line in the graph indicates that other steered vehicles are contained in front of the steered vehicle and cannot be dispatched; the solid line indicates that the steered vehicle can be dispatched, a first vehicle can be added to the new group, and the operation of the state transfer function is executed; s in the circleiRecording the second steering direction of the first vehicle newly added in the current new group, the number of lanes and the time of the vehicle in the new group passing through the conflict area; e.g. S123The complete expression is S123In (1,1,2,0), the turn directions of all the first vehicles added in the current new group are recorded, wherein r is 1, r is 2 and 3, the new group contains the number of the vehicles to be dispatched in the lanes 1 to 4 as 1,1,2 and 0, and S is respectively123The value of (1,1,2,0) represents the total length of time that all first vehicles in the new group pass through the collision zone; in one illustrative example, embodiments of the invention may be implemented at S123Recording the time information of each first vehicle in the new group passing through the conflict area in (1,1,2, 0); the children nodes in the graph whose ends are not connected to the expression but are connected to the origin point represent: when the vehicles in more than two new groups are the same, other new groups are deleted except the new group with the shortest total duration, and the addition of the first vehicle is not continued; when all the new groups complete the calculation of the total time length of all the first vehicles passing through the conflict area, the embodiment of the invention selects the new group with the shortest total time length from the remaining new groups, and schedules the vehicles to be scheduled according to the selected new group with the shortest total time length.
According to the embodiment of the invention, the vehicle cooperative decision of the signal-free intersection is realized under the vehicle-road cooperative environment, and based on the road side equipment and the V2I platform, the vehicles can pass through the conflict area in a cooperative mode, so that the traffic safety and efficiency are improved. The embodiment of the invention adopts a small-scale operation to quickly obtain the global optimal solution, namely, the operation efficiency of the scheduling system is considered. The embodiment of the invention fully considers the vehicle-vehicle conflict relationship of the signal-free intersection, and carries out vehicle scheduling according to the conflict relationship, so that the algorithm is not restricted by the geometric topological structure (such as the number of lanes) of the intersection, and the applicability of the method of the embodiment of the invention is effectively ensured.
In an illustrative example, embodiments of the invention may employ dedicated short-range communication technology (DSRC) to enable real-time information interaction of autonomous vehicles with roadside devices; the method in the embodiment of the invention is realized by programming in a preset programming language (C + +); the vehicle bottom controller may receive speed information calculated based on the scheduling command through a vehicle local area network (CAN) bus, and then perform speed control of the vehicle.
In an exemplary embodiment, before determining that the vehicle to be dispatched in the lane to be processed is located in the first turning direction, the method of the embodiment of the present invention further comprises:
acquiring vehicle running information of a vehicle to be scheduled according to a preset period;
wherein the vehicle travel information includes vehicle's: and (4) steering information.
In an exemplary example, the preset period may be determined according to the driving speed limit of the vehicle in the vehicle dispatching area, the efficiency calculated in the embodiment of the present invention, the number of the vehicles to be dispatched, and the like; in an exemplary embodiment, the length of the preset period in the embodiment of the present invention may be 2 to 5 seconds;
in an exemplary example, the embodiment of the invention may collect the vehicle driving information through the roadside device.
In an exemplary embodiment, the scheduling a vehicle to be scheduled according to a new group with the shortest total duration in the remaining new groups includes:
determining the sequence of adding the first vehicle in the new group with the shortest total duration in the remaining new groups;
and scheduling the vehicles to be scheduled to pass through the conflict area according to the determined sequence of adding the first vehicles.
In an exemplary example, the vehicle travel information in the embodiment of the present invention may further include, of the vehicle: location information. In an exemplary example, embodiments of the present invention may set a vehicle to pass through a collision zone at a preset speed; in an exemplary example, a certain safe distance is kept between vehicles, if the vehicles pass by before waiting, the related scheduling algorithm can determine when to start and accelerate so as to enable the vehicles to pass through a conflict area according to a preset speed and keep the safe distance; in summary, based on the position information of the vehicle, the speed information passing through the collision zone, and the safety distance, the embodiment of the present invention may 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, of the vehicle: position information and travel speed information. In an exemplary embodiment, the embodiment of the present invention may set the original driving speed of the vehicle to pass through the conflict area; the embodiment of the invention sets that certain safe distance is kept between vehicles, if the vehicles wait for the passing of the front vehicle, the starting and acceleration can be determined when the vehicles pass through the conflict area according to the original running speed of the vehicles and the safe distance is kept; in summary, based on the position information of the vehicle, the speed information passing through the collision zone, and the determined safety distance, the embodiment of the present invention may calculate and determine the total duration in the embodiment of the present invention;
in one illustrative example, the embodiment of the present invention calculates the total time period for the first vehicle in each new group to pass through the collision zone, including:
calculating the time information of each first vehicle passing through the conflict area;
and determining the total time length of the first vehicles in the new group passing through the conflict area according to the calculated time information of each first vehicle passing through the conflict area.
In one illustrative example, when calculating the total time length for the first vehicle in each new group to pass through the collision zone, the method of the embodiment of the present invention further comprises:
and recording the calculated time information of each first vehicle passing through the conflict area.
In an exemplary embodiment, the scheduling a vehicle to be scheduled according to a new group with the shortest total duration in the remaining new groups includes:
and scheduling the vehicles to be scheduled to pass through the conflict area according to the time information of each first vehicle passing through the conflict area, which is recorded when the new group with the shortest total time length in the remaining new groups is calculated.
The embodiment of the invention also provides a computer storage medium, wherein a computer program is stored in the computer storage medium, and when being executed by a processor, the computer program realizes the method for realizing the vehicle group decision under the vehicle-road cooperative environment.
An embodiment of the present invention further provides a terminal, including: a memory and a processor, the memory having stored therein a computer program; wherein,
the processor is configured to execute the computer program in the memory;
the computer program, when executed by the processor, implements a method for implementing vehicle group decision-making in a vehicle-road collaborative environment as described above.
Fig. 9 is a block diagram of a device for implementing vehicle group decision making in a vehicle-road collaborative environment according to an embodiment of the present invention, as shown in fig. 9, including: the system comprises a dividing unit, a grouping processing unit, a deleting processing unit, a judging processing unit and a scheduling unit; wherein,
the dividing unit is set as: determining first steering of vehicles to be dispatched in a lane to be processed, dividing the vehicles to be dispatched with the first steering in the same lane as first vehicles into a group, and calculating the total time length of the first vehicles in each group passing through a conflict area;
the packet processing unit is configured to: for each packet, the packet processing is as follows: taking other vehicles except the first vehicle in the group as second vehicles in the vehicles to be dispatched, and determining second steering of the second vehicles; adding second vehicles with second steering positioned in different lanes as newly added first vehicles into the group respectively to form a plurality of new groups; calculating the total time length for the first vehicle in each new group to pass through the collision zone;
the deletion processing unit is configured to: determining whether second vehicles in new groups formed by groups corresponding to different lanes are the same or not, and deleting other new groups except the new group with the shortest total time length for the new groups including the same second vehicles;
the judgment processing unit is configured to: when the remaining new groups except the new group with the shortest total duration are deleted and all the vehicles to be dispatched are not contained in the remaining new groups, the remaining new groups are continuously subjected to grouping processing;
the scheduling unit is set as follows: when the new groups remaining after deleting other new groups except the new group with the shortest total time length judge that all vehicles to be dispatched are contained in the new groups, dispatching the vehicles to be dispatched according to the new group with the shortest total time length in the remaining new groups;
wherein, the vehicle of waiting to dispatch includes: an autonomous vehicle to pass through the conflict zone; first steering and second steering: steering of the vehicle closest to the collision zone; the vehicles in the same lane are adjacent and turn the same direction as one another.
According to the embodiment of the invention, the sequence of the vehicles passing through the conflict area is gradually determined according to the vehicle sequence and the total time length of the vehicles passing through the conflict area is calculated according to the steering of the vehicles of each lane, and when the sequence of the vehicles passing through the conflict area is gradually determined and the same vehicle passes through the conflict area according to different sequences, the scheduling scheme of the sequence of other vehicles except the vehicles with the shortest total time length is deleted, so that the calculation amount of scheduling calculation is reduced, and the decision speed and the real-time performance of vehicle cooperation are improved.
In an exemplary embodiment, the apparatus of the embodiment of the present invention further includes an obtaining unit configured to:
acquiring vehicle running information of a vehicle to be scheduled according to a preset period;
wherein the vehicle travel information includes steering information.
In an exemplary embodiment, the scheduling unit in the embodiment of the present invention is configured to:
determining the sequence of adding the first vehicle in the new group with the shortest total duration in the remaining new groups;
and scheduling the vehicles to be scheduled to pass through the conflict area according to the determined sequence of adding the first vehicles.
In an exemplary embodiment, the grouping processing unit of the embodiment of the present invention is configured to calculate a total time period for the first vehicle in each new group to pass through the collision zone, and includes:
calculating the time information of each first vehicle passing through the conflict area;
and determining the total time length of the first vehicles in the new group passing through the conflict area according to the calculated time information of each first vehicle passing through the conflict area.
In one illustrative example, the packet processing unit is further configured to:
and recording the calculated time information of each first vehicle passing through the conflict area.
In an exemplary embodiment, the scheduling unit in the embodiment of the present invention is configured to:
and scheduling the vehicles to be scheduled to pass through the conflict area according to the time information of each first vehicle passing through the conflict area, which is recorded when the new group with the shortest total time length in the remaining new groups is calculated.
The following is a brief description of the embodiments of the present invention by way of application examples, which are only used to illustrate the embodiments of the present invention and are not used to limit the scope of the present invention.
Application example
The application example realizes the cooperative decision function of the automatic driving vehicle at the intersection without the signal lamp. V2I communication equipment and a GPS are arranged on the automatic driving vehicle and the road side equipment, real-time communication between the vehicle and the road side equipment can be guaranteed, and the road side equipment can send a control instruction to the vehicle. A bottom controller of the vehicle receives speed information through a local area network (CAN) bus in the vehicle so as to execute speed control of the vehicle; the application example executes the cooperative decision processing according to a preset period, and the preset period can be a value within 2-5 seconds. Fig. 10 is a flowchart of an application example of the present invention, and as shown in fig. 10, the collaborative decision processing of the application example includes:
step 1001, the autonomous vehicle sends information of position, speed, steering and the like of the autonomous vehicle to the roadside device.
Step 1002, the roadside device determines the number of vehicles in each lane;
step 1003, the roadside device determines a vehicle scheduling decision with the shortest total duration according to the number information of the vehicles and the steering and speed information of each vehicle. The vehicle scheduling decision with the shortest total duration refers to a scheduling scheme corresponding to the sub-branch with the shortest total duration after the total duration of all vehicles passing through the conflict area is calculated in the embodiment of the invention;
step 1004, the roadside device allocates the time for each vehicle to enter the conflict area according to the vehicle scheduling decision, and sends the allocated time to the vehicle; the present application example transmits the assigned time to each vehicle via V2I.
And step 1005, controlling the speed of the vehicle according to the received time of entering the conflict area, and enabling the vehicle to pass through the conflict area.
"one of ordinary skill in the art will appreciate that all or some of the steps of the methods, systems, functional modules/units in the devices disclosed above may be implemented as software, firmware, hardware, and suitable combinations thereof. In a 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 by several physical components in cooperation. 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, which may include computer storage media (or non-transitory media) and communication media (or transitory media). The term computer storage media includes 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, as is well known to those of ordinary skill in the art. Computer storage media includes, but is not limited to, RAM, ROM, EEPROM, flash memory or other memory technology, CD-ROM, Digital Versatile Disks (DVD) or other optical disk storage, magnetic cassettes, magnetic tape, magnetic disk storage or other magnetic storage devices, or any other medium which can be used to store the desired information and which can accessed by a computer. In addition, communication media typically embodies computer readable instructions, data structures, program modules or other data in a modulated data signal such as a carrier wave or other transport mechanism and includes any information delivery media as known to those skilled in the art. "

Claims (9)

1. A method for realizing vehicle group decision making in a vehicle-road cooperative environment comprises the following steps:
determining first steering of vehicles to be dispatched in a lane to be processed, dividing the vehicles to be dispatched with the first steering in the same lane as first vehicles into a group, and calculating the total time length of the first vehicles in each group passing through a conflict area;
for each packet, the packet processing is as follows: taking other vehicles except the first vehicle in the group as second vehicles in the vehicles to be dispatched, and determining second steering of the second vehicles; adding second vehicles with second steering positioned in different lanes as newly added first vehicles into the group respectively to form a plurality of new groups; calculating the total time length for the first vehicle in each new group to pass through the collision zone;
determining whether second vehicles in new groups formed by groups corresponding to different lanes are the same or not, and deleting other new groups except the new group with the shortest total time length for the new groups including the same second vehicles;
when the remaining new groups except the new group with the shortest total duration are deleted and all the vehicles to be dispatched are not contained in the remaining new groups, the remaining new groups are continuously subjected to grouping processing;
when the new groups remaining after deleting other new groups except the new group with the shortest total time length judge that all vehicles to be dispatched are contained in the new groups, dispatching the vehicles to be dispatched according to the new group with the shortest total time length in the remaining new groups;
wherein the vehicle to be dispatched comprises: an autonomous vehicle to pass through the conflict zone; the first steering and the second steering include: steering of the vehicle closest to the collision zone; the vehicles in the same lane are adjacent and turn the same direction as one another.
2. The method of claim 1, wherein the determining is prior to a first turn of a vehicle to be dispatched in the pending lane, the method further comprising:
acquiring vehicle running information of the vehicle to be scheduled according to a preset period;
wherein the vehicle travel information includes steering information.
3. The method according to claim 1 or 2, wherein the scheduling the vehicle to be scheduled according to the new group with the shortest total duration of the remaining new groups comprises:
determining the sequence of adding the first vehicle in the new group with the shortest total duration in the remaining new groups;
and scheduling the vehicles to be scheduled to pass through the conflict area according to the determined sequence of adding the first vehicles.
4. The method of claim 1 or 2, wherein said calculating a total length of time that the first vehicle in each new group passes through the collision zone comprises:
calculating time information of each first vehicle passing through the conflict area;
and determining the total time length of the first vehicles in the new group passing through the collision area according to the calculated time information of each first vehicle passing through the collision area.
5. The method of claim 4, wherein calculating the total time length for the first vehicle in each new group to pass through the collision zone further comprises:
and recording the calculated time information of each first vehicle passing through the conflict area.
6. The method according to claim 5, wherein the scheduling the vehicle to be scheduled according to the new group with the shortest total duration of the remaining new groups comprises:
and scheduling the vehicles to be scheduled to pass through the conflict area according to the time information of each first vehicle passing through the conflict area, which is recorded when the new group with the shortest total time length in the remaining new groups is calculated.
7. A computer storage medium having a computer program stored thereon, which, when executed by a processor, implements a method of vehicle group decision making in a vehicle-road coordination environment as claimed in any one of claims 1 to 6.
8. A terminal, comprising: a memory and a processor, the memory having a computer program stored therein; wherein,
the processor is configured to execute the computer program in the memory;
the computer program is used for realizing the method for realizing the vehicle group decision under the vehicle-road cooperative environment according to any one of claims 1-6 when being executed by the processor.
9. A device for realizing vehicle group decision making in a vehicle-road cooperative environment comprises: the system comprises a dividing unit, a grouping processing unit, a deleting processing unit, a judging processing unit and a scheduling unit; wherein,
the dividing unit is set as: determining first steering of vehicles to be dispatched in a lane to be processed, dividing the vehicles to be dispatched with the first steering in the same lane as first vehicles into a group, and calculating the total time length of the first vehicles in each group passing through a conflict area;
the packet processing unit is configured to: for each packet, the packet processing is as follows: taking other vehicles except the first vehicle in the group as second vehicles in the vehicles to be dispatched, and determining second steering of the second vehicles; adding second vehicles with second steering positioned in different lanes as newly added first vehicles into the group respectively to form a plurality of new groups; calculating the total time length for the first vehicle in each new group to pass through the collision zone;
the deletion processing unit is configured to: determining whether second vehicles in new groups formed by groups corresponding to different lanes are the same or not, and deleting other new groups except the new group with the shortest total time length for the new groups including the same second vehicles;
the judgment processing unit is configured to: when the remaining new groups except the new group with the shortest total duration are deleted and all the vehicles to be dispatched are not contained in the remaining new groups, the remaining new groups are continuously subjected to grouping processing;
the scheduling unit is set as follows: when the new groups remaining after deleting other new groups except the new group with the shortest total time length judge that all vehicles to be dispatched are contained in the new groups, dispatching the vehicles to be dispatched according to the new group with the shortest total time length in the remaining new groups;
wherein the vehicle to be dispatched comprises: an autonomous vehicle to pass through the conflict zone; the first steering and the second steering: steering of the vehicle closest to the collision zone; the vehicles in the same lane are adjacent and turn the same direction as one another.
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