CN113936466A - Method, device, equipment and medium for determining position of pointing sign board - Google Patents
Method, device, equipment and medium for determining position of pointing sign board Download PDFInfo
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- G—PHYSICS
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- G08G1/00—Traffic control systems for road vehicles
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Abstract
The embodiment of the invention discloses a method, a device, equipment and a medium for determining the position of a direction signpost. Wherein the method comprises the following steps: if the fact that the visual recognition distance of the user to the road indicating signboard meets the preset distance is detected, determining the current speed of the vehicle; determining lane changing time according to the current speed based on the lane changing model; determining the setting position of the road-indicating signboard according to the lane-changing time and the target speed; the target speed is the crossing speed limit of the crossing in front of the road where the vehicle is located. By executing the technical scheme provided by the embodiment of the invention, the vehicle passing efficiency can be improved, the traffic jam probability can be reduced, and the driving safety coefficient can be further improved.
Description
Technical Field
The embodiment of the invention relates to the technical field of direction signboards, in particular to a method, a device, equipment and a medium for determining the position of a direction signboard.
Background
The scheme of vehicle-road cooperation is accompanied with the intelligent networking of automobiles and road infrastructures, and the final aim is to realize intelligent traffic, so that the safety and the passing efficiency of roads are improved. The traditional variable information sign is also endowed with a new definition, and the road-directing sign board with the intelligent network connection road-directing sign has the functions of actively emitting light and displaying the congestion condition of the road ahead in real time.
In the prior art, no research is carried out on a method for determining the set position of the road directing signboard. In fact, the position of the existing road-indicating sign is not reasonably set, if the vehicle runs at an excessively high speed, a user does not have enough reaction time to change lanes or decelerate, and the action of reversing or randomly changing lanes can be generated in an emergency, so that traffic jam and violation are caused; if the user does not see the prompt mark in time on the highway, the user cannot timely get down the highway, and the user can also move back or randomly change lanes, so that some potential safety hazards are caused.
Disclosure of Invention
The embodiment of the invention provides a method, a device, equipment and a medium for determining the position of a direction sign board, which can improve the traffic efficiency, reduce the probability of traffic jam and further improve the driving safety coefficient.
In a first aspect, an embodiment of the present invention provides a method for determining a position of a signpost, where the method includes:
if the fact that the visual recognition distance of the user to the road indicating signboard meets the preset distance is detected, determining the current speed of the vehicle;
determining lane changing time according to the current speed based on a lane changing model;
determining the setting position of the road-indicating signboard according to the lane-changing time and the target speed; and the target speed is the crossing speed limit of the crossing in front of the road where the vehicle is located.
In a second aspect, an embodiment of the present invention further provides an apparatus for determining a position of a signpost, where the apparatus includes: the current speed determining module is used for determining the current speed of the vehicle if the fact that the visual recognition distance of the user to the road indicating signboard meets the preset distance is detected;
the lane change time determining module is used for determining lane change time according to the current speed based on a lane change model;
the set position determining module is used for determining the set position of the road sign according to the lane changing time and the target speed; and the target speed is the crossing speed limit of the crossing in front of the road where the vehicle is located.
In a third aspect, an embodiment of the present invention further provides an electronic device, where the electronic device includes:
one or more processors;
a storage device for storing one or more programs,
when executed by the one or more processors, cause the one or more processors to implement a method of determining a position of a signpost as in any of the embodiments of the present invention.
In a fourth aspect, the present invention further provides a computer-readable storage medium, on which a computer program is stored, where the computer program is executed by a processor to implement the method for determining the position of a signpost according to any one of the embodiments of the present invention.
According to the technical scheme provided by the embodiment of the invention, if the visual recognition distance of the user to the road sign board is detected to meet the preset distance, the current speed of the vehicle is determined; determining lane changing time according to the current speed based on the lane changing model; determining the setting position of the road-indicating signboard according to the lane-changing time and the target speed; the target speed is the crossing speed limit of the crossing in front of the road where the vehicle is located. By executing the technical scheme provided by the embodiment of the invention, the vehicle passing efficiency can be improved, the traffic jam probability can be reduced, and the driving safety coefficient can be further improved.
Drawings
FIG. 1a is a flow chart of a method for determining the position of a signpost according to an embodiment of the present invention;
FIG. 1b is a schematic diagram of a user's awareness of a direction signboard according to an embodiment of the present invention;
FIG. 2a is a flow chart of another method for determining the position of a direction signboard according to an embodiment of the present invention;
FIG. 2b is a schematic view of a traffic flow setting provided by an embodiment of the present invention;
FIG. 2c is a schematic diagram showing the comparison of the total delay time of the road set according to the speed limit of the road when the position of the road indicating signboard is provided by the embodiment of the invention;
FIG. 2d is a schematic diagram showing the comparison of the average driving time from the starting point to the ending point according to the road speed limit if the position of the road-indicating signboard according to the embodiment of the present invention is set;
FIG. 3 is a schematic structural diagram of an apparatus for determining the position of a signpost according to an embodiment of the present invention;
fig. 4 is a schematic structural diagram of an electronic device according to an embodiment of the present invention.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings and examples. It is to be understood that the specific embodiments described herein are merely illustrative of the invention and are not limiting of the invention. It should be further noted that, for the convenience of description, only some of the structures related to the present invention are shown in the drawings, not all of the structures.
Fig. 1a is a flowchart of a method for determining a position of a signpost according to an embodiment of the present invention, where the method may be performed by a device for determining a position of a signpost, where the device may be implemented by software and/or hardware, and the device may be configured in an electronic device for determining a position of a signpost. The method is applied to a scene that a user drives based on the identification of the road directing signboard. As shown in fig. 1a, the technical solution provided by the embodiment of the present invention specifically includes:
and S110, if the condition that the visual recognition distance of the user to the road sign board meets the preset distance is detected, determining the current speed of the vehicle.
Illustratively, the viewing distance is a vertical distance from the position of the vehicle to the set position of the road sign when the user sees the road sign. The preset distance is a numerical value statistically obtained from big data. If the road-indicating signboard has the intelligent network connection road-indicating sign, the preset distance can be 150m or 200m, and the preset distance can be set according to actual needs. If the road-indicating signboard does not have the intelligent network connection road-indicating sign, the preset distance can be 100m, and the preset distance can also be set according to actual needs. The current speed can be the vehicle speed when the visual recognition distance of the user to the road sign meets the preset distance, and the current speed can also be the road speed limit of the road section where the vehicle is located. The road speed limit can be 50km/h or 60km/h, and can be set according to actual requirements. In the embodiment of the invention, the current speed of the vehicle is preferably the road speed limit of the road section where the vehicle is located.
And S120, determining the lane change time according to the current speed based on the lane change model.
In particular, the lane-change model may be a model determined based on a control algorithm, such as a model predictive control algorithm. The input of the lane change model can be a lane change distance, and the lane change distance can be a running distance generated by lane change of the vehicle in the lane change process. The lane change distance may include a lane change transverse distance and a lane change longitudinal distance. For example, the lane change lateral distance may be 3.75m, i.e., the distance of one lane. The lane change longitudinal distance can be obtained by fitting a lane change longitudinal path by using a quintic polynomial according to the collected vehicle driving data based on the lane change model. The lane change time may be the time required for the vehicle to complete a lane change. The scheme can determine the lane change time according to the current speed and the lane change distance determined by the lane change model.
And S130, determining the setting position of the road-indicating signboard according to the lane-changing time and the target speed.
And the target speed is the crossing speed limit of the crossing in front of the road where the vehicle is located.
The target speed is the running speed of the vehicle after the lane changing and speed reducing operations are finished in the lane changing process of the user and is equal to the speed limit of the intersection. The crossing speed limit can be set according to actual needs, for example, 40km/h or 30km/h can be set. In the scheme, the road speed limit is not consistent with the intersection speed limit. The method and the device can determine the setting position of the road indicating signboard according to the setting distance between the stop line of the road front intersection where the vehicle is located and the position of the road indicating signboard, and determine the setting position of the road indicating signboard according to the lane changing time and the target speed.
Specifically, the setting position of the road-indicating signboard not only needs to consider the speed limit of the road, but also needs to consider the lane-changing time of the user, and needs to provide enough time for the user to replan the road. Fig. 1b is a process of recognizing the road sign by the user, including a process of visually recognizing the user, a process of deciding the user, a process of reacting the user, and a process of changing the road by the user, as shown in fig. 1b, in order to complete necessary lane changing and decelerating actions for the user within an action distance L to ensure that the speed limit of the intersection is reached before the intersection is reached, the action distance L needs to satisfy the following formula:
L>(n-1)L′+Li；
wherein L' represents a lane change distance of the vehicle, LiIndicating the deceleration distance of the vehicle and n indicating the lane change times of the vehicle. As shown in fig. 1b, the following can be derived:
r＝S-R＝L+l-D；
wherein r represents the reading distance of the user, S represents the visual recognition distance of the user, D represents the front distance of the road sign, i.e. the candidate position, and l represents the reaction distance of the user.
Combining the above two formulas, the following formula can be obtained:
D>R-S+l+(n-1)L′+Li；
that is, the set position of the direction signboard must satisfy the candidate position D determined by the above formula.
Wherein the content of the first and second substances,
wherein, R represents the distance between the reading completion point of the user and the road-indicating signboard; v. of1Indicating the current speed, v, of the vehicle2Indicating the target speed, t, of the vehiclelIndicating the visual recognition time of the user, tjIndicating the decision time, t, of the userkRepresenting the reaction time, t, of the userl’Indicating the lane change time of the user and i indicating the deceleration of the vehicle. And (3) respectively assigning values to the variables to determine a candidate position D and further determine the setting position of the road sign.
According to the technical scheme provided by the embodiment of the invention, if the visual recognition distance of the user to the road sign board is detected to meet the preset distance, the current speed of the vehicle is determined; determining lane changing time according to the current speed based on the lane changing model; determining the setting position of the road-indicating signboard according to the lane-changing time and the target speed; the target speed is the crossing speed limit of the crossing in front of the road where the vehicle is located. By executing the technical scheme provided by the embodiment of the invention, the vehicle passing efficiency can be improved, the traffic jam probability can be reduced, and the driving safety coefficient can be further improved.
Fig. 2a is a flowchart of a method for determining a position of a signpost according to an embodiment of the present invention, which is optimized based on the foregoing embodiments. As shown in fig. 2a, the method for determining the position of the signpost in the embodiment of the present invention may include:
and S210, determining the current speed of the vehicle if the fact that the visual recognition distance of the user to the road sign meets the preset distance is detected.
And S220, determining a lane change distance based on the lane change model.
Wherein the lane-change model may be a model determined based on a control algorithm. The input of the lane change model may be a lane change distance, wherein the lane change distance may include a lane change lateral distance and a lane change longitudinal distance. For example, the lane change lateral distance may be a lane width, such as 3.75 m. The lane change longitudinal distance can be obtained by fitting a lane change longitudinal path by using a fifth-order polynomial according to the acquired data based on the lane change model.
In one possible embodiment, optionally, the determining process of the lane change model includes: and determining a lane change model based on a model predictive control algorithm.
Illustratively, a vehicle dynamics simulation software CarSim is adopted, a fifth-order polynomial track changing model is adopted to determine a track changing model based on a model prediction control algorithm, and then a track changing path is fitted and a track changing distance is determined. In order to verify the reliability of the lane change model, an original lane change path can be input into the lane change model, an output lane change path is determined by using the lane change model, and if the error between the original lane change path and the output lane change path is less than 0.0.2cm, the lane change model is reliable.
Therefore, the lane changing model is determined based on the model predictive control algorithm, the lane changing distance of the vehicle can be accurately calculated, and a reliable data source can be provided for the implementation of the subsequent steps.
And S230, determining the lane change time according to the current speed and the lane change distance.
And the lane changing time is the ratio of the lane changing distance to the current speed.
And S240, determining the setting position of the road-indicating signboard according to the lane-changing time and the target speed.
In another possible embodiment, optionally, determining the set position of the direction signboard according to the lane change time and the target speed includes: determining R, L, L based on the following formulaiAnd L':
wherein, R represents the distance between the reading completion point of the user and the road-indicating signboard; l denotes the reaction distance of the user, LiIndicating the deceleration distance of the vehicle, and L' indicating the lane change distance of the vehicle; v. of1Indicating the current speed, v, of the vehicle2Indicating the target speed, t, of the vehiclelIndicating the visual recognition time of the user, tjIndicating the decision time, t, of the userkRepresenting the reaction time, t, of the userl’Indicating a lane change time of the user, i indicating a deceleration of the vehicle; according to R, L, LiAnd L' determines the setting position of the road sign.
In particular, v1The speed limit of the road section where the vehicle is located can be set according to actual needs. v. of2May be 40 km/h. i may be 3m/s2I may also be 4m/s2In this embodiment, i is preferably 3m/s2。tl，tj，tkMay be set to 2s, respectively. The constant value of 3.6 can realize the conversion from km/h to m/s. Substituting the assignment of each variable into the distance formula to obtain R, L and LiAnd L'.
Therefore, the driving distance of the vehicle at each stage in the lane changing process can be determined by dividing the stages in the actual lane changing scene and respectively assigning values, and a reliable data source can be provided for further determining the setting position of the road indicating signboard.
In this embodiment, optionally, the process of determining the setting position of the road sign board includes: determining the setting position of the road-indicating signboard according to the candidate positions meeting the following conditions:
D>R-S+l+(n-1)L′+Li；
where D denotes a candidate position, S denotes a visual recognition distance of the user, and n denotes the number of times of lane change of the vehicle.
Specifically, the visual recognition distance is an experimental result, and is generally 150m to 200m, and the visual recognition distance S can be set according to actual needs. The lane changing process is that a user changes lanes from one lane to another lane for 1 time, and n is the total lane changing times of the user in the process of finishing lane changing. The set position of the direction signboard is not unique, and may be set in the result set of the determination of the candidate position D. The corresponding relationship between the set position of the road sign and the current speed of the vehicle is shown in table 1:
TABLE 1
As can be seen from table 1, the higher the current speed of the vehicle (i.e., the speed limit of the road segment on the road where the vehicle is located), the longer the distance between the position where the road sign is located and the stop line of the intersection ahead of the road where the vehicle is located.
In the prior art, the distance between the position of the road-directing signboard and the stop line of the intersection in front of the road where the vehicle is located is not set according to the road speed limit of the road section where the vehicle is located, and the value is fixed, so that the vehicle with an excessively high speed does not have enough time to change the lane or decelerate after seeing the road-directing signboard, and even the behaviors of backing, arbitrarily changing the lane and the like can be caused in an emergency, thereby causing traffic jam or traffic accidents.
Therefore, the setting position of the road indicating signboard can be finally determined through the driving distance of the vehicle at each stage in the road changing process, the number of times of vehicle changing and the visual recognition distance of a user, so that the vehicle passing efficiency can be improved, the traffic jam probability can be reduced, and the driving safety coefficient can be improved.
In this embodiment, optionally, after determining the setting position of the road sign board, the method further includes: establishing a simulation road model according to actual road conditions based on a target control algorithm; and inputting the set position of the road-directing signboard and the traffic flow in the actual road condition into the simulation road model, and determining the delay time and the driving time of the vehicle so as to verify the reasonability of the position setting of the road-directing signboard.
Specifically, for the road sign with the intelligent network connection function, the dynamic induction function and the road model can be utilized to analyze the macroscopic traffic flow, and the driving time and the delay time before and after the user dynamically sets the position of the road sign according to the road speed limit are compared, so that the reasonability of the position setting of the road sign is verified.
According to the scheme, a simulation road model can be built through microscopic traffic flow simulation software PTV-VISSIM based on a real scene. The specific process of building the simulation road model can refer to the related technology. Considering that the purpose of the road-indicating signboard with the intelligent network connection road-indicating function is to dynamically induce dense traffic flow to other roads through interface display of road congestion conditions, simulation is to adaptively adjust the flow proportion of the branch roads at the intersection by detecting the traffic flow of the roads indicated by the road-indicating signboard, thereby realizing the purpose of dynamically inducing vehicles to pass. The traffic flow setting condition of the road network model is shown in fig. 2b, obviously, the traffic flow is in the rising process within the time of 0-3600 seconds, the dynamic guidance of the road indicating signboard is also set within the time period in order to realize the scene of traffic jam, 3600-7200 seconds are the transition stage from the peak period to the equilibrium period, and the traffic flow in the peak period is used for digesting the traffic flow in the peak period and reducing the influence of the traffic flow in the peak period on the equilibrium period. The positions of the road indicating signboards are compared before and after dynamic setting according to the speed limit of the road, and the final compared main output parameter is the travel time from the starting point to the end point, so that the time delay is realized. The dynamic guidance control strategy is based on Python, and the main control method is to compare the average speed of three roads in the forward direction, then guide the traffic flow to the road with a high speed, and the final comparison result is shown in fig. 2c and fig. 2 d. After the position of the road-directing signboard is dynamically set according to the road speed limit, the delay time after the dynamic induction of the road-directing signboard is reduced, the road travel time for a long distance trip is reduced, and the situation that the road congestion condition can be avoided in advance is shown as reasonable determination of the position of the road-directing signboard according to the road speed limit.
Therefore, a simulation road model is established according to the actual road condition based on the target control algorithm; and inputting the set position of the road-directing signboard and the traffic flow in the actual road condition into the simulation road model, and determining the delay time and the driving time of the vehicle so as to verify the reasonability of the position setting of the road-directing signboard. The reasonability of the set position of the road-directing signboard can be verified, and the optimal set position of the road-directing signboard can be determined according to the verification result.
According to the technical scheme provided by the embodiment of the invention, if the visual recognition distance of the user to the road sign board is detected to meet the preset distance, the current speed of the vehicle is determined; determining a lane change distance based on the lane change model; determining lane changing time according to the current speed and the lane changing distance; and determining the setting position of the road-indicating signboard according to the lane-changing time and the target speed. Through executing this scheme, can realize improving the current efficiency of vehicle, reduce the traffic jam probability, and then improve driving safety factor.
Fig. 3 is a schematic structural diagram of an apparatus for determining a position of a road sign according to an embodiment of the present invention, where the apparatus may be configured in an electronic device for determining a position of a road sign, as shown in fig. 3, the apparatus includes:
a current speed determination module 310, configured to determine a current speed of the vehicle if it is detected that the recognition distance of the user to the road sign satisfies a preset distance;
a lane change time determination module 320, configured to determine a lane change time according to the current speed based on a lane change model;
a set position determining module 330, configured to determine a set position of the road sign according to the lane change time and the target speed; and the target speed is the crossing speed limit of the crossing in front of the road where the vehicle is located.
Optionally, the lane change time determining module 320 includes a lane change distance determining unit, configured to determine a lane change distance based on the lane change model; and the lane change time determining unit is used for determining the lane change time according to the current speed and the lane change distance.
Optionally, the determining process of the lane change model includes: and determining a lane change model based on a model predictive control algorithm.
Optionally, a position determining module 330 is provided, specifically configured to determine R, L, and L based on the following formulasiAnd L':
wherein, R represents the distance between the reading completion point of the user and the road-indicating signboard; l denotes the reaction distance of the user, LiIndicating the deceleration distance of the vehicle, and L' indicating the lane change distance of the vehicle; v. of1Indicating the current speed, v, of the vehicle2Indicating the target speed, t, of the vehiclelIndicating the visual recognition time of the user, tjIndicating the decision time, t, of the userkRepresenting the reaction time, t, of the userl’Indicating a lane change time of the user, i indicating a deceleration of the vehicle; according to R, L, LiAnd L' determines the setting position of the road sign.
Optionally, the process of determining the setting position of the direction signboard includes: determining the setting position of the road-indicating signboard according to the candidate positions meeting the following conditions:
D>R-S+l+(n-1)L′+Li；
where D denotes a candidate position, S denotes a visual recognition distance of the user, and n denotes the number of times of lane change of the vehicle.
Optionally, the apparatus further includes a verification module, including a simulated road model establishing unit, configured to establish a simulated road model according to an actual road condition based on a target control algorithm; and the reasonability verification unit is used for inputting the set position of the road indicating signboard and the traffic flow in the actual road condition into the simulation road model, determining the delay time and the driving time of the vehicle and verifying the reasonability of the position setting of the road indicating signboard.
The device provided by the embodiment can execute the method for determining the position of the index plate provided by any embodiment of the invention, and has corresponding functional modules and beneficial effects of the execution method.
Fig. 4 is a schematic structural diagram of an electronic device according to an embodiment of the present invention, and as shown in fig. 4, the electronic device includes:
one or more processors 410, one processor 410 being illustrated in FIG. 4;
a memory 420;
the apparatus may further include: an input device 430 and an output device 440.
The processor 410, the memory 420, the input device 430 and the output device 440 of the apparatus may be connected by a bus or other means, for example, in fig. 4.
The memory 420, which is a non-transitory computer-readable storage medium, may be used to store software programs, computer-executable programs, and modules, such as program instructions/modules corresponding to a method for determining a position of a signpost in an embodiment of the present invention. The processor 410 executes various functional applications and data processing of the computer device by executing the software programs, instructions and modules stored in the memory 420, namely, implementing a method for determining the position of the signpost of the above-mentioned method embodiment, namely:
if the fact that the visual recognition distance of the user to the road indicating signboard meets the preset distance is detected, determining the current speed of the vehicle;
determining lane changing time according to the current speed based on a lane changing model;
determining the setting position of the road-indicating signboard according to the lane-changing time and the target speed; and the target speed is the crossing speed limit of the crossing in front of the road where the vehicle is located.
The memory 420 may include a storage program area and a storage data area, wherein the storage program area may store an operating system, an application program required for at least one function; the storage data area may store data created according to use of the computer device, and the like. Further, the memory 420 may include high speed random access memory, and may also include non-transitory memory, such as at least one magnetic disk storage device, flash memory device, or other non-transitory solid state storage device. In some embodiments, memory 420 may optionally include memory located remotely from processor 410, which may be connected to the terminal device via a network. Examples of such networks include, but are not limited to, the internet, intranets, local area networks, mobile communication networks, and combinations thereof.
The input device 430 may be used to receive input numeric or character information and generate key signal inputs related to user settings and function control of the computer apparatus. The output device 440 may include a display device such as a display screen.
An embodiment of the present invention provides a computer-readable storage medium, on which a computer program is stored, where the computer program, when executed by a processor, implements a method for determining a position of a signpost according to an embodiment of the present invention:
if the fact that the visual recognition distance of the user to the road indicating signboard meets the preset distance is detected, determining the current speed of the vehicle;
determining lane changing time according to the current speed based on a lane changing model;
determining the setting position of the road-indicating signboard according to the lane-changing time and the target speed; and the target speed is the crossing speed limit of the crossing in front of the road where the vehicle is located.
Any combination of one or more computer-readable media may be employed. The computer readable medium may be a computer readable signal medium or a computer readable storage medium. A computer readable storage medium may be, for example, but not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination of the foregoing. More specific examples (a non-exhaustive list) of the computer readable storage medium would include the following: an electrical connection having one or more wires, a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing. In the context of this document, a computer readable storage medium may be any tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, apparatus, or device.
A computer readable signal medium may include a propagated data signal with computer readable program code embodied therein, for example, in baseband or as part of a carrier wave. Such a propagated data signal may take any of a variety of forms, including, but not limited to, electro-magnetic, optical, or any suitable combination thereof. A computer readable signal medium may also be any computer readable medium that is not a computer readable storage medium and that can communicate, propagate, or transport a program for use by or in connection with an instruction execution system, apparatus, or device.
Program code embodied on a computer readable medium may be transmitted using any appropriate medium, including but not limited to wireless, wireline, optical fiber cable, RF, etc., or any suitable combination of the foregoing.
Computer program code for carrying out operations for aspects of the present invention may be written in any combination of one or more programming languages, including an object oriented programming language such as Java, Smalltalk, C + + or the like and conventional procedural programming languages, such as the "C" programming language or similar programming languages. The program code may execute entirely on the user's computer, partly on the user's computer, as a stand-alone software package, partly on the user's computer and partly on a remote computer or entirely on the remote computer or server. In the case of a remote computer, the remote computer may be connected to the user's computer through any type of network, including a Local Area Network (LAN) or a Wide Area Network (WAN), or the connection may be made to an external computer (for example, through the Internet using an Internet service provider).
It is to be noted that the foregoing is only illustrative of the preferred embodiments of the present invention and the technical principles employed. It will be understood by those skilled in the art that the present invention is not limited to the particular embodiments described herein, but is capable of various obvious changes, rearrangements and substitutions as will now become apparent to those skilled in the art without departing from the scope of the invention. Therefore, although the present invention has been described in greater detail by the above embodiments, the present invention is not limited to the above embodiments, and may include other equivalent embodiments without departing from the spirit of the present invention, and the scope of the present invention is determined by the scope of the appended claims.
Claims (10)
1. A method for determining a location of a signpost, comprising:
if the fact that the visual recognition distance of the user to the road indicating signboard meets the preset distance is detected, determining the current speed of the vehicle;
determining lane changing time according to the current speed based on a lane changing model;
determining the setting position of the road-indicating signboard according to the lane-changing time and the target speed; and the target speed is the crossing speed limit of the crossing in front of the road where the vehicle is located.
2. The method of claim 1, wherein determining a lane-change time based on a lane-change model and based on the current speed comprises:
determining a lane change distance based on the lane change model;
and determining the lane changing time according to the current speed and the lane changing distance.
3. The method of claim 1 or 2, wherein the determination of the lane-change model comprises:
and determining a lane change model based on a model predictive control algorithm.
4. The method of claim 1, wherein determining the set position of the direction signboard according to the lane change time and the target speed comprises:
determining R, L, L based on the following formulaiAnd L':
wherein, R represents the distance between the reading completion point of the user and the road-indicating signboard; l denotes the reaction distance of the user, LiIndicating the deceleration distance of the vehicle, and L' indicating the lane change distance of the vehicle; v. of1Indicating the current speed, v, of the vehicle2Indicating the target speed, t, of the vehiclelIndicating the visual recognition time of the user, tjIndicating the decision time, t, of the userkRepresenting the reaction time, t, of the userl’Indicating a lane change time of the user, i indicating a deceleration of the vehicle;
according to R, L, LiAnd L' determines the setting position of the road sign.
5. The method according to claim 4, wherein the determining of the set position of the route signboard includes:
determining the setting position of the road-indicating signboard according to the candidate positions meeting the following conditions:
D>R-S+l+(n-1)L′+Li；
where D denotes a candidate position, S denotes a visual recognition distance of the user, and n denotes the number of times of lane change of the vehicle.
6. The method of claim 1, further comprising:
establishing a simulation road model according to actual road conditions based on a target control algorithm;
and inputting the set position of the road-directing signboard and the traffic flow in the actual road condition into the simulation road model, and determining the delay time and the driving time of the vehicle so as to verify the reasonability of the position setting of the road-directing signboard.
7. An apparatus for determining a position of a signpost, comprising:
the current speed determining module is used for determining the current speed of the vehicle if the fact that the visual recognition distance of the user to the road indicating signboard meets the preset distance is detected;
the lane change time determining module is used for determining lane change time according to the current speed based on a lane change model;
the set position determining module is used for determining the set position of the road sign according to the lane changing time and the target speed; and the target speed is the crossing speed limit of the crossing in front of the road where the vehicle is located.
8. The apparatus of claim 7, wherein the lane change time determination module comprises:
a lane change distance determination unit configured to determine a lane change distance based on the lane change model;
and the lane change time determining unit is used for determining the lane change time according to the current speed and the lane change distance.
9. An electronic device, comprising:
one or more processors;
a storage device for storing one or more programs,
when executed by the one or more processors, cause the one or more processors to implement a method of determining a position of a signpost as recited in any of claims 1-6.
10. A computer-readable storage medium, on which a computer program is stored which, when being executed by a processor, carries out a method of determining the position of a signpost according to any one of claims 1 to 6.
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