CN114582166B - Multi-vehicle movement planning method and device in intersection environment - Google Patents

Multi-vehicle movement planning method and device in intersection environment Download PDF

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Publication number
CN114582166B
CN114582166B CN202210215659.3A CN202210215659A CN114582166B CN 114582166 B CN114582166 B CN 114582166B CN 202210215659 A CN202210215659 A CN 202210215659A CN 114582166 B CN114582166 B CN 114582166B
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vehicles
intersection
layering
vehicle
conflict
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CN114582166A (en
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许庆
蔡孟池
李克强
王建强
陈超义
王嘉伟
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Tsinghua University
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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
    • G08G1/16—Anti-collision systems
    • G08G1/166—Anti-collision systems for active traffic, e.g. moving vehicles, pedestrians, bikes
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/01—Detecting movement of traffic to be counted or controlled
    • G08G1/0104—Measuring and analyzing of parameters relative to traffic conditions
    • G08G1/0125—Traffic data processing
    • 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
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/10—Internal combustion engine [ICE] based vehicles
    • Y02T10/40—Engine management systems

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Abstract

The application discloses a multi-vehicle movement planning method, a device, electronic equipment and a storage medium in an intersection environment, wherein the method comprises the following steps: determining the distance between at least two vehicles and the stop line of the intersection according to the current position by acquiring the current position of at least two vehicles in the target area range of the intersection; sequentially layering at least two vehicles according to the distance from the at least two vehicles to the stop line of the intersection from near to far and a preset layering condition to obtain a layering result that no behavior conflict exists among the vehicles in each layer; and carrying out transverse and longitudinal joint scheduling on at least two vehicles according to the layering result, and controlling the at least two vehicles to sequentially pass through the intersection according to the scheduling result. Therefore, the traffic efficiency of the intersection is improved while the safety of the vehicles is ensured. Therefore, the problems that the prior art limits the further improvement of traffic efficiency, and the adaptability is insufficient when the proportion of vehicles with different steering demands fluctuates are solved.

Description

Multi-vehicle movement planning method and device in intersection environment
Technical Field
The present disclosure relates to the field of collaborative planning of vehicles, and in particular, to a method and apparatus for planning multi-vehicle movement in an intersection environment, an electronic device, and a storage medium.
Background
An intersection is a typical road traffic scene, and is also one of important research scenes in the field of automatic driving due to the structural specificity of the intersection. The traffic sequence of vehicles is controlled by using signal lamps at the conventional intersection, so that the vehicles passing through the intersection in the same phase are ensured not to have behavior conflict with each other. With the development of intelligent networking technology, the multi-vehicle cooperative control method of the intersection without signal lamps, which relies on centralized scheduling planning after collecting all vehicle information, becomes a hot spot, so that the start-stop loss and waiting time caused by signal lamp phase switching can be avoided, and the traffic efficiency can be improved to a certain extent.
However, at a multi-lane intersection, the related art still considers a fixed lane driving direction, that is, whether each lane can allow the vehicle to turn left, straight and right, which is defined in advance, and the technology is more fit to the actual traffic scene, but limits the further improvement of the traffic efficiency to a certain extent, and has insufficient adaptability when the proportion of the vehicles with different steering requirements fluctuates.
Disclosure of Invention
The application provides a multi-vehicle movement planning method, device, electronic equipment and storage medium in an intersection environment, which are used for solving the problems that the prior art limits the further improvement of traffic efficiency, and the adaptability of vehicles with different steering requirements is insufficient when the proportion of the vehicles fluctuates.
An embodiment of a first aspect of the present application provides a multi-vehicle motion planning method in an intersection environment, including the following steps: acquiring the current positions of at least two vehicles in a target area range of an intersection, and determining the distance between the at least two vehicles and a stop line of the intersection according to the current positions; layering the at least two vehicles in sequence according to the distance from the at least two vehicles to the intersection stop line from the near to the far and a preset layering condition to obtain a layering result that no behavior conflict exists among the vehicles in each layer; and carrying out transverse and longitudinal joint scheduling on the at least two vehicles according to the layering result, and controlling the at least two vehicles to sequentially pass through the intersection according to the scheduling result.
Optionally, in one embodiment of the present application, obtaining the current location of at least two vehicles within the target area of the intersection includes: collecting road image information of the target area in the intersection; and identifying the current position of the vehicle according to the road image information.
Optionally, in an embodiment of the present application, the target area is an area with a center of the intersection as a center and a preset distance as a radius.
Optionally, in an embodiment of the present application, the layering the at least two vehicles sequentially according to a distance between the at least two vehicles and the intersection stop line from the near to the far and a preset layering condition includes: and (3) the vehicles to be layered are distributed to the current layer by enumerating possible lane distribution conditions of all the vehicles in the current layer, judging whether a lane distribution scheme which is not in conflict between every two vehicles exists in the enumerated lane distribution conditions, if so, distributing the vehicles to be layered to the current layer, and if not, enumerating the next layer.
Optionally, in an embodiment of the present application, performing horizontal-vertical joint scheduling on the at least two vehicles according to the layering result includes: planning the sequence of each vehicle reaching the conflict area in the intersection and the lane entering the conflict area.
An embodiment of a second aspect of the present application provides a multi-vehicle motion planning apparatus in an intersection environment, including: the system comprises an acquisition module, a control module and a control module, wherein the acquisition module is used for acquiring the current positions of at least two vehicles in a target area range of an intersection and determining the distance between the at least two vehicles and a stop line of the intersection according to the current positions; the layering module is used for layering the at least two vehicles in sequence according to the distance between the at least two vehicles and the intersection stop line from the near to the far and a preset layering condition, so that layering results of no behavior conflict among the vehicles in each layer are obtained; and the control module is used for carrying out horizontal and vertical joint scheduling on the at least two vehicles according to the layering result, planning the sequence of each vehicle reaching the conflict area in the intersection and the lane entering the conflict area, and controlling the at least two vehicles to sequentially pass through the intersection according to the scheduling result.
Optionally, in one embodiment of the present application, the acquiring module includes: the acquisition unit is used for acquiring road image information of the target area in the intersection, wherein the target area is an area taking the center of the intersection as a circle center and taking a preset distance as a radius; and the identification unit is used for identifying the current position of the vehicle according to the road image information.
Optionally, in an embodiment of the present application, the layering module is specifically configured to, for a vehicle to be layered, determine whether there is a lane distribution scheme in which there is no conflict between every two vehicles in the enumerated lane distribution conditions by enumerating possible lane distribution conditions of all vehicles in a current layer, if there is a lane distribution scheme, allocate the vehicle to be layered to the current layer, and if there is no lane distribution scheme, enumerate a next layer.
An embodiment of a third aspect of the present application provides an electronic device, including: the system comprises a memory, a processor and a computer program stored in the memory and capable of running on the processor, wherein the processor executes the program to execute the multi-vehicle movement planning method in the intersection environment as described in the embodiment.
An embodiment of a fourth aspect of the present application provides a computer-readable storage medium having stored thereon a computer program that is executed by a processor to perform the multi-vehicle motion planning method in the intersection environment as described in the above embodiment.
Therefore, the application has at least the following beneficial effects:
determining the distance between at least two vehicles and the stop line of the intersection according to the current position by acquiring the current position of at least two vehicles in the target area range of the intersection; sequentially layering at least two vehicles according to the distance from the at least two vehicles to the stop line of the intersection from near to far and a preset layering condition to obtain a layering result that no behavior conflict exists among the vehicles in each layer; and carrying out transverse and longitudinal joint scheduling on at least two vehicles according to the layering result, and controlling the at least two vehicles to sequentially pass through the intersection according to the scheduling result. Therefore, the traffic capacity of all the lanes is fully utilized, the safety of vehicles at the intersection is further ensured, and the traffic efficiency is improved. Therefore, the problems that the prior art limits the further improvement of traffic efficiency, and the adaptability is insufficient when the proportion of vehicles with different steering demands fluctuates are solved.
Additional aspects and advantages of the application will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the application.
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The foregoing and/or additional aspects and advantages of the present application will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings, in which:
fig. 1 is a flowchart of a multi-vehicle movement planning method in an intersection environment according to an embodiment of the present application;
FIG. 2 is a schematic illustration of a no-signal full tidal lane intersection conflict definition provided in accordance with one embodiment of the present application;
FIG. 3 is an exemplary diagram of an intersection vehicle sequence provided in accordance with one embodiment of the present application;
FIG. 4 is a schematic diagram of a longitudinal traffic sequence plan result provided in accordance with one embodiment of the present application;
FIG. 5 is a schematic diagram of a multi-vehicle cross-machine direction joint planning result provided according to one embodiment of the present application;
FIG. 6 is an example diagram of a multi-vehicle motion planning apparatus in an intersection environment according to an embodiment of the present application;
fig. 7 is a schematic structural diagram of an electronic device according to an embodiment of the application.
Reference numerals illustrate: the system comprises an acquisition module-100, a layering module-200, a control module-300, a memory-701, a processor-702 and a communication interface-703.
Detailed Description
Embodiments of the present application are described in detail below, examples of which are illustrated in the accompanying drawings, wherein the same or similar reference numerals refer to the same or similar elements or elements having the same or similar functions throughout. The embodiments described below by referring to the drawings are exemplary and intended for the purpose of explaining the present application and are not to be construed as limiting the present application.
The following describes a multi-vehicle movement planning method, a device, an electronic device and a storage medium in an intersection environment according to the embodiments of the present application with reference to the accompanying drawings. In view of the problems mentioned in the background art, the present application provides a multi-vehicle motion planning method in an intersection environment, in which, by acquiring the current positions of at least two vehicles in a target area range of an intersection, the distance between the at least two vehicles and a stop line of the intersection is determined according to the current positions; sequentially layering at least two vehicles according to the distance from the at least two vehicles to the stop line of the intersection from near to far and a preset layering condition to obtain a layering result that no behavior conflict exists among the vehicles in each layer; and carrying out transverse and longitudinal joint scheduling on at least two vehicles according to the layering result, and controlling the at least two vehicles to sequentially pass through the intersection according to the scheduling result. Therefore, the traffic capacity of all the lanes is fully utilized, the safety of vehicles at the intersection is further ensured, and the traffic efficiency is improved. Therefore, the problems that the prior art limits the further improvement of traffic efficiency, and the adaptability is insufficient when the proportion of vehicles with different steering demands fluctuates are solved.
Specifically, fig. 1 is a flowchart of a multi-vehicle motion planning method in an intersection environment according to an embodiment of the present application.
As shown in fig. 1, the multi-vehicle movement planning method in the intersection environment includes the following steps:
in step S101, the current location of at least two vehicles within the target area of the intersection is obtained, and the distance between the at least two vehicles and the stop line of the intersection is determined according to the current location.
In the embodiments of the present application, the intersection is mainly considered to be an intersection in a no-signal full tide lane environment. In the road of the intersection shown in fig. 2, left-turn, straight-turn and right-turn behaviors can be allowed on each lane, and for each traffic behavior on each lane, the collision form of the traffic behavior with other traffic behaviors can be classified into three types of cross collision, confluence collision and diversion collision.
It will be appreciated that vehicles in conflict are not allowed to pass through the intersection at the same time because of possible collision during the process of passing through the intersection, and vehicles in conflict are not allowed to pass through the intersection at the same time because of the fact that the motion paths of the vehicles are not overlapped. Therefore, the embodiment of the application needs to acquire the current position information of the vehicles in the target area of the intersection, judge whether a conflict relation exists when a plurality of vehicles pass through the intersection, and therefore determine the sequence of the vehicles safely passing through the intersection, and improve the passing efficiency while avoiding collision. The target area in the embodiment of the present application may be an area with the center of the intersection as a center and a preset distance as a radius.
Further, when the speed of the vehicle is fast, in order to avoid the loss caused by multiple acceleration or deceleration of the vehicle and save the time for the vehicle to pass through the intersection, the embodiment of the application can properly increase the range of the target area so as to plan the passing sequence of the vehicle in the target area in advance.
For example, when the highest speed limit of the road section where the vehicle is located is less than 30km/h, the preset distance is X, and when the highest speed limit is less than 40km/h, the preset distance is Y, wherein Y may be greater than X. In this regard, those skilled in the art can set the device according to the actual situation, and the device is not limited.
Optionally, in one embodiment of the present application, obtaining the current location of at least two vehicles within the target area of the intersection includes: collecting road image information of a target area in an intersection; the current position of the vehicle is identified based on the road image information.
In one embodiment of the present application, the current location of the vehicle may be obtained from road image information. For example, the camera arranged at the intersection is utilized to collect images within a certain range of the intersection in real time, the collected images are spliced or cut to obtain images in a target area, the vehicles in the target area are marked through a target extraction algorithm, the current position of the vehicles is calculated by combining other reference objects in the road image, or the images in the target area are directly identified through methods such as visual ranging to obtain the current position of the vehicles, and after the current position of the vehicles is determined, the distance between the vehicles and a stop line can be calculated. In this regard, those skilled in the art can set according to the actual situation, and are not particularly limited.
In step S102, layering at least two vehicles according to the distance between the at least two vehicles and the stop line of the intersection from the near to the far and the preset layering condition in turn, so as to obtain a layering result that no behavior conflict exists between the vehicles in each layer.
In the embodiment of the application, after the distances between a plurality of vehicles and an intersection stop line in a target area are acquired, vehicles are layered according to the position information of the vehicles, for example, the vehicles closest to the stop line are layered first, the hierarchy to which all the vehicles belong is determined from the near to the far, and conflict does not exist among the vehicles in each layer after the layering.
Optionally, in an embodiment of the present application, layering at least two vehicles sequentially according to a distance from the at least two vehicles to an intersection stop line from near to far and a preset layering condition includes: and (3) the vehicles to be layered are distributed to the current layer by enumerating possible lane distribution conditions of all the vehicles in the current layer, judging whether a lane distribution scheme which does not conflict between every two vehicles exists in the enumerated lane distribution conditions, if so, distributing the vehicles to be layered to the current layer, and if not, enumerating the next layer.
It can be understood that, the basis that the embodiment of the application adopts is that the distance that the vehicles reach the stop line of the intersection (the parking waiting line of the original signal control intersection) is divided into different layers, the number of layers from near to far increases in sequence, the vehicles planned to the same layer have no behavior conflict with each other, the vehicles can pass through the intersection (namely, the time when the vehicles in the same layer reach the stop line is the same), and the time interval that the adjacent two layers reach the stop line ensures that after all the vehicles in the current layer drive out of the intersection conflict area, the vehicles in the later layer can reach the stop line. For the above-mentioned determination whether a vehicle can coexist in a layer with a vehicle already in the layer, one possible way is to enumerate possible lane distribution conditions of all vehicles in the layer, and select a lane distribution scheme from which no conflict exists between every two vehicles, if so, the two vehicles can coexist, and if not, the two vehicles cannot coexist.
In step S103, at least two vehicles are subjected to horizontal-vertical joint scheduling according to the layering result, and the at least two vehicles are controlled to sequentially pass through the intersection according to the scheduling result.
It can be understood that when any vehicle is layered, the above embodiment screens out a lane distribution scheme in which no conflict exists between every two vehicles, and when the scheme exists, determines the layer to which the vehicle belongs. After the layering result of the vehicles is determined, the vehicles are subjected to horizontal and vertical joint scheduling according to the layering result, wherein the horizontal and vertical joint scheduling can comprise planning the sequence of each vehicle reaching the conflict area in the intersection and the lane entering the conflict area.
Specifically, after the layering result of the vehicles is obtained, the running direction of the vehicles in each layer needs to be considered generally, and appropriate lanes are allocated to the vehicles in each layer. And the time interval between two adjacent layers reaching the stop line ensures that after all vehicles in the current layer drive out of the intersection conflict area, the vehicles in the later layer can reach the stop line.
For example, for A, B two vehicles in the same layer, the two vehicles are opposite to each other, the vehicle a turns left, and the vehicle B moves straight, so that the two vehicles need to be planned on the lane where collision does not occur during the driving process. And when both vehicles leave the intersection conflict area, the vehicles on the next layer can reach the stop line, and then the vehicles on the layer continue to orderly travel according to the allocated lanes. Therefore, the traffic efficiency of the intersection is improved while the safety of the vehicles is ensured.
The following describes a multi-vehicle movement planning method in an intersection environment according to a specific embodiment.
In the embodiment of the application, the vehicles in the intersection area can be subjected to transverse and longitudinal joint scheduling through the following steps.
Firstly, the embodiment of the application acquires the position information of each vehicle in an intersection, determines the distance between each vehicle and the stop line of the intersection, sorts the vehicles according to the distance, and determines the layering result of the vehicles, wherein the specific layering steps are as follows:
step 1: sorting vehicles which are about to drive into an intersection according to the distance from the vehicles to reach the stop line of the intersection, wherein the closer the vehicles are arranged at the front, the farther the vehicles are arranged at the rear;
step 2: the vehicle sequence is planned to be on a layer and a lane from front to back, and the specific process is as follows:
step 2.1: defining parameters k and m, wherein k represents vehicles in a vehicle sequence, k represents the number of layers, and k=0 and m=1 are initialized;
step 2.2: let k=k+1;
step 2.3: for the kth vehicle, judging whether the kth vehicle and the vehicles already positioned on the mth layer can coexist on the same layer, if so, distributing the kth vehicle to the mth layer, adjusting lane distribution conditions of all the vehicles positioned on the mth layer, and returning to Step 2.2 by making m=1; if not, let m=m+1, repeat Step 2.3.
After the layering results of the vehicles are determined, at least two vehicles are subjected to horizontal and vertical joint scheduling according to the layering results, as shown in fig. 3, which shows an example of a passing sequence consisting of 10 vehicles, in the three-lane intersection scene shown in fig. 2, fig. 4 shows layering results of 10 vehicles, wherein the 1 st layer can accommodate 7 vehicles to pass through simultaneously without collision, the 2 nd layer can accommodate the rest 3 vehicles to pass through simultaneously without collision, and fig. 5 shows lane distribution conditions and longitudinal front and rear position planning conditions of the 10 vehicles.
After the joint planning of the longitudinal sequence and the transverse lane distribution is completed, the method can be applied to the existing methods such as multi-vehicle formation control, multi-vehicle cooperative lane changing and the like to control vehicles to realize the expected transverse and longitudinal planning result, and the multi-vehicle cooperation of the intersection can be completed.
According to the multi-vehicle movement planning method under the intersection environment, the current positions of at least two vehicles in the target area range of the intersection are obtained, and the distance between the at least two vehicles and the stop line of the intersection is determined according to the current positions; sequentially layering at least two vehicles according to the distance from the at least two vehicles to the stop line of the intersection from near to far and a preset layering condition to obtain a layering result that no behavior conflict exists among the vehicles in each layer; and carrying out transverse and longitudinal joint scheduling on at least two vehicles according to the layering result, and controlling the at least two vehicles to sequentially pass through the intersection according to the scheduling result. Therefore, the traffic capacity of all the lanes is fully utilized, the safety of vehicles at the intersection is further ensured, and the traffic efficiency is improved.
Next, a multi-vehicle movement planning device in an intersection environment according to an embodiment of the present application will be described with reference to the accompanying drawings.
Fig. 6 is a block schematic diagram of a multi-vehicle motion planning apparatus in an intersection environment according to an embodiment of the present application.
As shown in fig. 6, the multi-vehicle movement planning apparatus 10 in the intersection environment includes: an acquisition module 100, a layering module 200 and a control module 300.
The acquiring module 100 is configured to acquire current positions of at least two vehicles within a target area range of an intersection, and determine distances between the at least two vehicles and a stop line of the intersection according to the current positions; the layering module 200 is configured to sequentially layer at least two vehicles according to the distance between the at least two vehicles and the stop line of the intersection from the near to the far and the preset layering condition, so as to obtain a layering result that no behavior conflict exists between the vehicles in each layer; the control module 300 is configured to perform horizontal-vertical joint scheduling on at least two vehicles according to the layering result, and control the at least two vehicles to sequentially pass through the intersection according to the scheduling result.
Optionally, in one embodiment of the present application, the obtaining module 100 includes: the acquisition unit is used for acquiring road image information of a target area in the intersection; and the identification unit is used for identifying the current position of the vehicle according to the road image information.
Optionally, in an embodiment of the present application, the target area is an area with a center of the intersection as a center and a preset distance as a radius.
Optionally, in an embodiment of the present application, the layering module 200 is specifically configured to determine whether there is a lane distribution scheme in which there is no conflict between every two vehicles in the enumerated lane distribution conditions by enumerating possible lane distribution conditions of all vehicles in the current layer for the vehicles to be layered, if there is, allocate the vehicles to be layered to the current layer, and if there is no lane distribution scheme, enumerate the next layer.
Optionally, in one embodiment of the present application, performing horizontal-vertical joint scheduling on at least two vehicles according to the layering result includes: planning the sequence of each vehicle reaching the conflict area in the intersection and the lane entering the conflict area.
It should be noted that the explanation of the embodiment of the multi-vehicle motion planning method in the intersection environment is also applicable to the multi-vehicle motion planning device in the intersection environment of the embodiment, and is not repeated herein.
According to the multi-vehicle movement planning device under the intersection environment, the vehicles entering the intersection are subjected to transverse and longitudinal joint scheduling, the sequence of each vehicle reaching the intersection conflict area is planned, and the lanes entering the conflict area are planned, so that each lane of the intersection allows three traffic behaviors of left turning, straight running and right turning. Meanwhile, vehicles passing through the intersection have no behavior conflict, so that the traffic efficiency of the intersection is improved while the safety of the vehicles is ensured.
Fig. 7 is a schematic structural diagram of an electronic device according to an embodiment of the present application. The electronic device may include:
memory 701, processor 702, and computer programs stored on memory 701 and executable on processor 702.
The processor 702 implements the multi-vehicle movement planning method in the intersection environment provided in the above embodiment when executing the program.
Further, the electronic device further includes:
a communication interface 703 for communication between the memory 701 and the processor 702.
Memory 701 for storing a computer program executable on processor 702.
The memory 701 may include a high-speed RAM memory or may further include a non-volatile memory (non-volatile memory), such as at least one magnetic disk memory.
If the memory 701, the processor 702, and the communication interface 703 are implemented independently, the communication interface 703, the memory 701, and the processor 702 may be connected to each other through a bus and perform communication with each other. The bus may be an industry standard architecture (Industry Standard Architecture, abbreviated ISA) bus, an external device interconnect (Peripheral Component, abbreviated PCI) bus, or an extended industry standard architecture (Extended Industry Standard Architecture, abbreviated EISA) bus, among others. The buses may be divided into address buses, data buses, control buses, etc. For ease of illustration, only one thick line is shown in fig. 7, but not only one bus or one type of bus.
Alternatively, in a specific implementation, if the memory 701, the processor 702, and the communication interface 703 are integrated on a chip, the memory 701, the processor 702, and the communication interface 703 may communicate with each other through internal interfaces.
The processor 702 may be a central processing unit (Central Processing Unit, abbreviated as CPU) or an application specific integrated circuit (Application Specific Integrated Circuit, abbreviated as ASIC) or one or more integrated circuits configured to implement embodiments of the present application.
The present embodiment also provides a computer-readable storage medium having stored thereon a computer program, wherein the program when executed by a processor implements the multi-vehicle motion planning method under the intersection environment as described above.
In the description of the present specification, a description referring to terms "one embodiment," "some embodiments," "examples," "specific examples," or "some examples," etc., means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the present application. In this specification, schematic representations of the above terms are not necessarily directed to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or N embodiments or examples. Furthermore, the different embodiments or examples described in this specification and the features of the different embodiments or examples may be combined and combined by those skilled in the art without contradiction.
Furthermore, the terms "first," "second," and the like, are used for descriptive purposes only and are not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include at least one such feature. In the description of the present application, the meaning of "N" is at least two, such as two, three, etc., unless explicitly defined otherwise.
Any process or method descriptions in flow charts or otherwise described herein may be understood as representing modules, segments, or portions of code which include one or more N executable instructions for implementing specific logical functions or steps of the process, and further implementations are included within the scope of the preferred embodiment of the present application in which functions may be executed out of order from that shown or discussed, including substantially concurrently or in reverse order, depending on the functionality involved, as would be understood by those reasonably skilled in the art of the embodiments of the present application.
It is to be understood that portions of the present application may be implemented in hardware, software, firmware, or a combination thereof. In the above-described embodiments, the N steps or methods may be implemented in software or firmware stored in a memory and executed by a suitable instruction execution system. As with the other embodiments, if implemented in hardware, may be implemented using any one or combination of the following techniques, as is well known in the art: discrete logic circuits having logic gates for implementing logic functions on data signals, application specific integrated circuits having suitable combinational logic gates, programmable Gate Arrays (PGAs), field Programmable Gate Arrays (FPGAs), and the like.
Those of ordinary skill in the art will appreciate that all or a portion of the steps carried out in the method of the above-described embodiments may be implemented by a program to instruct related hardware, where the program may be stored in a computer readable storage medium, and where the program, when executed, includes one or a combination of the steps of the method embodiments.

Claims (7)

1. The multi-vehicle movement planning method in the intersection environment is characterized by comprising the following steps:
acquiring the current positions of at least two vehicles in a target area range of an intersection, and determining the distance between the at least two vehicles and a stop line of the intersection according to the current positions;
layering the at least two vehicles in sequence according to the distance from the at least two vehicles to the intersection stop line from the near to the far and a preset layering condition to obtain a layering result that no behavior conflict exists among the vehicles in each layer;
performing horizontal and vertical joint scheduling on the at least two vehicles according to the layering result, and controlling the at least two vehicles to sequentially pass through the intersection according to the scheduling result;
the layering of the at least two vehicles is sequentially performed according to the distance between the at least two vehicles and the intersection stop line from the near to the far and a preset layering condition, and the layering method comprises the following steps:
the method comprises the steps that vehicles to be layered are enumerated, whether a lane distribution scheme which is not in conflict between every two vehicles exists in the enumerated lane distribution conditions is judged by enumerating possible lane distribution conditions of all vehicles in a current layer, if so, the vehicles to be layered are distributed to the current layer, lane distribution conditions of all vehicles in the current layer are adjusted, and if not, the next layer is enumerated;
and carrying out transverse and longitudinal joint scheduling on the at least two vehicles according to the layering result, wherein the method comprises the following steps of:
planning the sequence of each vehicle reaching the conflict area in the intersection and the lane entering the conflict area.
2. The method of claim 1, wherein obtaining the current location of at least two vehicles within the target area of the intersection comprises:
collecting road image information of the target area in the intersection;
and identifying the current position of the vehicle according to the road image information.
3. The method of claim 1, wherein the target area is an area centered at the center of the intersection and having a predetermined distance as a radius.
4. A multi-vehicle motion planning apparatus in an intersection environment, comprising:
the system comprises an acquisition module, a control module and a control module, wherein the acquisition module is used for acquiring the current positions of at least two vehicles in a target area range of an intersection and determining the distance between the at least two vehicles and a stop line of the intersection according to the current positions;
the layering module is used for layering the at least two vehicles in sequence according to the distance between the at least two vehicles and the intersection stop line from the near to the far and a preset layering condition, so that layering results of no behavior conflict among the vehicles in each layer are obtained, the vehicles to be layered judge whether lane distribution schemes of no conflict exist among every two vehicles in the enumerated lane distribution conditions by enumerating possible lane distribution conditions of all vehicles in the current layer, if so, the vehicles to be layered are distributed to the current layer, and if not, the next layer is enumerated;
and the control module is used for carrying out horizontal and vertical joint scheduling on the at least two vehicles according to the layering result, planning the sequence of each vehicle reaching the conflict area in the intersection and the lane entering the conflict area, and controlling the at least two vehicles to sequentially pass through the intersection according to the scheduling result.
5. The apparatus of claim 4, wherein the acquisition module comprises:
the acquisition unit is used for acquiring road image information of the target area in the intersection, wherein the target area is an area taking the center of the intersection as a circle center and taking a preset distance as a radius;
and the identification unit is used for identifying the current position of the vehicle according to the road image information.
6. An electronic device, comprising: a memory, a processor and a computer program stored on the memory and executable on the processor, the processor executing the program to implement the multi-vehicle motion planning method in the intersection environment of any one of claims 1-3.
7. A computer-readable storage medium having stored thereon a computer program, wherein the program is executed by a processor for implementing a multi-vehicle motion planning method in an intersection environment according to any one of claims 1-3.
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