CN114926987A

CN114926987A - Signalized intersection right-turning vehicle lane-borrowing overtaking driving guiding method and system

Info

Publication number: CN114926987A
Application number: CN202210704873.5A
Authority: CN
Inventors: 吴文静; 蒲思绪; 熊康贝; 杨旭; 吴岳
Original assignee: Jilin University
Current assignee: Jilin University
Priority date: 2022-06-21
Filing date: 2022-06-21
Publication date: 2022-08-19
Anticipated expiration: 2042-06-21
Also published as: CN114926987B

Abstract

The invention relates to a signalized intersection right-turning vehicle overtaking driving guiding method and system, wherein the system comprises a road side unit for acquiring road traffic information in real time, a main control device and a vehicle-mounted unit, wherein the main control device and the vehicle-mounted unit are connected with the road side unit; the main control equipment comprises a data storage module, a data processing module, a time recording module, a time calculating module, a dissipation time calculating module, a signal lamp judging module, a traffic state detecting module, a track changing track planning module and a control signal sending module; by adopting the system, the social vehicles turning right can be guided to run to the increased lanes, delay caused by bus obstruction is reduced, the crossing traffic efficiency is improved, and the use efficiency of road space is improved.

Description

Signalized intersection right-turning vehicle lane-borrowing overtaking driving guiding method and system

Technical Field

The invention belongs to the field of intelligent traffic and relates to the field of information communication, in particular to a method and a system for guiding right-turn vehicles at a signalized intersection to overtake by borrowing a lane.

Background

In order to advocate bus priority, the bus is a feasible method by using a right-turn lane to pass preferentially, and is widely applied in China. However, the bus priority mode is easy to block the right-turning vehicle from passing, the delay of the right-turning vehicle is increased, and under the condition that the number of the lanes at the entrance and the exit is not matched, traffic accidents are easy to happen when the bus is near the exit lane and the social vehicles rush to the lane, so that the delay of the bus is increased.

The width of a road lane is an important content in road design, and the width of the road lane is 3.0m to 3.75m according to the regulations of highway engineering technical standards. At present, China has a large number of roads of 9m or more than 9m and less than 15m, the lane width of the roads can run 3 parallel vehicles, but the roads are often divided into two lanes, and road space data is wasted.

With the development of the automatic driving technology, the transverse swing amplitude of the automatic driving vehicle is greatly reduced, the adjustment and compression of the transverse distance between the vehicles running under the development trend of automatic driving become possible, especially under the condition that the right-turning vehicle at the signalized intersection is obstructed by the front vehicle, how to guide the right-turning vehicle to overtake by borrowing the road by using the limited space at the intersection through the multi-vehicle cooperation technology and the intelligent vehicle control technology, the passing efficiency of the intersection is improved, and meanwhile, the use efficiency of the road space is improved, which is a problem to be solved urgently.

Disclosure of Invention

The invention provides a right-turn vehicle overtaking driving guiding method facing an environment of an autonomous vehicle driving signalized intersection.

In order to achieve the purpose, the invention adopts the following technical scheme:

a signalized intersection right-turning vehicle lane-borrowing overtaking driving guiding method specifically comprises the following steps:

step S1, setting a certain distance from the stop line as a detection range, detecting the arrival of a right-turn vehicle A following behind a right-side lane bus by a road side unit, and recording the time when the right-turn vehicle A arrives in the detection range as T1;

step S2, judging whether the signal lamp state at the time of T1 is green; if yes, go to step S3; if not, go to step S15;

step S3, judging the time point of the green light signal lamp state; if the vehicle in line in front of the right-turn vehicle A has dissipated in the middle and later stages of the green light, the step S4 is executed; if the vehicle is in the initial stage of the green light and the queued vehicle which is not released completely is still in front of the stop line, the step S8 is carried out;

step S4, predicting the time length Ty required by reaching the stop line according to the distance LA and the current speed V between the right-turning vehicle A and the stop line, wherein if Ty is LA/V, the time when the right-turning vehicle A reaches the stop line is T1+ Ty;

step S5, assuming that the initial time of turning on the green light in the traffic direction phase is T0, the period length of the green light is L1, the period length of the red light is R1, calculating the end time of the green light phase according to the period length of the green light to be T0+ L1, and determining T0+ L1> T1+ Ty? If yes, indicating that the right-turning vehicle A can normally pass through the green light phase, then the step S6 is carried out; if not, indicating that the right-turn vehicle A can not reach the stop line in the green light phase, then the step S7 is carried out;

step S6, the road side unit sends guiding information to the vehicle-mounted unit of the right-turning vehicle A to guide the right-turning vehicle A to accelerate to pass;

step S7, detecting a vehicle in front of the right-turning vehicle A by a traffic state detection module, and determining obstructing vehicles Z1 and Z2 … positioned in front of the same lane of the right-turning vehicle A and obstructing vehicles C1 and C2 … positioned in front of adjacent lanes of the right-turning vehicle A; when the obstructing vehicle is determined, the time length of each vehicle passing through the stop line is calculated according to the distance of each vehicle in front of the right-turning vehicle a from the stop line and the current speed thereof, the time when each vehicle passes through the stop line is determined according to the time length of each vehicle passing through the stop line, and then the green light phase end time T0+ L1> the time when the vehicle in front of the right-turning vehicle a passes through the stop line? If so, indicating that the vehicle in front of the right-turning vehicle A can normally pass through; if not, the vehicle in front of the right-turning vehicle A cannot pass through the system, and the system is a barrier vehicle;

step S8, calculating the dissipation completion time Td of the queued vehicles, wherein the dissipation completion time Td of the queued vehicles has the following calculation formula:

T _d ＝q*r _e /(n*S-q)

in the formula: t is _d Dissipation time for queued vehicles, s; q is the passing phase vehicle arrival rate, pcu/h; r is a radical of hydrogen _e Effective red time, s, for the pass phase; n is the number of lanes corresponding to the passing phase; s is the saturation flow rate of a single lane, pcu/h;

step S9, determine T0+ L1> T0+ Td + Ty? If yes, indicating that the right-turning vehicle A can still reach the stop line after the vehicles in the queue are all dissipated in the last signal period, then the step S6 is carried out; if not, the vehicle queue in the previous period cannot be completely dissipated, and the step S7 is carried out;

step S10, in order to ensure that the right-turn vehicle a does not influence the vehicle normally running in the own direction when overtaking, the right-turn overtaking vehicle a should be completed before the end of the red light period of the own phase, and the time Tg when the red light period of the own phase ends is read to be T0+ L1+ R1;

step S11, predicting the time Tw for the right-turning vehicle A to drive to the stop line according to the expected overtaking track line according to the current distance between the right-turning vehicle A and the stop line;

Tw＝Th+Tf

Tf＝Lb/V

in the formula, Th is the time length required by the right-turning vehicle A to change lanes, the value range of Th is 3-8 s, Tf is the time length from driving to a stop line after lane changing, Lb is the distance from the right-turning vehicle A to the increased virtual lane to the stop line, and V is the speed for driving the right-turning vehicle A;

step S12, determine T1+ Tw > Tg? If not, indicating that the vehicle can finish right turning before the phase red light period is finished, then the step S13 is carried out; if yes, the step S15 is executed;

step S13, the main control device sends guiding information to the obstructing vehicles Z1 and Z2 … positioned in the front of the same lane of the right-turning vehicle A and the vehicles C1 and C2 … positioned in the front of the adjacent lane of the right-turning vehicle A, and the obstructing vehicles are guided to approach to the edge line of the lane for deceleration running;

step S14, the master control equipment guides the right-turning vehicle A to overtake and drive in right turn;

in step S15, the roadside unit transmits guidance information to the on-board unit of the right-turn vehicle a, and the guidance vehicle a decelerates.

As a preferable aspect of the present invention, the planning manner of the expected passing trajectory line of the right turn vehicle a of step S11 is as follows;

in the formula, x _t 、y _t Is the abscissa, ordinate, V of the right-turning vehicle A at time t _t X-axis speed at time t, w lane width, t _f Planning time required for changing lanes for vehicles, generally t _f ＞3s。

Preferably, when the right-turn vehicle a is driven to change lanes in step S14, the risk assessment module in the main control device needs to determine the potential field distribution of the lane-change overtaking vehicle according to the road potential field model, so as to assess the lane-change risk of the vehicle, and obtain a feasible set of the lane-change tracks of the vehicle within the range of the security domain; if the potential field safety critical value is C, the expected overtaking track line planned when the right-turning vehicle A overtakes the lane simultaneously meets the requirement E _S1 < C and E _S2 The condition < C can be regarded as that the vehicle runs in a safe range; wherein the road potential field model expression is as follows:

in the formula, E _S1 、E _S2 Formed by a fleet of vehicles representing adjacent lanes during a lane change overtaking by a right-turn vehicle AThe potential field intensity of the boundary field is set as y-axis coordinate of the right-turning vehicle A at the time t _t And the axis coordinates of the boundary j1 and j2 of the adjacent lane of the A vehicle are y _s，j1 、 y _s，j2 ,

A distance vector indicating that the right-turn vehicle a is directed to the boundary line j 1; in the same way, the method for preparing the composite material,

a distance vector indicating that the right-turning vehicle a is directed to the boundary line j2, and ρ is a road boundary field coefficient.

As a preferred mode of the present invention, the specific way of guiding the right-turn vehicle a to overtake and drive in right turn by the main control device in step S14 is as follows: the main control equipment firstly sends the vehicle lane change track planned by the lane change track planning module in the safety domain range to the road side unit through the control signal sending module in real time, the road side unit transmits the vehicle lane change track to the vehicle-mounted unit through LTE-V/5G communication, the vehicle-mounted unit feeds back the signal to the vehicle control module of the right-turning vehicle A after receiving the signal, and the vehicle control module solves the track coordinate and the vehicle speed of the right-turning vehicle A lane change through online optimization by taking the planned track as reference.

As a further preferable mode of the present invention, the vehicle control module solves the track coordinates and the vehicle speed of the right-turn vehicle a by:

establishing a nonlinear dynamic prediction model of vehicle motion, wherein L is the wheelbase of the vehicle, and L is the wheel base of the vehicle _f The distance from the mass center to the most front section of the bicycle; the state variable and control input of the right-turn overtaking vehicle is X _t ＝[x _t ，y _t ，θ _t ，v _t ] ^T And mu _t ＝ [δ _t ，a _t ] ^T ，(x _t ，y _t ) As position coordinates of the vehicle at time t, theta _t Yaw angle, v, at time t of the vehicle _t Speed of the vehicle at time t, δ _t The steering angle of the front wheels at time t of the vehicle, a _t For time t of the vehicleAcceleration of (2);

dividing Th time steps into N _p And step (b), deducing the vehicle kinematic state of the step (k + 1) from the state of the step (k) by using the following formula:

in the formula:

which represents the abscissa of the k +1 th step at time t of the vehicle at a total time step of p,

represents the ordinate of the k +1 th step at time t of the vehicle at a total time step of p,

which represents the yaw angle of the k +1 th step at time t of the vehicle at the total time step p,

representing the speed of the k +1 th step at time t of the vehicle when the total time step is p;

as defined above, is the amount of the kth step,

represents the acceleration of the vehicle at the kth step at time t when the total time step is p; th is the time consumed from the start of the lane change preparation for the right-turn vehicle a at the initial lane to the completion of the lane change for the right-turn vehicle a.

The second purpose of the invention is to provide a signalized intersection right-turning vehicle overtaking driving guidance system adopted by the guidance method, and the system fuses intersection signal information, vehicle visual range information acquired by vehicle-mounted sensing equipment and traffic environment information acquired by a road side unit, so as to enhance the sensing range and realize the over-visual range sensing of right-turning vehicles; by combining the cooperative driving of a plurality of vehicles in the range of the intersection entrance road and the design of an intelligent vehicle driving track optimization strategy, the overtaking driving behavior of the right-turning vehicle is dynamically guided, so that the aim of improving the vehicle passing efficiency of the intersection is fulfilled.

The invention provides a signalized intersection right-turning vehicle overtaking driving guide system, which comprises a road side unit, a main control device and a vehicle-mounted unit, wherein the road side unit is used for acquiring road traffic information in real time; the improvement is as follows: the main control equipment comprises a data storage module, a data processing module, a time recording module, a time calculating module, a dissipation time calculating module, a signal lamp judging module, a traffic state detecting module, a track changing track planning module and a control signal sending module;

the data storage module is used for storing data collected by the road side unit, and comprises road traffic information collected by the road side unit in real time and data transmitted from the vehicle-mounted unit;

the data processing module is used for fusing the image data and the traffic flow data of a plurality of vehicles in the data storage module, and completing the identification of the target by extracting, detecting and classifying the characteristics;

the time recording module is used for recording the time when the target vehicle reaches the detection range, and simultaneously recording the initial time of a phase signal lamp and the end time of the signal lamp in a certain passing direction, wherein the end time of the signal lamp is equal to the initial time of the signal lamp plus the period length of the signal lamp; the signal lamp consists of a red lamp and a green lamp, and the green lamp period length comprises a yellow lamp duration; time of recording: dividing into: recording in the form of seconds;

the time calculation module is used for calculating the time length for the vehicle to reach the specified position according to the distance between the vehicle and the specified position and the current speed of the vehicle; or predicting the time length of the vehicle reaching the specified position according to the expected running track and the current speed of the vehicle, and then calculating or predicting the time of the vehicle reaching the specified position according to the data recorded by the time recording module;

the dissipation time calculation module calculates the dissipation completion time of the queued vehicles at the intersection, and the dissipation completion time of the queued vehicles is calculated according to the following formula:

T _d ＝q*r _e /(n*S-q)

in the formula: t is _d Dissipation time for queued vehicles, s; q is the passing phase vehicle arrival rate, pcu/h; r is _e Effective red time, s, for the pass phase; n is the number of lanes corresponding to the passing phase; s is the saturation flow rate of a single lane, pcu/h;

the signal lamp judging module is used for judging the state and the time node of a signal lamp when the target vehicle reaches a specified position according to the result calculated by the time calculating module, the result calculated by the dissipation time calculating module and the data recorded by the time recording module, and if the starting time of the signal lamp is less than half of the perimeter length of the signal lamp when the target vehicle reaches the specified position, the signal lamp is in the initial stage of the signal lamp, otherwise, the signal lamp belongs to the middle and later stages of the signal lamp;

the traffic state detection module comprises an obstructed vehicle identification module and a risk assessment module; the vehicle blocking identification module is used for judging whether the vehicle in front of the right-turning vehicle is a blocking vehicle or not according to the results output by the time calculation module and the signal lamp judgment module, and if the vehicle in front of the right-turning vehicle reaches the stop line, the signal lamp is red, the vehicle is a blocking vehicle;

the risk evaluation module is used for determining the potential field distribution condition of the lane-changing overtaking vehicle according to the road potential field model and evaluating the lane-changing risk of the vehicle according to the potential field distribution condition;

the track changing track planning module plans a vehicle track changing track within the range of the security domain according to the evaluation result of the risk evaluation module, and if the potential field security critical value is C, the planned track changing track of the vehicle A needs to meet the requirement of E at the same time _S1 < C and E _S2 The condition < C can be regarded as driving within a safe range; e _S1 、E _S2 A potential field strength representing a boundary field formed by a fleet of adjacent lanes when a right-turn vehicle changes lane overtaking; the lane change track planning module acquires a lane change track of the vehicle, and then sends the lane change track to the road side unit in real time through the control signal sending module, the road side unit transmits the lane change track to the vehicle-mounted unit, and the vehicle-mounted unit receives the signal and feeds the signal back to the vehicle control module;

and the vehicle control module takes the track line planned by the track changing track planning module as a reference, and completes the tracking of the reference track by solving the track coordinate and the vehicle speed of the track changing through online optimization.

Preferably, the road side unit adopts an LTE-V/5G communication technology and comprises a high-gain directional beam control read-write antenna and a radio frequency controller; the high-gain directional beam control read-write antenna is a microwave transceiver module and is responsible for transmitting/receiving, modulating/demodulating, coding/decoding, encrypting/decrypting signals and data; the radio frequency controller is a module for controlling data transmission and reception and processing information transmission and reception to the upper computer;

the vehicle-mounted unit is an OBU or an OBD diagnosis terminal and is a microwave device which communicates with vehicle-mounted units of other vehicles by adopting a short-range communication network DSRC technology;

the vehicle is a vehicle with a higher L4 level autonomy level, 2 vehicle-mounted cameras are arranged on the vehicle and are respectively placed in front of the vehicle and behind the vehicle, the current road environment of the vehicle is shot and recorded by the vehicle-mounted cameras, and real-time image information around the vehicle is acquired;

a millimeter wave radar and a laser radar are arranged on the vehicle; the system comprises a millimeter wave radar, a front-end radar and four corner radars, wherein the 5 millimeter wave radars consist of a forward radar and the four corner radars; 3 laser radars, which are arranged at the left, middle and right positions of the top of the vehicle; the vehicle-mounted camera, the laser radar signal and the millimeter wave radar signal converted by the CAN card are input into the industrial personal computer together for perception fusion, and the target on the road is identified and tracked;

and the working condition machine is used for carrying out target-level fusion on information data sensed by the vehicle-mounted camera, the millimeter wave radar and the laser radar respectively, and the fused information is transmitted to the road side unit through the vehicle-mounted unit.

Preferably, the expression of the road potential field model is as follows:

in the formula, E _S1 、E _S2 Indicating the potential field strength of the boundary field formed by the fleet of adjacent lanes when the right-turn vehicle changes lane and overtaking, and setting the y-axis coordinate of the right-turn vehicle A at the time t as y _t And the axis coordinates of the j1 and j2 of the adjacent lane of the A vehicle are y _s，j1 、 y _s，j2 ,

A distance vector indicating that the vehicle a is directed to the boundary line j 1; in the same way, the method has the advantages of,

a distance vector indicating that the vehicle a is directed to the boundary line j2, and ρ is a road boundary field coefficient.

Preferably, the track-changing trajectory expression is as follows:

in the formula, x _t 、y _t Is the abscissa and ordinate values of the right-turning vehicle A at time t, and Vt is the x-axis at time tSpeed in direction, assumed to be constant, w is lane width, t _f Planning time required for changing lanes for vehicles, generally t _f The stability during lane changing can be ensured when the time is more than 3 s;

preferably, the vehicle control module solves the track coordinate and the vehicle speed of the right-turn vehicle lane change in the following way:

establishing a nonlinear dynamic prediction model of vehicle motion, wherein L is the wheelbase of the vehicle, and L is the wheelbase of the vehicle _f The distance from the center of mass to the most front section of the bicycle; the state variable and control input of the right-turn overtaking vehicle is X _t ＝[x _t ，y _t ，θ _t ，v _t ] ^T And mu _t ＝ [δ _t ，a _t ] ^T ，(x _t ，y _t ) As position coordinates of the vehicle at time t, theta _t Yaw angle, v, at time t of the vehicle _t Speed of the vehicle at time t, δ _t The steering angle of the front wheels at time t of the vehicle, a _t Acceleration at time t of the vehicle;

in the formula:

which represents the yaw angle of the k +1 th step at time t of the vehicle at a total time step of p,

as defined above, is the amount of the kth step,

represents the acceleration of the vehicle at the kth step at time t when the total time step is p; th is the elapsed time from the start of the lane change preparation of the right-turn vehicle a at the initial lane to the completion of the lane change of the right-turn vehicle a.

The invention has the advantages and positive effects that:

1. the invention fuses intersection signal information, vehicle sight distance information acquired by vehicle-mounted sensing equipment and traffic environment information acquired by a road side unit, enhances the sensing range and realizes over-sight distance sensing of right-turning vehicles. The vehicle-road information fusion perception has the advantages of low delay, wide coverage range, high data precision and the like.

2. The invention is based on the internet of vehicles technology, senses the road environment of the intersection in real time, dynamically guides the overtaking driving behavior of the right-turning vehicle by combining the cooperative driving of a plurality of vehicles in the range of the entrance road of the intersection and the design of the intelligent vehicle driving track optimization strategy, reduces the delay caused by the obstruction of the bus and improves the passing efficiency of the intersection.

3. Compared with the traditional fixed lane dividing method, the method for guiding the social vehicle with the right turn to run into the lane after the increase has the advantages that on one hand, the virtual lane form is combined with the characteristic of small transverse swing of the intelligent vehicle, the existing lane resources are fully utilized, and the waste of the road resources caused by the arrangement of fixed lane facilities is avoided; on the other hand, the virtual lane is flexible in maneuvering and can respond to the overtaking demand of the right-turning vehicle in real time.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the provided drawings without creative efforts.

Fig. 1 is a schematic structural view of an intersection right-turn vehicle overtaking guidance system according to embodiment 1 of the present invention;

fig. 2 is a schematic flow chart of an intersection right-turn vehicle overtaking guiding method according to embodiment 2 of the present invention;

FIG. 3 is one of the schematic views of the right turn vehicle overtaking guiding method at the intersection according to the present invention;

FIG. 4 is a second schematic view of a right-turn vehicle passing guiding method at an intersection according to the present invention;

FIG. 5 is a schematic diagram of a lane-changing overtaking track of a right-turn vehicle in the intersection right-turn vehicle overtaking guiding method;

FIG. 6 is an intersection in-line vehicle dissipation plot.

Detailed Description

The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only a part of the embodiments of the present application, and not all of the embodiments. All other embodiments obtained by a person of ordinary skill in the art based on the embodiments in the present application without making any creative effort belong to the protection scope of the present application.

Example 1

Referring to fig. 1, the system for guiding the right-turn vehicle overtaking through the lane provided by the invention comprises a Road Side Unit 1 (RSU) for acquiring Road traffic information in real time, a main control device 3 and an on-board Unit 2, wherein the main control device 3 and the on-board Unit 2 are connected with the Road Side Unit 1, the Road Side Unit 1 communicates with the on-board Unit 2 by adopting an LTE-V/5G communication technology, data information acquired by the vehicle provided with the on-board Unit 2 is sent to the main control device 3 in real time, and control instruction information of the main control device 3 is sent to the vehicle provided with the on-board Unit 2, so that the requirement of vehicle-lane cooperation is met.

In this embodiment, the design of the roadside unit 1 complies with the national standard of GB20851, the communication frequency is 5.8GHz, and the information transmission coverage is 300 m; the RSU comprises a high-gain directional beam control read-write antenna and a radio frequency controller; the high-gain directional beam control read-write antenna is a microwave transceiver module and is responsible for transmitting/receiving, modulating/demodulating, coding/decoding, encrypting/decrypting signals and data; the radio frequency controller is a module for controlling data transmission and reception and processing information transmission and reception to the upper computer;

the on-Board unit 2 is an obu (on Board unit) or obd (on Board diagnostic) diagnostic terminal, and is a microwave device that communicates with on-Board units of other vehicles by using a Short-Range communication network dsrc (dedicated Short Range communication) technology.

The vehicle guided in this embodiment is a vehicle (level L4) with a high level of autonomy, the vehicle is equipped with necessary sensing equipment, the sensing equipment of the vehicle includes a vehicle-mounted camera 4 and a radar sensing device 5 (radar sensor), information collected by different sensors is fused in a working condition machine 6, the fused information is transmitted to a road side unit 1 through a vehicle-mounted unit 2, the road side unit 1 collects information of a plurality of vehicle-mounted units 2 and feeds the information back to a main control device 3, information fusion is performed in the main control device 3, sensing enhancement is performed, finally, the main control device 3 feeds back a track changing track obtained by a track changing track planning module to the vehicle through a communication network, and the vehicle outputs an optimal driving route through a vehicle control module 7.

With reference to fig. 1, in this embodiment, the main control device 3 includes a data storage module 31, a data processing module 32, a time recording module 33, a time calculating module 34, a dissipation time calculating module 35, a signal light judging module 36, a traffic state detecting module 37, a track changing trajectory planning module 38, and a control signal sending module 39;

the data storage module 31 is configured to store data collected by the roadside unit 1, including road traffic information collected by the roadside unit 1 in real time and data transmitted from the on-board unit 2;

the data processing module 32 is configured to fuse image data and traffic flow data of multiple vehicles in the data storage module 31, and complete target identification by feature extraction, detection and classification;

the time recording module 33 is configured to record time when a target vehicle reaches a detection range, and record an initial time of a signal lamp and an end time of the signal lamp in a certain passing direction, where the end time of the signal lamp is equal to the initial time of the signal lamp plus the period length of the signal lamp; the signal lamp consists of a red lamp and a green lamp, and the green lamp period length comprises a yellow lamp duration; time of recording: dividing into: recording in the form of seconds;

the time calculation module 34 is used for calculating the time length for the vehicle to reach the specified position according to the distance between the vehicle and the specified position and the current speed of the vehicle; or, the time length of the vehicle reaching the specified position is predicted according to the expected running track and the current speed of the vehicle, and then the time of the vehicle reaching the specified position is calculated or predicted according to the data recorded by the time recording module;

the dissipation time calculation module 35 calculates the time length of the dissipation completion of the queued vehicles at the intersection, and the calculation formula of the dissipation time length of the queued vehicles is as follows:

T _d ＝q*r _e /(n*S-q)

the signal lamp judging module 36 is configured to judge a state and a located time node of a signal lamp when the target vehicle reaches the specified position according to a result calculated by the time calculating module 34, a result calculated by the dissipation time calculating module 35, and data recorded by the time recording module 33, where if the starting time of the signal lamp is less than half of the perimeter length of the signal lamp when the target vehicle reaches the specified position, the signal lamp is in an initial stage of the signal lamp, and otherwise, the signal lamp belongs to a middle and later stage of the signal lamp;

the traffic status detection module 37 includes an obstructing vehicle identification module 371, a risk assessment module 372;

the hindered vehicle identification module 371 is configured to determine whether the vehicle ahead of the right-turn vehicle is a hindered vehicle according to the results output by the time calculation module 34 and the signal lamp determination module 36, and determine that the vehicle ahead of the right-turn vehicle is a hindered vehicle if the signal lamp is a red lamp when the vehicle ahead of the right-turn vehicle reaches the stop line;

the risk assessment module 372 is used for determining the potential field distribution condition of the lane-changing overtaking vehicle according to the road potential field model and assessing the lane-changing risk of the vehicle according to the potential field distribution condition;

the lane change trajectory planning module 38 is used for planning a lane change trajectory of the vehicle within the range of the security domain according to the evaluation result of the risk evaluation module 372; the lane change track planning module 38 acquires a planned lane change track of the vehicle, sends the planned lane change track of the vehicle to the road side unit 1 in real time through the control signal sending module 39, transmits the planned lane change track to the vehicle-mounted unit 2 through LTE-V/5G communication, and feeds the planned lane change track back to the vehicle control module 7 of the vehicle A after the vehicle-mounted unit 2 receives the signal;

the vehicle control module 7 finishes tracking of a reference track by solving track coordinates and vehicle speed of lane changing through online optimization by taking a planned track line as a reference, ensures that a vehicle can keep safe driving within the speed limit of 60km/h, and can ensure the riding experience of a user in the process of safe steering.

In the embodiment, the traffic information collection can be divided into a vehicle side and a road side, and the information of the vehicle side is mainly collected by sensing equipment equipped for the vehicle and is used for assisting the lane changing and overtaking behaviors of the vehicle. The roadside collects road vehicle information (traffic flow information of the rightmost lane including the speed and position information of buses and social vehicles) within the communication range (300m) of the roadside unit, carries out data fusion in the data processing module 32, and mainly identifies and tracks the moving road environment (traffic participants such as vehicles and pedestrians).

Further, in the embodiment, 2 vehicle-mounted cameras 4 are arranged on the vehicle and respectively placed in front of the vehicle and behind the vehicle, and the vehicle-mounted cameras can shoot and record the current road environment of the vehicle and acquire real-time image information around the vehicle;

the radar sensing device 5 is one of external sensors of an intelligent vehicle, and can be divided into an ultrasonic radar, a millimeter wave radar, a laser radar and the like, and the principles of different radars are different. The invention is mainly used for detecting information such as distance, speed, angle and the like of objects such as lane lines, other vehicles, pedestrians, bicycles and the like, and can arrange a millimeter wave radar and a laser radar on the vehicle; the system comprises a millimeter wave radar, a front-end radar and four corner radars, wherein the 5 millimeter wave radars consist of a forward radar and the four corner radars; 3 laser radars, which are arranged on the left, middle and right positions of the top of the vehicle; the vehicle-mounted camera 4, the laser radar signal and the millimeter wave radar signal converted by the CAN card are input into the industrial personal computer 6 together for perception fusion, and the target on the road is identified and tracked;

the working condition machine 6 is mainly used for performing target level fusion on information data sensed by the vehicle-mounted camera, the millimeter wave radar and the laser radar respectively, outputting information such as positions and speeds of other vehicles and obstacles in vehicle vision, transmitting the information to the road side unit 1 through the vehicle-mounted unit 2, and providing the information to the main control equipment 3 for decision analysis through the road side unit 1.

In addition, in the planning process of the vehicle driving path, it is considered that the most important thing is to avoid the occurrence of accidents such as collision with other vehicles, and therefore, in the planning process of the vehicle driving path, a feasible set of the vehicle lane changing track needs to be obtained within the range of a safety domain.

In this embodiment, when the right-turn vehicle a changes lane and overtakes the vehicle in advance through the intersection, the vehicles ahead of the adjacent lane of the vehicle a are in a static avoidance state, and thus can be regarded as static obstacles, and the multiple vehicles are in a static queuing state, so as to form a static fleet of vehicles, which can be regarded as a boundary line, which is to be avoided by the vehicle a in the lane changing process, and the collision risk increases with the decrease in the distance between the right-turn vehicle a and the boundary line, so that the risk assessment module 372 can draw out the safety field where the vehicle a travels by using the road potential field model, and the model expression is as follows:

in the formula, E _S1 、E _S2 Indicating the potential field strength of the boundary field formed by the fleet of adjacent lanes of vehicle a, assuming the y-axis coordinate of vehicle a at time t as y _t And the axis coordinates of the boundary j1 and j2 of the adjacent lane of the A vehicle are y _s，j1 、y _s，j2 ，

A distance vector indicating that the vehicle a is directed to the boundary line j 1; in the same way, the method for preparing the composite material,

the direction is represented as a distance vector of the vehicle a pointing to the boundary line j2, and ρ is a road boundary field coefficient.

Based on potential field calculation, the potential field distribution condition is clearly expressed in the graph 5, the intensity of the safe potential field is represented by the color depth, the darker the color is, the larger the intensity value of the safe potential field is, and the higher the road traffic safety risk is; setting the safety critical value of the potential field as C, the planned lane change track of the vehicle A needs to meet E at the same time _S1 < C and E _S2 A condition of < C;

when the lane change track planning module plans the lane change track of the vehicle, the most common method is described by a fifth-order polynomial, and the lane change track expression is obtained by derivation of the fifth-order polynomial:

in the formula, x _t 、y _t Is the abscissa and ordinate values of the vehicle at time t, V is the lateral velocity (the velocity in the x-axis direction) of the vehicle, assuming that the lateral velocity of the vehicle remains constant (uniform velocity) during the lane change, w is the lane width, t _f Planning time required for changing lanes for vehicles, generally t _f And the stability during lane changing can be ensured when the time is more than 3 s.

Further, in this embodiment, the vehicle control module 7 mainly aims to use the trajectory planned by the lane change trajectory planning module as a reference, continuously adjust the physical quantities such as the lateral position, the cruising speed, the acceleration, and the like of the vehicle when the vehicle meets the safety, comfort, and other objectives, and solve the coordinates of the expected trajectory and the vehicle speed of the lane change through online optimization by methods such as MPC and the like until the tracking of the reference trajectory is completed. The elapsed time from the start of the initial lane preparation change to the completion of the lane change for the right-turn vehicle is Th.

The embodiment establishes a nonlinear dynamics prediction model of vehicle motion, wherein L is the wheel base of the vehicle, and L is _f The distance from the center of mass to the most front section of the vehicle, and the state variable and control input of the vehicle which is right-turn overtaking _t ＝[x _t ，y _t ，θ _t ，v _t ] ^T And mu _t ＝[δ _t ，a _t ] ^T ，(x _t ，y _t ) As position coordinates of the vehicle at time t, theta _t Yaw angle, v, at time t of the vehicle _t Speed of the vehicle at time t, δ _t Steering angle of front wheels at time t of vehicle, a _t Acceleration at time t of the vehicle; while the position and control inputs of the surrounding vehicles are also obtained separately, as:

dividing Th time steps into N _p Then the kinematic state of the vehicle at step k +1 can be derived from the state at step k:

in the formula:

represents the ordinate of the k +1 th step at time t of the vehicle at a total time step p,

as defined above, is the amount of the kth step,

which represents the acceleration of the vehicle at time t, step k, at a total time step p.

Example 2

The embodiment provides a signalized intersection right-turn vehicle lane-borrowing overtaking driving guiding method, as shown in fig. 3, an intersection from west to east is taken as an example, a right lane is composed of buses and ordinary vehicles, the driving directions of all buses arriving at the intersection are assumed to be straight, the driving directions of other ordinary vehicles are straight or right-turn, due to the influence of signal lamps, a rear right-turn vehicle a is obstructed by a front bus, in order to reduce the waiting time of the right-turn vehicle a, the front vehicle and the vehicles of the adjacent lanes are guided to automatically approach to lane lines, so that the original two lanes are divided into three lanes through red virtual lane lines, and then the vehicle a is switched to the increased lanes to exceed the buses and drive in right turn.

In the embodiment, traffic flow information of the rightmost lane, including speed and position information of buses and social vehicles, is acquired through the road side unit; the construction of traffic flow, namely the identification of buses and common social vehicles; the default is that the steering information of the vehicle can be acquired in advance under the networking environment, so that whether the vehicle behind the bus is a right-turning vehicle or not can be recognized in advance.

Assuming that the intersection shown in fig. 3 is a standard intersection and is divided into a north-south direction and an east-west direction, the duration of the green light (including yellow light) in the east-west phase is L1, the duration of the red light is R1, the duration of the green light (including yellow light) in the north-south phase is L2, and the duration of the red light is R2, then L1+ R1 is L2+ R2 according to the signal timing rule.

The driving direction in this embodiment is from west to east, and when the vehicle reaches the stop line time at the intersection, the two signal states of the red light and the green light (including the yellow light) are generally corresponding, and under different signal states, the passing process of the vehicle and the influence on other vehicles are different.

Based on this, the embodiment provides a method for guiding right-turn vehicles to overtake for borrowing a lane at a signalized intersection, and the specific process refers to fig. 2, and includes the following steps:

step S1, assuming that the distance between the stop line 100m and the road side unit is a detection range, the road side unit detects the arrival of a right-turn vehicle A following the bus in the right side lane, and the time when the right-turn vehicle A arrives in the detection range is recorded as T1 (09: 00: 00);

step S2, judging whether the signal lamp state is green at the moment of T1; if yes, go to step S3; if not, go to step S15;

step S3, when the right-turn vehicle a is detected and it is determined that the signal light state is green at this time, two situations may occur: in the middle and later stages of the green light, the vehicles in queue in front of the vehicle A are dissipated; at the initial stage of the green light, queuing vehicles which are not released completely still exist before the stop line; if the first case is true, go to step S4; if the second case is true, the process proceeds to step S8;

step S4, predicting the time length Ty (unit S) required for reaching the stop line according to the distance LA between the right-turn vehicle A and the stop line and the current speed V, wherein if Ty is LA/V, the time when the right-turn lane A reaches the stop line is T1+ Ty;

step S5, assuming that the initial time of the east-west phase green light turning on is T0, calculating the end time of the green light at this time to be T0+ L1 according to the green light cycle length, and determining T0+ L1> T1+ Ty? If yes, the vehicle can normally pass through the green light phase, and the step is switched to step S6; if not, indicating that the vehicle cannot reach the stop line in the green light phase, and turning to the step S7;

step S7, the traffic state detection module 33 detects an obstructing vehicle in front of the right-turning vehicle a; assuming that all vehicles in front of the vehicle a run at a constant speed, taking a lane in which the vehicle a is located as an example, the vehicles in front of the vehicle a are respectively B1 and B2., and the distances LB1 and LB2.. from a stop line and the current speeds VB1 and VB2.. are recognized as B1 and B2.. therefore, the time for passing through the stop line is TB1 and tb2.. respectively according to a distance formula; taking a vehicle B1 as an example, calculating the time when the vehicle B1 passes through the stop line as T1+ TB1, comparing the time with the end time of the green light phase, and judging that T0+ L1 is greater than T1+ TB 1? If yes, the vehicle B1 can normally pass, and if not, the vehicle B1 cannot pass; by analogy, information of other vehicles positioned in front of the vehicle A on the lane where the vehicle A is positioned and the adjacent lane of the vehicle A is judged, and accordingly, obstructing vehicles Z1 and Z2. positioned in front of the same lane of the vehicle A and obstructing vehicles C1 and C2. positioned in front of the adjacent lane of the vehicle A are identified when the green light phase is ended;

step S8, calculating time Td of the dissipation completion of the queued vehicle, where an intersection queued vehicle dissipation map is shown in fig. 6, and the specific calculation method is as follows:

the time required for the vehicle in line in front of the stop line to dissipate is mainly determined by the vehicle arrival rate, the saturation flow rate and the red light duration, and the calculation formula is as follows:

q*(r _e +T _d )＝n*S*T _d

through formula conversion, the calculation formula of the dissipation time of the queuing vehicles can be obtained as follows:

T _d ＝q*r _e /(n*S-q)

in the formula: t is _d -in-line vehicle dissipation time, s; q-passing phase vehicle arrival rate, pcu/h; r is _e -the effective red light time of the traffic phase, s; n-the number of lanes corresponding to the passing phase; s-single lane saturation flow rate, pcu/h;

step S10, in order to ensure that the right-turn overtaking vehicle a does not affect the vehicle normally running in the own direction, the overtaking vehicle should be completed before the red light period of the own phase is ended, and the time Tg when the red light period of the own phase is ended is read to be T0+ L1+ R1;

step S11, predicting the time Tw for the right-turning vehicle A to pass through the stop line according to the expected overtaking track line according to the current distance between the right-turning vehicle A and the stop line;

Tw＝Th+Tf

Tf＝Lb/V

in the formula, Th is the time length required by the lane change of the right-turning vehicle A, the value range is 3-8 s, Tf is the time length from driving to a stop line after the lane change, Lb is the distance from the right-turning vehicle A to the increased virtual lane to the stop line, and V is the speed for driving the right-turning vehicle A;

step S12, determine T1+ Tw > Tg? If not, indicating that the vehicle can finish right turning before the red light period of the phase is finished, then turning to step S13; if yes, the step is shifted to step S15;

step S13, the main control device sends guiding information to obstructing vehicles Z1 and Z2. located in the front of the same lane of the vehicle A and vehicles C1 and C2. located in the front of the adjacent lane of the vehicle A, and the vehicles are guided to approach to the edge line of the lane for deceleration driving;

step S14, the main control equipment guides the right-turning vehicle A to overtake and turn right;

in step S15, the roadside apparatus transmits guidance information to the on-board unit of the right-turn vehicle a, and the guidance vehicle a decelerates.

The expected passing trajectory line of the right turn vehicle a in step S11 in the present embodiment is planned as follows;

in the formula, x _t 、y _t Is the abscissa and ordinate values of the right-turning vehicle A at time t, V is the lateral velocity of the vehicle A, assuming that the lateral velocity of the vehicle remains unchanged during the lane change, w is the lane width, t _f Planning time required for changing lanes for vehicles, generally t _f And the stability during lane changing can be ensured when the time is more than 3 s.

Step S14, when the right-turn vehicle A is driven to change lanes, a risk evaluation module in the main control equipment needs to determine the potential field distribution condition of the lane-changing overtaking vehicle A according to the road potential field model, so that the lane-changing risk of the vehicle is evaluated, and a feasible set of the lane-changing track of the vehicle is obtained in the range of a safety domain; if the potential field safety critical value is C, the expected overtaking track line planned when the right-turning vehicle A overtakes the lane simultaneously meets the requirement E _S1 < C and E _S2 The condition < C can be regarded as driving within a safe range; wherein the road potential field model expression is as follows:

in the formula, E _S1 、E _S2 Indicating the potential field strength of the boundary field formed by the fleet of adjacent lanes when the right-turning vehicle A changes lanes to overtake, and setting the y-axis coordinate of the right-turning vehicle A at the time t as y _t And the axis coordinates of the boundary j1 and j2 of the adjacent lane of the A vehicle are y _s，j1 、 y _s，j2 ，

a distance vector indicating that the right-turn vehicle a is directed to the boundary line j2, and ρ is a road boundary field coefficient.

Further, the specific way in which the main control device guides the right-turn vehicle a to travel by passing right-turn in step S14 is as follows: the main control equipment firstly sends the vehicle lane change track planned by the lane change track planning module in the safety domain range to the road side unit through the control signal sending module in real time, the road side unit transmits the vehicle lane change track to the vehicle-mounted unit through LTE-V/5G communication, the vehicle-mounted unit feeds back the signal to the vehicle control module of the right-turning vehicle A after receiving the signal, and the vehicle control module solves the track coordinate and the vehicle speed of the right-turning vehicle A lane change through online optimization by taking the planned track as reference.

Further, the way for the vehicle control module to solve the lane change track coordinate and the vehicle speed of the right-turning vehicle A is as follows:

establishing a nonlinear dynamic prediction model of vehicle motion, wherein L is the wheelbase of the vehicle, and L is the wheelbase of the vehicle _f The distance from the center of mass to the most front section of the bicycle; the state variable and control input of the right-turn overtaking vehicle is X _t ＝[x _t ，y _t ，θ _t ，v _t ] ^T And mu _t ＝ [δ _t ，a _t ] ^T ，(x _t ，y _t ) As position coordinates of the vehicle at time t, theta _t Yaw angle, v, at time t of the vehicle _t Speed of the vehicle at time t, δ _t Steering angle of front wheels at time t of vehicle, a _t Acceleration at time t of the vehicle;

in the formula:

represents the abscissa of the k +1 th step at time t of the vehicle at a total time step p,

as defined above, is the amount of the kth step,

The lateral control system of the autonomous vehicle can track the path and curvature output by the control system to reduce tracking errors and ensure stability and comfort of the vehicle. Currently, there are many methods applied in lateral control of an autonomous vehicle: the method comprises the following steps of pre-aiming control, PID control, self-adaptive control, sliding film control, fuzzy control, model prediction control and the like. The lateral control of the vehicle can keep the maximum lateral deviation below 0.4m (the speed is less than 110 km/h) when the vehicle runs straight.

The width of the existing car is generally 1.6m to 1.8m, and the width of a large car such as a common bus is 2.05 m. The average one-lane planning width is 3.0-3.75 according to the road section of the national standard GB50647-2011 urban road intersection planning Specification.

As shown in fig. 4, assuming that the width of a single road is 3.75m, the bus is 2.05m, the common vehicles are 1.8m, and the distance between the vehicles and the edge of the lane line is greater than or equal to 0.4m, the distance between the vehicles is 0.525m and greater than 0.4m, considering the stability of lateral control in a mobile environment, and the improvement of the lateral control precision of the vehicles, it can be determined that the guiding method provided by the embodiment is feasible in an urban road environment, and road land resources are saved while the crossing traffic efficiency is improved.

Finally, it should be noted that the above embodiments are only used for illustrating the technical solutions of the embodiments of the present invention, and not for limiting the same; although embodiments of the present invention have been described in detail with reference to the foregoing embodiments, those skilled in the art will understand that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the embodiments of the present invention.

Claims

1. A signalized intersection right-turning vehicle lane-borrowing overtaking driving guiding method is characterized by comprising the following steps:

step S4, predicting the time length Ty required by the right-turning vehicle A to reach the stop line according to the distance LA between the right-turning vehicle A and the stop line and the current speed V, wherein if the Ty is LA/V, the time when the right-turning vehicle A reaches the stop line is T1+ Ty;

step S5, setting the initial time of turning on the green light at the traffic direction phase as T0, the period length of the green light as L1, and the period length of the red light as R1, calculating the end time of the green light phase as T0+ L1 according to the period length of the green light, and determining T0+ L1> T1+ Ty? If yes, indicating that the right-turning vehicle A can normally pass through the green light phase, then the step S6 is carried out; if not, indicating that the right-turn vehicle A can not reach the stop line in the green light phase, then the step S7 is carried out;

step S7, detecting a vehicle in front of the right-turning vehicle A by a traffic state detection module, and determining obstructing vehicles Z1 and Z2 … positioned in front of the same lane of the right-turning vehicle A and obstructing vehicles C1 and C2 … positioned in front of adjacent lanes of the right-turning vehicle A; in determining the obstructing vehicle, the time length of each vehicle passing through the stop line is calculated according to the distance from each vehicle in front of the right-turning vehicle a to the stop line and the current speed thereof, the time when each vehicle passes through the stop line is determined according to the time length of each vehicle passing through the stop line, and then the green light phase end time T0+ L1> the time when the vehicle in front of the right-turning vehicle a passes through the stop line? If so, indicating that the vehicle in front of the right-turning vehicle A can normally pass through; if not, the vehicle in front of the right-turning vehicle A cannot pass through the device, and the device is a blocking vehicle;

T _d ＝q*r _e /(n*S-q)

in the formula: t is a unit of _d Dissipation time for queued vehicles, s; q is the passing phase vehicle arrival rate, pcu/h; r is _e Effective red time, s, for the pass phase; n is the number of lanes corresponding to the passing phase; s is the saturation flow rate of a single lane, pcu/h;

step S9, determine T0+ L1> T0+ Td + Ty? If yes, indicating that the right-turning vehicle A can still reach the stop line after the vehicles in the queue are all dissipated in the last signal period, then the step S6 is carried out; if not, indicating that the queued vehicles cannot be completely dissipated in the previous period, then the method goes to step S7;

step S10, in order to ensure that the right-turn vehicle a does not affect the vehicle normally traveling in the own direction when passing, the right-turn passing vehicle a should finish before the end of the red light period of the own phase, and the time Tg when reading the end of the red light period of the own phase is T0+ L1+ R1;

step S11, predicting the time Tw for the right-turn vehicle A to travel to the stop line according to the expected overtaking track line according to the current distance between the right-turn vehicle A and the stop line;

Tw＝Th+Tf

Tf＝Lb/V

step S12, determine T1+ Tw > Tg? If not, indicating that the vehicle can finish right turning before the phase red light period is finished, then the step S13 is carried out; if yes, the step is shifted to step S15;

in step S15, the roadside unit transmits guidance information to the on-board unit of the right-turn vehicle a to guide the right-turn vehicle a to decelerate.

2. The guidance method according to claim 1, wherein the planning of the expected passing trajectory line of the right turn vehicle a of step S11 is as follows;

in the formula, x _t 、y _t Is the abscissa and ordinate values of the right-turning vehicle A at time t, Vt is the speed in the x-axis direction at time t, w is the lane width, t _f Planning time required for changing lanes for vehicles, generally t _f ＞3s。

3. The guiding method according to claim 1, wherein when the right-turn vehicle a in step S14 is driven to change lanes, the risk assessment module in the main control device needs to determine the potential field distribution of the lane-change overtaking vehicle according to the road potential field model, so as to assess the lane-change risk of the vehicle, and obtain a feasible set of vehicle lane-change tracks within the range of the security domain; if the potential field safety critical value is C, the expected overtaking track line planned when the right-turning vehicle A overtakes the lane simultaneously meets the requirement E _s1 < C and E _s2 The condition < C can be regarded as that the vehicle runs in a safe range; wherein the road potential field model expression is as follows:

in the formula, E _S1 、E _S2 Indicating the potential field strength of the boundary field formed by the fleet of adjacent lanes when the right-turning vehicle A changes lanes and overtakes, and setting the y-axis coordinate of the right-turning vehicle A at the time t as y _t And the axis coordinates of the boundary j1 and j2 of the adjacent lane of the A vehicle are y _s，j1 、y _s，j2 ,

4. The guiding method according to claim 1, wherein the specific way that the master control device guides the right-turn vehicle a to pass through the overtaking right-turn driving in step S14 is as follows: the main control equipment firstly sends the vehicle lane changing track planned by the lane changing track planning module in the safety domain range to the road side unit in real time through the control signal sending module, the road side unit transmits the vehicle lane changing track to the vehicle-mounted unit through LTE-V/5G communication, the vehicle-mounted unit receives the signal and feeds the signal back to the vehicle control module of the right-turning vehicle A, and the vehicle control module solves the track coordinate and the vehicle speed of the right-turning vehicle A lane changing track through online optimization by taking the planned track as reference.

5. The guidance method of claim 4, wherein the vehicle control module solves the trajectory coordinates and vehicle speed of the right-turn vehicle A lane change as follows:

establishing a nonlinear dynamic prediction model of vehicle motion, wherein L is the wheelbase of the vehicle, and L is the wheel base of the vehicle _f The distance from the mass center to the most front section of the bicycle; the state variable and control input of the right-turn overtaking vehicle is X _t ＝[x _t ，y _t ，θ _t ，v _t ] ^T And mu _t ＝[δ _t ，a _t ] ^T ，(x _t ，y _t ) As position coordinates of the vehicle at time t, theta _t Yaw angle, v, at time t of the vehicle _t Speed of the vehicle at time t, δ _t The steering angle of the front wheels at time t of the vehicle, a _t Acceleration at time t of the vehicle;

dividing Th time steps into N _p Step, the kinematic state of the vehicle at the step (k + 1) is derived from the state at the step (k) by using the following formula:

in the formula:

defined above, is the amount of the kth step,

6. A signalized intersection right-turning vehicle overtaking driving guide system comprises a road side unit, a main control device and a vehicle-mounted unit, wherein the road side unit is used for collecting road traffic information in real time; the method is characterized in that: the main control equipment comprises a data storage module, a data processing module, a time recording module, a time calculating module, a dissipation time calculating module, a signal lamp judging module, a traffic state detecting module, a track changing track planning module and a control signal sending module;

the time calculation module is used for calculating the time length of the vehicle reaching the specified position according to the distance between the vehicle and the specified position and the current speed of the vehicle; or predicting the time length of the vehicle reaching the specified position according to the expected running track and the current speed of the vehicle, and then calculating or predicting the time of the vehicle reaching the specified position according to the data recorded by the time recording module;

T _d ＝q*r _e /(n*S-q)

the traffic state detection module comprises a vehicle blocking identification module and a risk assessment module; the vehicle blocking identification module is used for judging whether the vehicle in front of the right-turning vehicle is a blocking vehicle or not according to the results output by the time calculation module and the signal lamp judgment module, and if the vehicle in front of the right-turning vehicle reaches the stop line, the signal lamp is red, the vehicle is a blocking vehicle;

7. The guidance system of claim 6, wherein the roadside unit employs LTE-V/5G communication technology, including a high-gain directional beam-steering read-write antenna and a radio frequency controller; the high-gain directional beam control read-write antenna is a microwave transceiver module and is responsible for transmitting/receiving, modulating/demodulating, coding/decoding, encrypting/decrypting signals and data; the radio frequency controller is a module for controlling data transmission and reception and processing information transmission and reception to the upper computer;

the vehicle is a vehicle with a higher L4 level autonomy level, 2 vehicle-mounted cameras are arranged on the vehicle and are respectively placed in front of the vehicle and behind the vehicle, the current road environment of the vehicle is shot and recorded by the vehicle-mounted cameras, and the real-time image information around the vehicle is acquired;

arranging a millimeter wave radar and a laser radar on the vehicle; the system comprises a millimeter wave radar, a front-end radar and four corner radars, wherein the 5 millimeter wave radars consist of a forward radar and the four corner radars; 3 laser radars arranged at the left, middle and right positions of the top of the vehicle; the vehicle-mounted camera, the laser radar signal and the millimeter wave radar signal converted by the CAN card are input into an industrial personal computer together for perception fusion, and a target on a road is identified and tracked;

8. Guidance system according to claim 6, wherein the road potential field model expression is as follows:

in the formula, E _S1 、E _S2 Indicating the potential field strength of the boundary field formed by the fleet of adjacent lanes when the right-turn vehicle changes lane and overtaking, and setting the y-axis coordinate of the right-turn vehicle A at the time t as y _t And the axis coordinates of the boundary j1 and j2 of the adjacent lane of the A vehicle are y _s，j1 、y _s，j2 ,

indicating the distance vector from the vehicle A to the boundary line j2, p being the road boundaryThe field coefficient.

9. The guidance system of claim 6, wherein the lane change trajectory expression is:

in the formula, x _t 、y _t Is the abscissa and ordinate values, V, of the right-turning vehicle A at time t _t The speed in the x-axis direction at time t, w is the lane width, t _f Planning time required for changing lanes for vehicles, generally t _f ＞3s。

10. The guidance system of claim 6 wherein the vehicle control module solves the trajectory coordinates and vehicle speed for the right hand vehicle lane change as follows:

establishing a nonlinear dynamic prediction model of vehicle motion, wherein L is the wheelbase of the vehicle, and L is the wheelbase of the vehicle _f The distance from the center of mass to the most front section of the bicycle; the state variable and control input of the right-turn overtaking vehicle is X _t ＝[x _t ，y _t ，θ _t ，v _t ] ^T And mu _t ＝[δ _t ，a _t ] ^T ，(x _t ，y _t ) As position coordinates of the vehicle at time t, theta _t Yaw angle, v, at time t of the vehicle _t Speed of the vehicle at time t, δ _t The steering angle of the front wheels at time t of the vehicle, a _t Acceleration at time t of the vehicle;

in the formula:

as defined above, is the amount of the kth step,

represents the acceleration of the vehicle at the kth step at time t when the total time step is p; th is the elapsed time from the start of the preparation lane change of the right-turn vehicle a at the initial lane to the completion of the lane change of the right-turn vehicle a.