CN114973737A - Method for controlling automatic driving vehicle to enter and exit lane special for automatic driving - Google Patents
Method for controlling automatic driving vehicle to enter and exit lane special for automatic driving Download PDFInfo
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- CN114973737A CN114973737A CN202210637744.9A CN202210637744A CN114973737A CN 114973737 A CN114973737 A CN 114973737A CN 202210637744 A CN202210637744 A CN 202210637744A CN 114973737 A CN114973737 A CN 114973737A
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/09—Arrangements for giving variable traffic instructions
- G08G1/0962—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages
- G08G1/0967—Systems involving transmission of highway information, e.g. weather, speed limits
- G08G1/096708—Systems involving transmission of highway information, e.g. weather, speed limits where the received information might be used to generate an automatic action on the vehicle control
- G08G1/096725—Systems involving transmission of highway information, e.g. weather, speed limits where the received information might be used to generate an automatic action on the vehicle control where the received information generates an automatic action on the vehicle control
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/065—Traffic control systems for road vehicles by counting the vehicles in a section of the road or in a parking area, i.e. comparing incoming count with outgoing count
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Abstract
The invention discloses a method for controlling an automatic driving vehicle to enter and exit an automatic driving special lane, when the automatic driving vehicle enters and exits the automatic driving special lane freely, acquiring the number of first automatic driving vehicles corresponding to the automatic driving special lane, the number of second automatic driving vehicles corresponding to a non-automatic driving special lane and the number of manual driving vehicles corresponding to the non-automatic driving special lane in a preset time range of a current driving road section; determining the proportional value of the number of the automatic driving vehicles corresponding to the current driving road section within the preset duration range according to the data; comparing the proportional value with a preset threshold value; and when the proportion value is larger than the preset threshold value, adjusting the mode of the automatic driving vehicle entering and exiting the automatic driving special lane to limit the entering and exiting. The method realizes the purpose that the entering and exiting modes of the automatic driving vehicle between the automatic driving special lane and the non-automatic driving special lane are dynamically changed along with the state of the traffic flow.
Description
Technical Field
The invention relates to the technical field of intelligent traffic, in particular to a method for controlling an automatic driving vehicle to enter and exit an automatic driving special lane.
Background
In the gradual development process of automatic driving, the hybrid driving of automatic driving vehicles and manual driving vehicles on roads is an indispensable stage. In a mixed traffic flow composed of automatically driven vehicles and manually driven vehicles, complex interactive behaviors exist between the automatically driven vehicles and the manually driven vehicles, and certain measures are required to ensure the safety and efficiency of all the vehicles. Among them, setting an automatic driving exclusive lane is considered as an effective method. After the automatic driving special lane is arranged on the road, the automatic driving vehicle needs to realize the operation of entering and exiting between the non-automatic driving special lane and the automatic driving special lane, and according to the difference of the mode setting of the automatic driving vehicle entering and exiting the automatic driving special lane, the automatic driving vehicle enters or exits the automatic driving special lane in two modes: a free access mode and a restricted access mode, when the free access mode is adopted, the automatic driving vehicle can freely enter and exit at any position between the non-automatic driving special lane and the automatic driving lane; when the restricted entry and exit manner is employed, the autonomous vehicle can only enter and exit at a specific location between the non-autonomous driving-only lane and the autonomous driving lane. Because different traffic flow states are suitable for different access manners, the manner in which autonomous vehicles access the dedicated lanes for autonomous driving needs to be adapted to the state of the traffic flow and can be dynamically changed.
Disclosure of Invention
In view of this, embodiments of the present invention provide a method for controlling an autonomous vehicle to enter and exit an autonomous driving dedicated lane, so as to solve a technical problem in the prior art that an entering and exiting manner of the autonomous vehicle between the autonomous driving dedicated lane and a non-autonomous driving dedicated lane cannot be dynamically changed.
The technical scheme provided by the invention is as follows:
a first aspect of an embodiment of the present invention provides a method for controlling an autonomous vehicle to enter and exit an autonomous dedicated lane, where the method includes: when the automatic driving vehicles enter and exit the automatic driving special lane freely, acquiring the number of first automatic driving vehicles corresponding to the automatic driving special lane, the number of second automatic driving vehicles corresponding to the non-automatic driving special lane and the number of manual driving vehicles corresponding to the non-automatic driving special lane in a preset time range of a current driving road section; determining a proportional value of the number of the automatic driving vehicles corresponding to the current driving road section within a preset time range according to the number of the first automatic driving vehicles, the number of the second automatic driving vehicles and the number of the manual driving vehicles; comparing the proportional value with a preset threshold value; and when the proportion value is larger than the preset threshold value, adjusting the mode that the automatic driving vehicle enters and exits the automatic driving special lane into the mode of limiting the entering and exiting.
Optionally, the method further comprises: monitoring the number of vehicles in the current driving road section; when the proportion value of the current driving road section is larger than the preset threshold value within the continuous preset time range of the preset number, the mode that the automatic driving vehicle enters and exits the automatic driving special lane is adjusted to be limited.
Optionally, after the adjusting the manner in which the autonomous vehicle enters and exits the autonomous-dedicated lane to restrict entry and exit, the method further comprises: and when the proportion value of the current driving road section is smaller than the preset threshold value within the continuous preset time range of the preset number, adjusting the mode that the automatic driving vehicle enters and exits the automatic driving special lane to freely enter and exit.
Optionally, the method further comprises: acquiring the number of non-automatic driving special lanes corresponding to the current driving road section and the road section length corresponding to the current driving road section; determining a target driving range according to the number of the non-automatic driving special lanes, the length of the road section and a preset lane changing position, wherein the preset lane changing position comprises a road section intersection position and/or a ramp entrance and exit position; and when the automatic driving vehicle enters and exits the automatic driving special lane in a limited entering and exiting mode, controlling the automatic driving vehicle to enter and exit the automatic driving special lane within the target driving range.
Optionally, communication devices are arranged on two sides of the lane dedicated for automatic driving; the method further comprises the following steps: and when the mode of the automatic driving vehicle entering and exiting the automatic driving special lane is adjusted to be limited, the communication equipment is used for sending the entering and exiting mode and the target driving range to the automatic driving vehicle terminal corresponding to the current driving road section.
Optionally, a color-changeable traffic marking is arranged between the automatic driving dedicated lane and the non-automatic driving dedicated lane, and the color-changeable traffic marking is composed of double rows of LED lane lamps and comprises a free access lamp group and a limited access lamp group; the method further comprises the following steps: sending the access mode and the target driving range to a background management end corresponding to the automatic driving special lane by utilizing the communication equipment; when the automatic driving vehicle enters and exits the automatic driving special lane in a free entering and exiting mode, the background management end is utilized to control the free entering and exiting lamp set to be started and control the limited entering and exiting lamp set to be closed; when the access mode of the corresponding automatic driving vehicle in the automatic driving special lane is access limitation, the communication equipment is used for sending the target driving range to the background management end, the background management end is used for controlling the free access lamp group corresponding to the target driving range to be turned on, controlling the free access lamp group corresponding to the automatic driving special lane in other positions to be turned off, and controlling the access limitation lamp group corresponding to the other positions to be turned on.
Optionally, the method further comprises: when the mode of the automatic driving vehicle entering and exiting the automatic driving special lane is adjusted to be limited, the communication equipment is used for sending the entering and exiting mode and the target driving range to the background management end, and the background management end is used for sending the entering and exiting mode and the target driving range to the automatic driving vehicle terminal corresponding to the current driving road section.
A second aspect of an embodiment of the present invention provides an autonomous vehicle entry and exit lane mode control device, including: the system comprises an acquisition module, a display module and a control module, wherein the acquisition module is used for acquiring the number of first automatic driving vehicles corresponding to an automatic driving special lane, the number of second automatic driving vehicles corresponding to a non-automatic driving special lane and the number of manual driving vehicles corresponding to the non-automatic driving special lane in a preset time range of a current driving road section when the automatic driving vehicles freely enter and exit the automatic driving special lane; the determining module is used for determining a proportional value of the number of the automatic driving vehicles corresponding to the current driving road section within a preset time range according to the number of the first automatic driving vehicles, the number of the second automatic driving vehicles and the number of the manual driving vehicles; the comparison module is used for comparing the proportional value with a preset threshold value; and the adjusting module is used for adjusting the mode that the automatic driving vehicle enters and exits the automatic driving special lane to limit the entering and exiting when the proportion value is larger than the preset threshold value.
A third aspect of embodiments of the present invention provides a computer-readable storage medium having stored thereon computer instructions for causing a computer to execute a method of controlling an autonomous vehicle to enter and exit an autonomous-dedicated lane according to any one of the first and second aspects of embodiments of the present invention.
A fourth aspect of an embodiment of the present invention provides an electronic device, including: the autonomous driving vehicle lane entering and exiting control method comprises a memory and a processor, wherein the memory and the processor are in communication connection with each other, the memory stores computer instructions, and the processor executes the computer instructions so as to execute the autonomous driving vehicle lane entering and exiting control method according to any one of the first aspect and the first aspect of the embodiment of the invention.
The technical scheme provided by the invention has the following effects:
according to the method for controlling the automatic driving vehicle to enter and exit the automatic driving special lane, when the automatic driving vehicle enters and exits the automatic driving special lane freely, the number of first automatic driving vehicles corresponding to the automatic driving special lane, the number of second automatic driving vehicles corresponding to the non-automatic driving special lane and the number of manual driving vehicles corresponding to the non-automatic driving special lane are obtained within the preset time length range of the current driving road section; determining a proportional value of the number of the automatic driving vehicles corresponding to the current driving road section within a preset time range according to the number of the first automatic driving vehicles, the number of the second automatic driving vehicles and the number of the manual driving vehicles; comparing the proportional value with a preset threshold value; and when the proportional value is larger than the preset threshold value, adjusting the mode of the automatic driving vehicle entering and exiting the automatic driving special lane to limit the entering and exiting. The method acquires the number of vehicles of different driving lanes corresponding to the driving road section in real time, determines the mode of the automatic driving vehicle corresponding to the driving road section entering and exiting the automatic driving special lane by using the vehicle value, optimizes the integral running condition of the traffic flow of the driving road section, and achieves the purpose that the entering and exiting mode of the automatic driving vehicle between the automatic driving special lane and the non-automatic driving special lane is dynamically changed along with the state of the traffic flow.
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, and it is obvious that the drawings in the following description are some embodiments of the present invention, and other drawings can be obtained by those skilled in the art without creative efforts.
FIG. 1 is a flow chart of a method of controlling the manner in which an autonomous vehicle enters and exits an autonomous dedicated lane in accordance with an embodiment of the present invention;
FIG. 2 is a schematic diagram of an implementation road segment including an autonomous-drive-only lane and a non-autonomous-drive-only lane provided in accordance with an embodiment of the invention;
FIG. 3 is a flow chart of a method for autonomous vehicle ingress and egress to and from an autonomous-dedicated lane and location decision-making provided by an embodiment of the present invention;
FIG. 4 is a schematic diagram illustrating the control effect of the lane markings of the dual-row LED lane lamp for the automatic driving purpose provided by the embodiment of the invention;
FIG. 5 is a block diagram of an autonomous vehicle access autonomous lane mode control apparatus according to an embodiment of the present invention;
FIG. 6 is a schematic structural diagram of a computer-readable storage medium provided according to an embodiment of the present invention;
fig. 7 is a schematic structural diagram of an electronic device according to an embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
The embodiment of the invention provides a method for controlling an automatic driving vehicle to enter and exit an automatic driving special lane, which comprises the following steps of:
step S101: when the automatic driving vehicles pass in and out of the automatic driving special lane freely, the number of first automatic driving vehicles corresponding to the automatic driving special lane, the number of second automatic driving vehicles corresponding to the non-automatic driving special lane and the number of manual driving vehicles corresponding to the non-automatic driving special lane in the preset time range of the current driving road section are obtained. Specifically, after the autonomous driving lane is set on the road, the autonomous vehicle can drive in and out between the non-autonomous driving lane and the autonomous driving lane. The method mainly comprises a free access mode and a limited access mode according to different modes of the automatic driving vehicle for accessing the special automatic driving lane. Generally, the autonomous vehicle is allowed to enter and exit the autonomous lane freely by default.
Specifically, the traffic flow information on the current driving road section corresponding to the automatic driving special lane in a data acquisition time period is acquired, and the traffic flow information mainly comprises intersection positions on the road section, ramp entrance and exit positions and the number of vehicles on each lane on a plurality of discrete sections, wherein the vehicle types are mainly distinguished as automatic driving vehicles and manual driving vehicles, namely the number of first automatic driving vehicles corresponding to the automatic driving special lane, the number of second automatic driving vehicles corresponding to the non-automatic driving special lane and the number of manual driving vehicles are included. Various traffic detection devices (coils, videos, ultrasonic waves, RFID and the like) installed on the road sections can be used for acquiring traffic flow information within a preset time range; the preset time range can be set according to the actual traffic condition, generally 1 minute to 5 minutes, and the invention is not particularly limited to this, as long as the requirement is met.
Step S102: and determining a proportional value of the number of the automatic driving vehicles corresponding to the current driving road section within a preset time range according to the number of the first automatic driving vehicles, the number of the second automatic driving vehicles and the number of the manual driving vehicles. Specifically, the proportion value of the number of the automatically driven vehicles on the current driving road section can be obtained by calculating the number of different vehicles acquired in the preset duration range according to the following formula:
wherein R represents a proportional value;
representing a first number of autonomous vehicles;
representing a second number of autonomous vehicles;
indicating the number of manually driven vehicles.
Step S103: and comparing the proportional value with a preset threshold value. Specifically, the preset threshold represents a threshold for switching a mode of entering and exiting the driveway dedicated for automatic driving based on the driveway set according to the road characteristics, and may be set according to the actual condition of the road.
Step S104: and when the proportional value is larger than the preset threshold value, adjusting the mode of the automatic driving vehicle entering and exiting the automatic driving special lane to limit the entering and exiting. Specifically, the preset threshold is a threshold for switching the mode of the autonomous vehicle entering and exiting the autonomous driving dedicated lane, and therefore, when the proportional value is greater than the preset threshold, the mode of the corresponding autonomous driving vehicle entering and exiting the autonomous driving dedicated lane is adjusted to limit the entering and exiting.
The method for controlling the automatic driving vehicle to enter and exit the automatic driving special lane provided by the embodiment of the invention can be used for acquiring the number of vehicles in different driving lanes corresponding to a driving road section in real time, and determining the mode of the automatic driving vehicle to enter and exit the automatic driving special lane corresponding to the driving road section by using the vehicle numerical value, so that the integral running condition of the traffic flow of the driving road section is optimized, and the purpose that the entering and exiting modes of the automatic driving vehicle between the automatic driving special lane and a non-automatic driving special lane are dynamically changed along with the state of the traffic flow is realized.
As an optional implementation manner of the embodiment of the present invention, the method further includes: continuously monitoring the number of vehicles in the current driving road section, calculating a corresponding proportional value according to the process from the step S102 to the step S102, comparing the proportional value with a preset threshold value, and when the proportional value is greater than the preset threshold value and the proportional value is kept in the state within the continuous preset time range of the preset number, adjusting the mode of the automatic driving vehicle entering and exiting the automatic driving special lane to be limited. And then, repeating the process until the proportional value is smaller than the preset threshold value within the preset number of continuous preset time ranges, and adjusting the mode that the automatic driving vehicle enters and exits the automatic driving special lane to freely enter and exit.
As an optional implementation manner of the embodiment of the present invention, after the manner in which the autonomous vehicle enters and exits the lane dedicated for autonomous driving is adjusted to limit entry and exit, a specific entry and exit position corresponding to the manner in which the autonomous vehicle enters and exits the lane dedicated for autonomous driving under the entry and exit limit manner needs to be determined, which includes: acquiring the number of non-automatic driving special lanes corresponding to the current driving road section and the road section length corresponding to the current driving road section; determining a target driving range according to the number of the non-automatic driving special lanes, the length of the road section and a preset lane changing position, wherein the preset lane changing position comprises a road section intersection position and/or a ramp entrance and exit position; and when the automatic driving vehicle enters and exits the automatic driving special lane in a limited entering and exiting mode, controlling the automatic driving vehicle to enter and exit the automatic driving special lane within the target driving range.
Specifically, the decision may be made based on the lane change position and the current traffic information of each lane. Generally, the entry and exit positions of the lanes dedicated for automatic driving need to be closer to the lane change position, and in order to ensure smooth driving of the automatic driving vehicle, the distance between the entry and exit positions is larger when the number of lanes the automatic driving vehicle needs to cross is larger. The lane change position may include a road intersection position and/or a ramp entrance/exit position.
Firstly, acquiring the number of non-automatic driving special lanes corresponding to the current driving road section and the road section length corresponding to the current driving road section, and secondly, according to the actual requirement, the distance value range between the simulated access position and the lane changing position is generally [ min { the number of non-automatic driving special lanes is 5m, the road section length is 1/2}, min { (the number of non-automatic driving special lanes is +2) is 5m, and the road section length is 1/2} ], wherein min { } represents the minimum value.
And finally, determining a target driving range according to the distance value range, specifically, determining a simulated access position corresponding to the value range as the target driving range if the distance between the simulated access position and the lane change position meets the value range, that is, as long as the distance between the simulated access position and the lane change position meets the value range, the simulated access position can be used as a specific access position corresponding to the automatic driving special lane in the access limiting mode, that is, the automatic driving vehicle enters and exits the automatic driving special lane in the target driving range.
As an optional implementation manner of the embodiment of the present invention, communication devices are disposed on two sides of the lane dedicated for automatic driving; the method further comprises the following steps: and when the mode of the automatic driving vehicle entering and exiting the automatic driving special lane is adjusted to be limited, the communication equipment is used for sending the entering and exiting mode and the target driving range to the automatic driving vehicle terminal corresponding to the current driving road section.
Specifically, the communication devices disposed on both sides of the autonomous driving dedicated lane may be used to issue an entry/exit mode switching notification to the autonomous driving vehicle terminal corresponding to the current driving road segment, and send a target driving range corresponding to the restricted entry/exit mode, so as to guide the autonomous driving vehicle corresponding to the autonomous driving vehicle terminal to enter/exit the autonomous driving dedicated lane within the target driving range.
Secondly, communication equipment arranged on two sides of the automatic driving special lane can be used for issuing an access mode switching notice to a background management end corresponding to the current driving road section, a target driving range corresponding to the limited access mode is sent, then the background management end is used for issuing the access mode switching notice and limiting the target driving range corresponding to the access mode to a corresponding automatic driving vehicle terminal, and an automatic driving vehicle corresponding to the automatic driving vehicle terminal is guided to drive into/out of the automatic driving special lane in the target driving range. The sending process is not particularly limited in the invention as long as the requirements are met.
As an optional implementation manner of the embodiment of the invention, a color-variable traffic marking line formed by double rows of LED lane lamps can be arranged between the lane dedicated for automatic driving and the lane dedicated for non-automatic driving, wherein the double rows of LED lane lamps can include a free access lamp group and a limited access lamp group. Specifically, the free access lamp groups are discontinuously paved in one row, and corresponding colors are set; and continuously laying the lamp group for limiting the access in and out in the other row, and setting corresponding colors, wherein the colors are different from the colors of the lamp group for freely accessing and outputting.
Firstly, the communication equipment arranged on two sides of the special automatic driving lane is used for sending the access mode and the target driving range corresponding to the special automatic driving lane corresponding to the current driving road section to the background management end corresponding to the special automatic driving lane.
Then, the background management end can be used for controlling the color change of double rows of LED lane lamps between the automatic driving special lane and the non-automatic driving special lane. Specifically, when the automatic driving vehicle enters and exits the automatic driving special lane freely, the background management end controls the corresponding free entering and exiting lamp group to be turned on and controls the corresponding limited entering and exiting lamp group to be turned off; when the automatic driving vehicle enters and exits the automatic driving special lane in a limited entering and exiting mode, the background management end controls the free entering and exiting lamp group in the target driving range corresponding to the automatic driving special lane to be turned on and controls the free entering and exiting lamp group corresponding to other positions corresponding to the automatic driving special lane to be turned off, and meanwhile, the limited entering and exiting lamp group corresponding to other positions corresponding to the automatic driving special lane is turned on.
In one example, as shown in FIG. 2, the implemented road segment is a unidirectional highway segment having four lanes, wherein the innermost lane is an autonomous driving lane and the remaining three lanes are general lanes (i.e., non-autonomous driving lanes). Two rows of lines between the automatic driving special lane and the general lane are the automatic driving special lane marking lines of the double-row LED lane lamp. The left side line of the driving direction represents a free access lamp group marking line, the right side line represents a limited access lamp group marking line, the drawing shows that the state is the default state at the moment, namely the free access lamp group is turned on, the limited access lamp group is turned off, and the automatic driving vehicle can drive in and out of the automatic driving special lane from any position.
The traffic and vehicle type information of each lane of the road section is acquired in real time through detection modes such as videos, each data acquisition time period is 1 minute, namely the videos acquire lane division traffic data of 1 minute and calculate the proportion of the automatic driving vehicles. Then, the corresponding access mode and access location are determined according to the flow shown in fig. 3. The threshold is set here to 30%.
In the decision making process, when the access mode is switched from free access to restricted access, the access position of the lane special for automatic driving is decided and determined according to the ramp exit, the traffic information of each lane and the like. And sending the information of the access mode and the access position to a background management end corresponding to the lane special for automatic driving, wherein the background management end controls the turning on and off of the LED lane lamps at different positions, as shown in fig. 4, at this time, the free access lamp group at the access position is turned on, the free access lamp groups at other positions are turned off, and the limited access lamp groups at other positions are turned on, and the lamp group with the flash mark in the figure is the lamp group in the on state. And meanwhile, the decision information is sent to the corresponding automatic driving vehicle terminal, and the automatic driving vehicle with the driving-in/driving-out requirement can drive in/out the automatic driving special lane at the position of the access position according to the information.
When the ratio of the autonomous vehicle is less than the threshold (30%) in two consecutive data acquisition time periods (2 minutes), the access mode is switched back to free access, as shown in fig. 2, the autonomous vehicle can enter/exit the dedicated autonomous lane at any position.
An embodiment of the present invention further provides a method control device for an autonomous vehicle to enter and exit an autonomous dedicated lane, as shown in fig. 5, the device includes:
the acquiring module 501 is configured to acquire, when an automatic driving vehicle enters and exits an automatic driving dedicated lane freely, a first automatic driving vehicle number corresponding to the automatic driving dedicated lane, a second automatic driving vehicle number corresponding to a non-automatic driving dedicated lane, and a manual driving vehicle number corresponding to the non-automatic driving dedicated lane in a preset time range on a current driving road section; for details, refer to the related description of step S101 in the above method embodiment.
A determining module 502, configured to determine, according to the first number of autonomous vehicles, the second number of autonomous vehicles, and the number of manually driven vehicles, a proportional value of the number of autonomous vehicles corresponding to the current driving road segment within a preset time duration; for details, refer to the related description of step S102 in the above method embodiment.
A comparison module 503, configured to compare the ratio value with a preset threshold; for details, refer to the related description of step S103 in the above method embodiment.
An adjusting module 504, configured to adjust a manner in which the autonomous vehicle enters and exits the autonomous dedicated lane to restrict entry and exit when the ratio is greater than the preset threshold; for details, refer to the related description of step S104 in the above method embodiment.
The mode control device for the automatic driving vehicle to enter and exit the automatic driving special lane provided by the embodiment of the invention can acquire the number of vehicles in different driving lanes corresponding to a driving road section in real time, and determine the mode of the automatic driving vehicle to enter and exit the automatic driving special lane corresponding to the driving road section by using the vehicle numerical value, thereby optimizing the overall operation condition of the traffic flow of the driving road section and realizing the purpose that the entering and exiting modes of the automatic driving vehicle between the automatic driving special lane and a non-automatic driving special lane are dynamically changed along with the state of the traffic flow.
As an optional implementation manner of the embodiment of the present invention, the apparatus further includes: the monitoring module is used for monitoring the number of vehicles in the current driving road section; and the first adjusting module is used for adjusting the mode that the automatic driving vehicle enters and exits the automatic driving special lane to limit the entering and exiting when the proportion value of the current driving road section is greater than the preset threshold value within the continuous preset time range of the preset number.
As an optional implementation manner of the embodiment of the present invention, the apparatus further includes: and the second adjusting module is used for adjusting the mode that the automatic driving vehicle enters and exits the automatic driving special lane to freely enter and exit when the proportion value of the current driving road section is smaller than the preset threshold value within the continuous preset time range of the preset number.
As an optional implementation manner of the embodiment of the present invention, the apparatus further includes: the first acquisition module is used for acquiring the number of non-automatic driving special lanes corresponding to the current driving road section and the road section length corresponding to the current driving road section; determining a target driving range according to the number of the non-automatic driving special lanes, the length of the road section and a preset lane changing position, wherein the preset lane changing position comprises a road section intersection position and/or a ramp entrance and exit position; and when the automatic driving vehicle enters and exits the automatic driving special lane in a limited entering and exiting mode, controlling the automatic driving vehicle to enter and exit the automatic driving special lane within the target driving range.
As an optional implementation manner of the embodiment of the invention, communication devices are arranged on two sides of the lane special for automatic driving; the device further comprises: and the first sending module is used for sending the access mode and the target driving range to an automatic driving vehicle terminal corresponding to the current driving road section by utilizing communication equipment when the mode that the automatic driving vehicle enters and exits the automatic driving special lane is adjusted to be limited to enter and exit.
As an optional implementation manner of the embodiment of the invention, a color-changeable traffic marking is arranged between the automatic driving special lane and the non-automatic driving special lane, and the color-changeable traffic marking is composed of double rows of LED lane lamps and comprises a free access lamp group and a limited access lamp group; the device further comprises: the second sending module is used for sending the access mode and the target driving range to a background management end corresponding to the automatic driving special lane by using the communication equipment; the first control module is used for controlling the free access lamp group to be turned on and controlling the access limiting lamp group to be turned off by utilizing the background management end when the automatic driving vehicle enters and exits the automatic driving special lane in a free access mode; and the second control module is used for sending the target running range to the background management end by utilizing the communication equipment and controlling the free access lamp groups corresponding to the target running range to be turned on and controlling the free access lamp groups corresponding to the automatic driving special lane in other positions to be turned off and controlling the limited access lamp groups corresponding to the other positions to be turned on by utilizing the background management end when the automatic driving vehicle enters and exits the automatic driving special lane in a limited access mode.
As an optional implementation manner of the embodiment of the present invention, the apparatus further includes: and the third sending module is used for sending the access mode and the target driving range to the background management end by using the communication equipment and sending the access mode and the target driving range to the automatic driving vehicle terminal corresponding to the current driving road section by using the background management end when the mode that the automatic driving vehicle enters and exits the automatic driving special lane is adjusted to limit the access.
The functional description of the lane mode control device for the autonomous vehicle to enter and exit the autonomous vehicle provided by the embodiment of the invention refers to the detailed description of the lane mode control method for the autonomous vehicle to enter and exit the autonomous vehicle in the embodiment.
An embodiment of the present invention further provides a storage medium, as shown in fig. 6, on which a computer program 601 is stored, where the instructions, when executed by a processor, implement the steps of the method for controlling an autonomous vehicle to enter and exit an autonomous-dedicated lane in the foregoing embodiment. The storage medium is also stored with audio and video stream data, characteristic frame data, an interactive request signaling, encrypted data, preset data size and the like. The storage medium may be a magnetic Disk, an optical Disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a Flash Memory (Flash Memory), a Hard Disk (Hard Disk Drive, abbreviated as HDD), a Solid State Drive (SSD), or the like; the storage medium may also comprise a combination of memories of the kind described above.
Those skilled in the art will appreciate that all or part of the processes of the methods of the embodiments described above can be implemented by a computer program, which can be stored in a computer-readable storage medium and can include the processes of the embodiments of the methods described above when executed. The storage medium may be a magnetic Disk, an optical Disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a Flash Memory (Flash Memory), a Hard Disk (Hard Disk Drive, abbreviated as HDD) or a Solid State Drive (SSD), etc.; the storage medium may also comprise a combination of memories of the kind described above.
An embodiment of the present invention further provides an electronic device, as shown in fig. 7, the electronic device may include a processor 71 and a memory 72, where the processor 71 and the memory 72 may be connected by a bus or in another manner, and fig. 7 takes the connection by the bus as an example.
The processor 71 may be a Central Processing Unit (CPU). The Processor 71 may also be other general purpose processors, Digital Signal Processors (DSPs), Application Specific Integrated Circuits (ASICs), Field Programmable Gate Arrays (FPGAs) or other Programmable logic devices, discrete Gate or transistor logic devices, discrete hardware components, or combinations thereof.
The memory 72, which is a non-transitory computer readable storage medium, may be used to store non-transitory software programs, non-transitory computer executable programs, and modules, such as the corresponding program instructions/modules in the embodiments of the present invention. The processor 71 executes various functional applications and data processing of the processor by running non-transitory software programs, instructions and modules stored in the memory 72, that is, implementing the autonomous vehicle lane entry and exit manner control method in the above-described method embodiment.
The memory 72 may include a storage program area and a storage data area, wherein the storage program area may store an operating device, an application program required for at least one function; the storage data area may store data created by the processor 71, and the like. Further, the memory 72 may include high speed random access memory, and may also include non-transitory memory, such as at least one magnetic disk storage device, flash memory device, or other non-transitory solid state storage device. In some embodiments, the memory 72 may optionally include memory located remotely from the processor 71, and such remote memory may be connected to the processor 71 via a network. Examples of such networks include, but are not limited to, the internet, intranets, local area networks, mobile communication networks, and combinations thereof.
The one or more modules are stored in the memory 72 and, when executed by the processor 71, perform an autonomous vehicle ingress and egress lane-specific manner control method as in the embodiment of fig. 1-4.
The details of the electronic device may be understood by referring to the corresponding descriptions and effects in the embodiments shown in fig. 1 to fig. 4, and are not described herein again.
Although the embodiments of the present invention have been described in conjunction with the accompanying drawings, those skilled in the art may make various modifications and variations without departing from the spirit and scope of the invention, and such modifications and variations fall within the scope defined by the appended claims.
Claims (10)
1. A method for controlling an automatic driving vehicle to enter and exit an automatic driving special lane is characterized by comprising the following steps:
when the automatic driving vehicles enter and exit the automatic driving special lane freely, acquiring the number of first automatic driving vehicles corresponding to the automatic driving special lane, the number of second automatic driving vehicles corresponding to the non-automatic driving special lane and the number of manual driving vehicles corresponding to the non-automatic driving special lane in a preset time range of a current driving road section;
determining a proportional value of the number of the automatic driving vehicles corresponding to the current driving road section within a preset time range according to the number of the first automatic driving vehicles, the number of the second automatic driving vehicles and the number of the manual driving vehicles;
comparing the proportional value with a preset threshold value;
and when the proportional value is larger than the preset threshold value, adjusting the mode of the automatic driving vehicle entering and exiting the automatic driving special lane to limit the entering and exiting.
2. The method of claim 1, further comprising:
monitoring the number of vehicles in the current driving road section;
when the proportion value of the current driving road section is larger than the preset threshold value within the continuous preset time range of the preset number, the mode that the automatic driving vehicle enters and exits the automatic driving special lane is adjusted to be limited.
3. The method of claim 1 or 2, wherein after adjusting the manner in which the autonomous vehicle enters and exits the autonomous-only lane to restrict entry, the method further comprises:
and when the proportion value of the current driving road section is smaller than the preset threshold value within the continuous preset time range of the preset number, adjusting the mode that the automatic driving vehicle enters and exits the automatic driving special lane to freely enter and exit.
4. The method of claim 1, further comprising:
acquiring the number of non-automatic driving special lanes corresponding to the current driving road section and the road section length corresponding to the current driving road section;
determining a target driving range according to the number of the non-automatic driving special lanes, the length of the road section and a preset lane changing position, wherein the preset lane changing position comprises a road section intersection position and/or a ramp entrance and exit position;
and when the automatic driving vehicle enters and exits the automatic driving special lane in a limited entering and exiting mode, controlling the automatic driving vehicle to enter and exit the automatic driving special lane within the target driving range.
5. The method of claim 4, wherein communication devices are provided on both sides of the autodrive-specific lane; the method further comprises the following steps:
and when the mode of the automatic driving vehicle entering and exiting the automatic driving special lane is adjusted to be limited, the communication equipment is used for sending the entering and exiting mode and the target driving range to the automatic driving vehicle terminal corresponding to the current driving road section.
6. The method of claim 5, wherein a variable color traffic marking is disposed between the driverless dedicated lane and the driverless dedicated lane, the variable color traffic marking being comprised of dual rows of LED lane lights including a free access light bank and a restricted access light bank; the method further comprises the following steps:
sending the access mode and the target driving range to a background management end corresponding to the automatic driving special lane by using the communication equipment;
when the automatic driving vehicle enters and exits the automatic driving special lane freely, the background management end is utilized to control the free entering and exiting lamp group to be started and control the access limiting lamp group to be closed;
when the automatic driving vehicle enters and exits the automatic driving special lane in a limited entering and exiting mode, the communication equipment is used for sending the target driving range to the background management end, the background management end is used for controlling the free entering and exiting lamp groups corresponding to the target driving range to be turned on, controlling the free entering and exiting lamp groups corresponding to the automatic driving special lane in other positions to be turned off, and controlling the limited entering and exiting lamp groups corresponding to the other positions to be turned on.
7. The method of claim 6, further comprising:
when the mode of the automatic driving vehicle entering and exiting the automatic driving special lane is adjusted to be limited, the communication equipment is used for sending the entering and exiting mode and the target driving range to the background management end, and the background management end is used for sending the entering and exiting mode and the target driving range to the automatic driving vehicle terminal corresponding to the current driving road section.
8. A control device for controlling an autonomous vehicle to enter and exit an autonomous dedicated lane, comprising:
the system comprises an acquisition module, a display module and a control module, wherein the acquisition module is used for acquiring the number of first automatic driving vehicles corresponding to an automatic driving special lane, the number of second automatic driving vehicles corresponding to a non-automatic driving special lane and the number of manual driving vehicles corresponding to the non-automatic driving special lane in a preset time range of a current driving road section when the automatic driving vehicles freely enter and exit the automatic driving special lane;
the determining module is used for determining a proportional value of the number of the automatic driving vehicles corresponding to the current driving road section within a preset time range according to the number of the first automatic driving vehicles, the number of the second automatic driving vehicles and the number of the manual driving vehicles;
the comparison module is used for comparing the proportional value with a preset threshold value;
and the adjusting module is used for adjusting the mode that the automatic driving vehicle enters and exits the automatic driving special lane to limit the entering and exiting when the proportion value is larger than the preset threshold value.
9. A computer-readable storage medium having stored thereon computer instructions for causing a computer to execute the autonomous vehicle ingress and egress lane mode control method of any of claims 1-7.
10. An electronic device, comprising: a memory and a processor communicatively coupled to each other, the memory storing computer instructions, the processor executing the computer instructions to perform the autonomous vehicle ingress and egress lane mode control method of any of claims 1-7.
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| CN114973737B (en) | 2023-09-26 |
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