CN114973737B - Method for controlling way of automatically driving vehicle to enter and exit special lane for automatic driving - Google Patents

Abstract

The invention discloses a method for controlling the way in which an autonomous vehicle enters and exits a dedicated lane for autonomous driving. When the mode of entering and exiting a dedicated vehicle for autonomous driving is free entry and exit, the third number corresponding to the dedicated lane for autonomous driving within the preset time range of the current driving road section is obtained. The number of self-driving vehicles, the number of second self-driving vehicles corresponding to the non-self-driving dedicated lanes, and the number of manually driven vehicles corresponding to the non-self-driving dedicated lanes; based on these data, determine the number of self-driving vehicles corresponding to the current driving section within the preset time range The proportional value of the quantity; compare the proportional value with the preset threshold; when the proportional value is greater than the preset threshold, adjust the way in which the autonomous vehicle enters and exits the autonomous driving lane to restrict entry and exit. This method achieves the purpose of dynamically changing the entry and exit modes of autonomous vehicles between the dedicated lanes for autonomous driving and the dedicated lanes for non-autonomous driving according to the state of the traffic flow.

Description

A method for controlling the way in which an autonomous vehicle enters and exits a dedicated lane for autonomous driving

Technical field

The invention relates to the field of intelligent transportation technology, and specifically relates to a method for controlling the entry and exit of an autonomous vehicle into a dedicated lane for autonomous driving.

Background technique

In the gradual development process of autonomous driving, the mixed driving of autonomous vehicles and human-driven vehicles on the road is a necessary stage. In a mixed traffic flow composed of autonomous vehicles and manually driven vehicles, there are complex interactions between autonomous vehicles and manually driven vehicles, and certain measures need to be taken to ensure the safety and efficiency of all vehicles. Among them, setting up dedicated lanes for autonomous driving is considered an effective method. When a dedicated lane for autonomous driving is set up on the road, the autonomous vehicle needs to enter and exit between the dedicated lane for non-autonomous driving and the dedicated lane for autonomous driving. Depending on the setting of the way in which the autonomous vehicle enters and exits the dedicated lane for autonomous driving, There are two ways for self-driving vehicles to enter or exit from a dedicated self-driving lane: free entry and exit and restricted entry and exit. When the free entry and exit method is adopted, self-driving vehicles can drive in and out of non-self-driving dedicated lanes and autonomous driving lanes. You can drive in and out freely at any location between driving lanes; when restricted entry and exit are adopted, autonomous vehicles can only enter and exit at specific locations between non-autonomous driving lanes and autonomous driving lanes. Since different traffic flow states are suitable for different entry and exit methods, the way in which autonomous vehicles enter and exit dedicated autonomous driving lanes needs to adapt to the traffic flow state and be able to change dynamically.

Contents of the invention

In view of this, embodiments of the present invention provide a method for controlling the way in which an autonomous vehicle enters and exits a dedicated lane for autonomous driving, to solve the problem of how an autonomous vehicle enters and exits between a dedicated lane for autonomous driving and a dedicated lane for non-autonomous driving in the prior art. Technical issues that cannot change dynamically.

The technical solutions proposed by the present invention are as follows:

A first aspect of an embodiment of the present invention provides a method for controlling the manner in which an autonomous vehicle enters and exits a dedicated lane for autonomous driving. The method for controlling the manner in which an autonomous vehicle enters and exits a dedicated lane for autonomous driving includes: when an autonomous vehicle enters and exits a dedicated lane for autonomous driving, the mode is free entry and exit. , obtain the number of first self-driving vehicles corresponding to the self-driving dedicated lane, the number of second self-driving vehicles corresponding to the non-self-driving dedicated lane, and the number of manually driven vehicles corresponding to the non-self-driving dedicated lane within the preset time range of the current driving road segment. Quantity; determine the proportion of the number of self-driving vehicles corresponding to the current driving section within the preset time range based on the number of first self-driving vehicles, the number of second self-driving vehicles, and the number of manually driven vehicles; The proportional value is compared with a preset threshold; when the proportional value is greater than the preset threshold, the way in which the self-driving vehicle enters and exits the self-driving dedicated lane is adjusted to restrict entry and exit.

Optionally, the method further includes: monitoring the number of vehicles in the current driving section; when the current driving section is within a preset number of consecutive preset time ranges, the proportion value is greater than the preset The threshold is used to adjust the way in which the autonomous vehicle enters and exits the dedicated lane for autonomous driving to restrict entry and exit.

Optionally, after adjusting the manner in which the self-driving vehicle enters and exits the self-driving dedicated lane to restrict entry and exit, the method further includes: when the current driving road section is within a preset number of consecutive preset time ranges. If the proportion value is less than the preset threshold, the way in which the self-driving vehicle enters and exits the self-driving dedicated lane is adjusted to free entry and exit.

Optionally, the method further includes: obtaining the number of non-autonomous driving dedicated lanes corresponding to the current driving road segment and the road segment length corresponding to the current driving road segment; according to the number of non-autonomous driving dedicated lanes, the road segment length and The preset lane-changing position determines the target driving range, and the preset lane-changing position includes the intersection position and/or the ramp entrance and exit position; when the self-driving vehicle enters and exits the self-driving dedicated lane in a restricted manner, the automatic driving range is controlled. Driving the vehicle into and out of the autonomous driving lane within the target driving range.

Optionally, communication devices are provided on both sides of the dedicated lane for autonomous driving; the method further includes: when the mode of the autonomous vehicle entering and exiting the dedicated lane for autonomous driving is adjusted to restrict entry and exit, using the communication device to send the entry and exit mode and The target driving range reaches the autonomous vehicle terminal corresponding to the current driving road section.

Optionally, a color-changing traffic marking is provided between the dedicated lane for autonomous driving and the dedicated lane for non-autonomous driving. The color-changing traffic marking is composed of a double row of LED lane lights, including a free entry and exit light group and a restricted Entry and exit light set; the method also includes: using the communication device to send the entry and exit method and the target driving range to the background management end corresponding to the autonomous driving dedicated lane; when the autonomous driving vehicle enters and exits the autonomous driving dedicated lane The mode is free entry and exit, and the backend management terminal is used to control the free entry and exit light group to turn on and the restricted entry and exit light group to turn off; when the entry and exit mode of the corresponding self-driving vehicle in the self-driving dedicated lane is restricted entry and exit, Utilize the communication device to send the target driving range to the backend management terminal and use the backend management terminal to control the corresponding free entry and exit light group within the target driving range to turn on and control the automatic driving dedicated lane in other lanes. The corresponding free entry and exit light groups in the position are turned off and the corresponding restricted entry and exit light groups in the other positions are controlled to be turned on.

Optionally, the method further includes: when the way in which the autonomous vehicle enters and exits the dedicated lane for autonomous driving is adjusted to restrict entry and exit, using the communication device to send the entry and exit method and the target driving range to the backend management terminal And use the background management terminal to send the entry and exit method and the target driving range to the autonomous vehicle terminal corresponding to the current driving road section.

A second aspect of the embodiment of the present invention provides a device for controlling the mode of an autonomous vehicle entering and exiting a dedicated lane for autonomous driving. The device for controlling the mode of entering and exiting a dedicated lane for autonomous driving includes: an acquisition module for when an autonomous vehicle enters and exits a dedicated lane for autonomous driving. The method is free entry and exit, and the number of first self-driving vehicles corresponding to the self-driving dedicated lane, the second number of self-driving vehicles corresponding to the non-self-driving dedicated lane, and the non-self-driving dedicated lane within the preset time range of the current driving road section are obtained. The corresponding number of manually driven vehicles; a determination module configured to determine the corresponding number of the current driving road section within the preset time range based on the first number of autonomous vehicles, the second number of autonomous vehicles and the number of manually driven vehicles. proportional value of the number of autonomous driving vehicles; a comparison module for comparing the proportional value with a preset threshold; an adjustment module for when the proportional value is greater than the preset threshold, adjusting the autonomous driving The way for vehicles to enter and exit the autonomous driving lane is adjusted to restrict entry and exit.

A third aspect of the embodiment of the present invention provides a computer-readable storage medium. The computer-readable storage medium stores computer instructions. The computer instructions are used to cause the computer to execute the first aspect and the first embodiment of the present invention. The method for controlling the entry and exit of an autonomous vehicle into a dedicated lane for autonomous driving according to any one of the aspects.

A fourth aspect of the embodiment of the present invention provides an electronic device, including: a memory and a processor. The memory and the processor are communicatively connected to each other. The memory stores computer instructions. The processor executes the The computer instructs to execute the control method of the autonomous vehicle entering and exiting the dedicated lane for autonomous driving as described in the first aspect and any one of the first aspects of the embodiments of the present invention.

The technical solution provided by the present invention has the following effects:

The method for controlling the mode of an autonomous vehicle entering and exiting a dedicated lane for autonomous driving provided by an embodiment of the present invention. When the mode for an autonomous vehicle to enter and exit a dedicated lane for autonomous driving is free entry and exit, the corresponding method for the dedicated lane for autonomous driving within the preset time range of the current driving road section is obtained. The number of first self-driving vehicles, the number of second self-driving vehicles corresponding to the non-self-driving dedicated lanes, and the number of manual-driving vehicles corresponding to the non-self-driving dedicated lanes; according to the first number of self-driving vehicles, the second number of self-driving vehicles The number of vehicles and the number of manually driven vehicles determine the proportional value of the number of self-driving vehicles corresponding to the current driving section within the preset time range; the proportional value is compared with the preset threshold; when the proportional value is greater than The preset threshold adjusts the way in which the self-driving vehicle enters and exits the self-driving dedicated lane to restrict entry and exit. This method obtains the number of vehicles in different driving lanes corresponding to the driving section in real time, and uses this vehicle value to determine the way in which the self-driving vehicles corresponding to the driving section enter and exit the self-driving dedicated lane, optimizing the overall operating conditions of the traffic flow in the driving section and realizing automatic The purpose of the vehicle's entry and exit method between the autonomous driving lane and the non-autonomous driving lane is to dynamically change with the state of the traffic flow.

Description of the drawings

In order to more clearly explain the specific embodiments of the present invention or the technical solutions in the prior art, the accompanying drawings that need to be used in the description of the specific embodiments or the prior art will be briefly introduced below. Obviously, the drawings in the following description The drawings illustrate some embodiments of the present invention. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without exerting any creative effort.

Figure 1 is a flow chart of a control method for an autonomous vehicle to enter and exit a dedicated lane for autonomous driving according to an embodiment of the present invention;

Figure 2 is a schematic diagram of an implementation road section including a dedicated lane for autonomous driving and a dedicated lane for non-autonomous driving provided according to an embodiment of the present invention;

Figure 3 is a flow chart of a method for determining the entry and exit location of an autonomous vehicle into and out of a dedicated lane for autonomous driving according to an embodiment of the present invention;

Figure 4 is a schematic diagram of the control effect of double-row LED lane lights dedicated to autonomous driving lane markings according to an embodiment of the present invention;

Figure 5 is a structural block diagram of a control device for an autonomous vehicle entering and exiting a dedicated lane for autonomous driving according to an embodiment of the present invention;

Figure 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 ways

In order to make the purpose, 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 in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments These are some embodiments of the present invention, rather than all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative efforts fall within the scope of protection of the present invention.

An embodiment of the present invention provides a method for controlling an autonomous vehicle's entry and exit into a dedicated lane for autonomous driving. As shown in Figure 1, the method includes the following steps:

Step S101: When the self-driving vehicle enters and exits the self-driving dedicated lane freely, obtain the first number of self-driving vehicles corresponding to the self-driving dedicated lane and the number of non-self-driving dedicated lanes within the preset time range of the current driving road segment. The number of second autonomous driving vehicles and the number of manual driving vehicles corresponding to the non-autonomous driving dedicated lanes. Specifically, after a dedicated lane for autonomous driving is set up on the road, autonomous vehicles can enter and exit between the dedicated lane for non-autonomous driving and the dedicated lane for autonomous driving. According to the different settings for self-driving vehicles entering and exiting the self-driving dedicated lanes, they mainly include free entry and exit methods and restricted entry and exit methods. Under normal circumstances, the default way for the self-driving vehicle to enter and exit the self-driving dedicated lane is free entry and exit.

Specifically, the traffic flow information on the current driving road section corresponding to the autonomous driving dedicated lane within a data collection time period is obtained, which can mainly include the intersection location on the road section, the ramp entrance and exit location, and the number of vehicles in each lane on multiple discrete sections. Among them, the main difference between vehicle types is autonomous vehicles and manually driven vehicles, which includes the number of first autonomous vehicles corresponding to dedicated lanes for autonomous driving, the number of second autonomous vehicles and the number of manually driven vehicles corresponding to dedicated lanes for non-autonomous driving. Among them, various traffic detection equipment (coil, video, ultrasonic, RFID, etc.) installed on the road section can be used to obtain traffic flow information within the preset time range; the preset time range can be set according to the actual traffic conditions, generally 1 minute - 5 minutes, the present invention does not specifically limit this, as long as it meets the requirements.

Step S102: Determine a proportion of the number of self-driving vehicles corresponding to the current driving section within a preset time range based on the first number of self-driving vehicles, the second number of self-driving vehicles, and the number of manually driven vehicles. Specifically, by calculating the number of different vehicles collected within the preset time range through the following formula, the proportion of the number of autonomous vehicles on the current driving road section can be obtained:

Among them, R represents the proportion value; Indicates the number of first self-driving vehicles;/> Indicates the number of second autonomous vehicles;/> Indicates the number of manually driven vehicles.

Step S103: Compare the proportion value with a preset threshold. Specifically, the preset threshold represents the threshold for switching modes of autonomous vehicles entering and exiting dedicated autonomous lanes set according to road characteristics, and can be set according to actual road conditions. The present invention does not specifically limit this, as long as it meets the requirements.

Step S104: When the proportion value is greater than the preset threshold, adjust the way in which the self-driving vehicle enters and exits the self-driving dedicated lane to restrict entry and exit. Specifically, the preset threshold is the threshold for switching the mode of self-driving vehicles entering and exiting the dedicated lane for self-driving vehicles. Therefore, when the proportion value is greater than the preset threshold, the corresponding mode of entering and exiting the dedicated lane for self-driving vehicles is adjusted to restrict entry and exit.

The method for controlling the entry and exit of self-driving vehicles into dedicated lanes for self-driving vehicles provided by embodiments of the present invention obtains the number of vehicles in different driving lanes corresponding to the driving road section in real time, and uses the vehicle values to determine the time for the self-driving vehicles corresponding to the driving road section to enter and exit the dedicated lane for self-driving cars. This method optimizes the overall operating status of the traffic flow on the driving section and achieves the purpose of dynamically changing the entry and exit methods of autonomous vehicles between the autonomous driving lane and the non-autonomous driving dedicated lane according to the state of the traffic flow.

As an optional implementation of the embodiment of the present invention, the method also includes: continuously monitoring the number of vehicles in the current driving section, and calculating the corresponding proportional value according to the process of step S102-step S102, and secondly, comparing the proportional value with the predetermined Set a threshold for comparison. When the proportion value is greater than the preset threshold and remains in this state within a preset number of consecutive preset time ranges, then the way in which the self-driving vehicle enters and exits the self-driving dedicated lane is adjusted to Restrict access. After that, the above process is repeated until the proportion value is less than the preset threshold within a preset number of consecutive preset time periods, and the way in which the self-driving vehicle enters and exits the self-driving dedicated lane is adjusted to free entry and exit.

As an optional implementation method of the embodiment of the present invention, when the mode of entry and exit of autonomous vehicles into the dedicated lane for autonomous driving is adjusted to restricted entry and exit, it is also necessary to determine the specific entry and exit corresponding to the entry and exit of the autonomous vehicle into the dedicated lane for autonomous driving under the restricted entry and exit mode. The position includes: obtaining the number of non-autonomous driving dedicated lanes corresponding to the current driving road segment and the road segment length corresponding to the current driving road segment; determining based on the number of non-autonomous driving dedicated lanes, the road segment length and the preset lane change position The target driving range, the preset lane change position includes the intersection position and/or the ramp entrance and exit position; when the self-driving vehicle enters and exits the self-driving dedicated lane to restrict entry and exit, the self-driving vehicle is controlled to move in the target Entering and exiting the autonomous driving lane within the driving range.

Specifically, decisions can be made based on the lane change position and the current traffic information of each lane. Generally speaking, the entrance and exit position of a dedicated lane for autonomous driving needs to be close to the lane change position, and in order to ensure the smooth driving of the autonomous vehicle, when the number of lanes that the autonomous driving vehicle needs to cross is more, the distance between the entry and exit position and the lane change position will be larger. The lane changing location may include a road segment intersection location and/or a ramp entrance or exit location.

First, obtain the number of non-autonomous driving dedicated lanes corresponding to the current driving segment and the length of the segment corresponding to the current driving segment. Secondly, according to actual needs, the value range of the distance between the simulated entry and exit position and the lane change position is generally [min{non Number of dedicated lanes for autonomous driving * 5m, length of road section * 1/2}, min{(number of dedicated lanes for non-autonomous driving + 2) * 5m, length of road segment * 1/2}], where min{} represents the minimum value.

Finally, the target driving range can be determined based on the distance value range. Specifically, the simulated entry and exit position corresponding to the distance between the simulated entry and exit position and the lane change position satisfies the value range is the target driving range, that is, as long as the simulated entry and exit position If the distance from the lane change position meets this value range, then the simulated entry and exit position can be used as the specific entry and exit position corresponding to the autonomous driving dedicated lane in the restricted entry and exit mode, that is, the autonomous driving vehicle enters and exits the autonomous driving dedicated lane within the target driving range. .

As an optional implementation of the embodiment of the present invention, communication devices are provided on both sides of the dedicated autonomous driving lane; the method further includes: when the mode of the autonomous driving vehicle entering and exiting the dedicated autonomous driving lane is adjusted to restrict entry and exit, The communication device is used to send the entry and exit method and the target driving range to the autonomous vehicle terminal corresponding to the current driving road section.

Specifically, the communication equipment provided on both sides of the dedicated lane for autonomous driving can be used to issue an entry and exit mode switching notification to the autonomous vehicle terminal corresponding to the current driving section, and send the corresponding target driving range in the restricted entry and exit mode to guide the autonomous vehicle terminal to corresponding of autonomous vehicles enter/exit the autonomous driving lane within the target driving range.

Secondly, communication devices set up on both sides of the autonomous driving lane can also be used to issue entry and exit mode switching notifications to the background management terminal corresponding to the current driving section, and send the corresponding target driving range in the restricted entry and exit mode, and then use the background management terminal to Publish the entry and exit mode switching notification and the corresponding target driving range in the restricted entry and exit mode to the corresponding autonomous vehicle terminal, and guide the autonomous vehicle corresponding to the autonomous vehicle terminal to enter/exit the dedicated autonomous driving lane within the target driving range. The sending process is not specifically limited in the present invention, as long as it meets the requirements.

As an optional implementation of the embodiment of the present invention, color-changing traffic markings composed of double rows of LED lane lights can be set between the dedicated lanes for autonomous driving and the dedicated lanes for non-autonomous driving, where the double rows of LED lane lights can Including free entry and exit light groups and restricted entry and exit light groups. Specifically, the free-access lamp group is laid intermittently in one row and the corresponding color is set; the restricted-access lamp group is continuously laid in another row and the corresponding color is set, and the color is different from the color of the free-access lamp group. .

First, communication devices installed on both sides of the dedicated autonomous driving lane are used to send the entry and exit methods and target driving range of the dedicated autonomous driving lane corresponding to the current driving segment to the background management terminal corresponding to the dedicated autonomous driving lane.

Then, the background management terminal can be used to control the color change of the double-row LED lane lights in the middle of the dedicated lane for autonomous driving and the dedicated lane for non-autonomous driving. Specifically, when the self-driving vehicle enters and exits the self-driving special lane, the background management terminal controls the corresponding free entry and exit light group to turn on and controls the corresponding restricted entry and exit light group to turn off; when the self-driving vehicle enters and exits the self-driving special lane, When the lane mode is restricted entry and exit, the backend management terminal controls the free entry and exit light group corresponding to the target driving range corresponding to the autonomous driving dedicated lane to turn on and controls the free entry and exit light groups corresponding to other locations corresponding to the autonomous driving dedicated lane to turn off. At the same time, Turn on the restricted entry and exit light groups corresponding to other locations in the autonomous driving lane.

In one example, as shown in Figure 2, the implementation section is a highway section with four lanes in one direction, in which the innermost lane is a dedicated lane for autonomous driving, and the remaining three lanes are general lanes (that is, not dedicated lanes for autonomous driving). The two rows of lines between the dedicated lane for autonomous driving and the general lane are double rows of LED lane lights for dedicated lane markings for autonomous driving. The line on the left along the direction of travel represents the free entry and exit light group markings, and the right line represents the restricted entry and exit light group markings. The figure indicates that this is the default state, that is, the free entry and exit light group is on, the restricted entry and exit light group is off, and automatic Driving vehicles can enter and exit the autonomous driving lane from any location.

The traffic flow and vehicle type information of each lane on the road section are obtained in real time through detection methods such as video. Each data collection time period is 1 minute, that is, the video collects 1 minute of lane traffic data and calculates the proportion of autonomous vehicles. Then, determine the corresponding entry and exit method and location according to the process shown in Figure 3. Here the threshold is set to 30%.

During the decision-making process, when the entry and exit method is switched from free entry and exit to restricted entry and exit, the entry and exit position of the autonomous driving dedicated lane will be determined simultaneously based on the ramp exit, traffic information of each lane, etc. And the entry and exit method and entry and exit location information are sent to the background management terminal corresponding to the autonomous driving dedicated lane. The background management terminal controls the turning on and off of the LED lane lights at different positions, as shown in Figure 4. At this time, the free entry and exit light group at the entry and exit position When turned on, the free entry and exit light groups at other positions are turned off, and the restricted entry and exit light groups at other positions are turned on. The light groups with flashing marks in the picture are the light groups in the on state. At the same time, these decision-making information are sent to the corresponding autonomous vehicle terminal, and the autonomous vehicle with entry/exit requirements can enter/exit the autonomous driving lane at the entry/exit location based on this information.

When the proportion of self-driving vehicles is less than the threshold (30%) in two consecutive data collection time periods (2 minutes), the entry and exit mode is switched back to free entry and exit. As shown in Figure 2, the self-driving vehicle can enter at any location. / Exit the autonomous driving lane.

An embodiment of the present invention also provides a device for controlling the manner in which an autonomous vehicle enters and exits a dedicated lane for autonomous driving. As shown in Figure 5, the device includes:

The acquisition module 501 is used to obtain the number of first autonomous vehicles corresponding to the dedicated autonomous lane within the preset time range of the current driving road segment, and the number of non-autonomous driving vehicles when the autonomous vehicle enters and exits the dedicated autonomous lane. The number of second autonomous driving vehicles corresponding to the lane and the number of manual driving vehicles corresponding to the non-autonomous driving dedicated lane; for details, please refer to the relevant description of step S101 in the above method embodiment.

Determination module 502, configured to determine the number of self-driving vehicles corresponding to the current driving road segment within a preset time range based on the first number of self-driving vehicles, the second number of self-driving vehicles, and the number of manually driven vehicles. Proportional value; for details, please refer to the relevant description of step S102 in the above method embodiment.

The comparison module 503 is used to compare the proportion value with a preset threshold; for details, please refer to the relevant description of step S103 in the above method embodiment.

The adjustment module 504 is configured to adjust the way in which the self-driving vehicle enters and exits the self-driving dedicated lane to restrict entry and exit when the proportion value is greater than the preset threshold; for details, please refer to the relevant description of step S104 in the above method embodiment.

The control device for the mode of autonomous vehicles entering and exiting the dedicated lane for autonomous driving provided by the embodiment of the present invention obtains the number of vehicles in different driving lanes corresponding to the driving section in real time, and uses the vehicle values to determine the time for the autonomous vehicle corresponding to the driving section to enter and exit the dedicated lane for autonomous driving. This method optimizes the overall operating status of the traffic flow on the driving section and achieves the purpose of dynamically changing the entry and exit methods of autonomous vehicles between the autonomous driving lane and the non-autonomous driving dedicated lane according to the state of the traffic flow.

As an optional implementation manner of the embodiment of the present invention, the device further includes: a monitoring module for monitoring the number of vehicles in the current driving section; a first adjustment module for when the current driving section If the proportion value is greater than the preset threshold within a preset number of consecutive preset time ranges, the way in which the self-driving vehicle enters and exits the self-driving dedicated lane is adjusted to restrict entry and exit.

As an optional implementation manner of the embodiment of the present invention, the device further includes: a second adjustment module, configured to operate when the proportion value of the current driving road section is less than the preset time range within a preset number of consecutive preset time ranges. The preset threshold is used to adjust the way in which the autonomous vehicle enters and exits the dedicated lane for autonomous driving to free entry and exit.

As an optional implementation of the embodiment of the present invention, the device further includes: a first acquisition module, used to obtain the number of non-autonomous driving dedicated lanes corresponding to the current driving road segment and the road segment length corresponding to the current driving road segment. ; Determine the target driving range according to the number of non-autonomous driving dedicated lanes, the length of the road section and the preset lane change position, the preset lane change position includes the intersection position of the road section and/or the ramp entrance and exit position; when the automatic driving The vehicle enters and exits the dedicated lane for autonomous driving by restricting entry and exit, and the autonomous vehicle is controlled to enter and exit the dedicated lane for autonomous driving within the target driving range.

As an optional implementation of the embodiment of the present invention, communication equipment is provided on both sides of the dedicated autonomous driving lane; the device further includes: a first sending module, used to detect when the autonomous driving vehicle enters and exits the dedicated autonomous driving lane The method is adjusted to restrict entry and exit, and the communication device is used to send the entry and exit method and the target driving range to the autonomous vehicle terminal corresponding to the current driving road section.

As an optional implementation method of the embodiment of the present invention, a color-changing traffic marking is provided between the dedicated lane for autonomous driving and the dedicated lane for non-autonomous driving. The color-changing traffic marking is composed of double rows of LED lane lights. It is composed of a free entry and exit light group and a restricted entry and exit light group; the device also includes: a second sending module for using the communication device to send the entry and exit method and the target driving range to the corresponding autonomous driving lane. The background management terminal; the first control module is used to control the opening of the free entry and exit light group and control the restricted entry and exit lights by using the background management terminal when the self-driving vehicle enters and exits the self-driving dedicated lane. Group close; the second control module is used to use the communication device to send the target driving range to the backend management terminal when the self-driving vehicle enters and exits the self-driving dedicated lane and uses the backend management to restrict entry and exit. The terminal controls the corresponding free entry and exit light groups within the target driving range to turn on and controls the corresponding free entry and exit light groups in other positions of the autonomous driving dedicated lane to turn off and controls the corresponding restrictions in the other positions. The entry and exit light group is turned on.

As an optional implementation of the embodiment of the present invention, the device further includes: a third sending module, configured to use the communication device to send The entry and exit method and the target driving range are sent to the backend management terminal, and the backend management terminal is used to send the entry and exit method and the target driving range to the autonomous vehicle terminal corresponding to the current driving road section.

For a detailed description of the function of the device for controlling the manner in which an autonomous vehicle enters and exits a dedicated lane for autonomous driving provided by an embodiment of the present invention, please refer to the description of the control method for controlling an autonomous vehicle entering or exiting a dedicated lane for autonomous driving in the above embodiment.

An embodiment of the present invention also provides a storage medium, as shown in Figure 6, on which a computer program 601 is stored. When the instructions are executed by the processor, the steps of the control method for the automatic driving vehicle entering and exiting the automatic driving dedicated lane in the above embodiment are implemented. . The storage medium also stores audio and video stream data, feature frame data, interactive request signaling, encrypted data, preset data size, etc. Among them, the storage medium can be a magnetic disk, an optical disk, a read-only memory (Read-Only Memory, ROM), a random access memory (Random Access Memory, RAM), a flash memory (Flash Memory), a hard disk (Hard Disk Drive, Abbreviation: HDD) or solid-state drive (Solid-State Drive, SSD), etc.; the storage medium may also include a combination of the above types of memories.

Those skilled in the art can understand that all or part of the processes in the methods of the above embodiments can be completed by instructing relevant hardware through a computer program. The program can be stored in a computer-readable storage medium. The program can be stored in a computer-readable storage medium. During execution, the process may include the processes of the embodiments of each of the above methods. Wherein, the storage medium can be a magnetic disk, an optical disk, a read-only memory (Read-Only Memory, ROM), a random access memory (Random Access Memory, RAM), a flash memory (Flash Memory), a hard disk (Hard Disk Drive). , abbreviation: HDD) or solid-state drive (Solid-State Drive, SSD), etc.; the storage medium may also include a combination of the above types of memories.

An embodiment of the present invention also provides an electronic device. As shown in Figure 7, the electronic device may include a processor 71 and a memory 72. The processor 71 and the memory 72 may be connected through a bus or other means. In Figure 7, Take bus connection as an example.

The processor 71 may be a central processing unit (Central Processing Unit, CPU). The processor 71 can also be other general-purpose processor, digital signal processor (Digital Signal Processor, DSP), application specific integrated circuit (Application Specific Integrated Circuit, ASIC), field programmable gate array (Field-Programmable Gate Array, FPGA) or Other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components and other chips, or combinations of the above types of chips.

As a non-transitory computer-readable storage medium, the memory 72 can be used to store non-transitory software programs, non-transitory computer executable programs and modules, such as corresponding program instructions/modules in embodiments of the present invention. The processor 71 executes various functional applications and data processing of the processor by running non-transient software programs, instructions and modules stored in the memory 72 , that is, realizing the self-driving vehicle entering and exiting the self-driving dedicated lane in the above method embodiment. control method.

The memory 72 may include a program storage area and a data storage area, where the program storage area may store an operating device and an application program required for at least one function; the storage data area may store data created by the processor 71 and the like. In addition, 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, memory 72 optionally includes memory located remotely relative to processor 71 , and these remote memories may be connected to processor 71 through a network. Examples of the above-mentioned 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, the method for controlling the entry and exit of an autonomous driving vehicle into a dedicated lane for autonomous driving in the embodiment shown in Figures 1-4 is executed.

The specific details of the above electronic device can be understood by referring to the corresponding descriptions and effects in the embodiments shown in FIGS. 1 to 4 , and will not be described again here.

Although the embodiments of the present invention have been described in conjunction with the accompanying drawings, those skilled in the art can make various modifications and variations without departing from the spirit and scope of the invention, and such modifications and variations fall within the scope of the appended rights. within the scope of the requirements.

Claims (7)

1. The method for controlling the way of entering and exiting the special automatic driving lane of the automatic driving vehicle is characterized by comprising the following steps:

when the automatic driving vehicle enters and exits the automatic driving special lane in a free way, 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 duration range of a current driving road section;

determining a proportion value of the number of the automatic driving vehicles corresponding to the current driving road section within a preset duration 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 ratio value with a preset threshold value;

when the ratio value is larger than the preset threshold value, adjusting the way that the automatic driving vehicle enters and exits the automatic driving special lane to limit entering and exiting;

when the proportion value of the current driving road section is smaller than the preset threshold value in a preset number of continuous preset duration ranges, the way that the automatic driving vehicle enters and exits an automatic driving special lane is adjusted to be free to enter and exit;

the method further comprises the steps of:

acquiring the number of special non-automatic driving 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 special non-automatic driving lanes, the road section length and a preset lane change position, wherein the preset lane change position comprises a road section intersection position and/or a ramp entrance position;

when the automatic driving vehicle enters and exits the automatic driving special lane, limiting the entering and exiting manner, and controlling the automatic driving vehicle to enter and exit the automatic driving special lane in the target driving range;

when the way that the automatic driving vehicle enters and exits the automatic driving special lane is regulated to limit the entering and exiting, the way that the automatic driving vehicle enters and exits the automatic driving special lane and the target driving range are sent to the automatic driving vehicle terminal corresponding to the current driving road section by using communication equipment, and the two sides of the automatic driving special lane are provided with the communication equipment.

2. The method according to claim 1, wherein the method further comprises:

monitoring the number of vehicles in the current driving road section;

and when the proportion value of the current driving road section is larger than the preset threshold value within the range of the preset number of continuous preset duration, adjusting the way that the automatic driving vehicle enters and exits the automatic driving special lane to limit entering and exiting.

3. The method of claim 1, wherein a variable color traffic marking is disposed between the autopilot lane and the non-autopilot lane, the variable color traffic marking being comprised of double rows of LED lane lights, including a free access light group and a restricted access light group; the method further comprises the steps of:

transmitting the mode that the automatic driving vehicle enters and exits the special automatic driving lane and the target driving range to a background management end corresponding to the special automatic driving lane by using the communication equipment;

when the automatic driving vehicle enters and exits the special automatic driving lane in a free way, the background management end is utilized to control the free entering and exiting lamp set to be opened and the restricted entering and exiting lamp set to be closed;

when the automatic driving vehicle enters and exits the special automatic driving lane in a limited manner, 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 set corresponding to the target driving range to be started and controlling the free entering and exiting lamp set corresponding to the special automatic driving lane in other positions to be closed and controlling the limited entering and exiting lamp set corresponding to the other positions to be started.

4. A method according to claim 3, characterized in that the method further comprises:

when the way that the automatic driving vehicle enters and exits the automatic driving special lane is adjusted to limit entering and exiting, the communication equipment is utilized to send the way that the automatic driving vehicle enters and exits the automatic driving special lane and the target driving range to the background management end, and the background management end is utilized to send the way that the automatic driving vehicle enters and exits the automatic driving special lane and the target driving range to the automatic driving vehicle terminal corresponding to the current driving road section.

5. An automated driving vehicle entering and exiting automated driving lane mode control apparatus, comprising:

the automatic driving system comprises an acquisition module, a control 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 duration range of a current driving road section when the automatic driving vehicles enter and exit the automatic driving special lane in a free manner;

the determining module is used for determining a proportion value of the number of the automatic driving vehicles corresponding to the current driving road section in a preset duration 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 ratio value with a preset threshold value;

the adjusting module is used for adjusting the mode of the automatic driving vehicle entering and exiting the automatic driving special lane to limit entering and exiting when the proportion value is larger than the preset threshold value;

the second adjusting module is used for adjusting the mode of the automatic driving vehicle entering and exiting the automatic driving special lane to be free to enter and exit when the proportion value of the current driving road section in the continuous preset duration range of the preset quantity is smaller than the preset threshold value;

the first acquisition module is used for acquiring the number of the special non-automatic driving 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 special non-automatic driving lanes, the road section length and a preset lane change position, wherein the preset lane change position comprises a road section intersection position and/or a ramp entrance position; when the automatic driving vehicle enters and exits the automatic driving special lane, limiting the entering and exiting manner, and controlling the automatic driving vehicle to enter and exit the automatic driving special lane in the target driving range;

and the first sending module is used for limiting the entering and exiting of the automatic driving vehicle in the way of entering and exiting of the automatic driving special lane, sending the way of entering and exiting of the automatic driving vehicle into the automatic driving special lane and the target driving range to the automatic driving vehicle terminal corresponding to the current driving road section by using the communication equipment, and the communication equipment is arranged at two sides of the automatic driving special lane.

6. A computer-readable storage medium storing computer instructions for causing the computer to execute the method for controlling the way of entering and exiting an automated driving lane of an automated driving vehicle according to any one of claims 1 to 4.

7. An electronic device, comprising: a memory and a processor, the memory and the processor being communicatively connected to each other, the memory storing computer instructions, the processor executing the computer instructions to perform the method of controlling ingress and egress of an autonomous vehicle into and out of an autonomous dedicated lane as claimed in any one of claims 1 to 4.