CN114973737B - Method for controlling way of automatically driving vehicle to enter and exit special lane for automatic driving - Google Patents
Method for controlling way of automatically driving vehicle to enter and exit special lane for automatic driving Download PDFInfo
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- CN114973737B CN114973737B CN202210637744.9A CN202210637744A CN114973737B CN 114973737 B CN114973737 B CN 114973737B CN 202210637744 A CN202210637744 A CN 202210637744A CN 114973737 B CN114973737 B CN 114973737B
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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 the way of entering and exiting an automatic driving special lane of an automatic driving vehicle, wherein when the way of entering and exiting the automatic driving special lane of the automatic driving vehicle is free, 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 of a current driving road section within a preset duration range are obtained; determining a proportional value of the number of the automatic driving vehicles corresponding to the current driving road section within a preset duration range according to the data; comparing the proportion value with a preset threshold value; when the ratio value is larger than a preset threshold value, the mode that the automatic driving vehicle enters and exits the automatic driving special lane is adjusted to limit entering and exiting. The method 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 traffic flow.
Description
Technical Field
The invention relates to the technical field of intelligent transportation, in particular to a method for controlling a mode of automatically driving a vehicle to enter and exit an automatic driving special lane.
Background
In the gradual development process of automatic driving, the hybrid driving of the automatic driving vehicle and the manual driving vehicle on the road is a necessary stage. In the mixed traffic flow formed by the automatic driving vehicle and the manual driving vehicle, complex interaction behaviors exist between the automatic driving vehicle and the manual driving vehicle, and certain measures need to be taken to ensure the safety and the efficiency of all vehicles. Among them, setting an automated driving dedicated lane is considered as an effective method. When the automated driving special lane is set on the road, the automated driving vehicle needs to realize the operation of driving in and out between the non-automated driving special lane and the automated driving special lane, and according to the difference of the mode setting of the automated driving vehicle for entering and exiting the automated driving special lane, the driving in and out of the automated driving vehicle to the automated driving special lane comprises two modes: a free access mode and a restricted access mode, when the free access mode is adopted, the autonomous vehicle can freely enter and exit at any position between the non-autonomous dedicated lane and the autonomous lane; when the restricted access mode is adopted, the autonomous vehicle can only travel in and out at a specific position between the non-autonomous dedicated lane and the autonomous lane. Because different traffic flow states are suitable for different in-out modes, the mode of the automatic driving vehicle for entering and exiting the automatic driving special lane needs to be adapted to the traffic flow state and can be dynamically changed.
Disclosure of Invention
In view of the above, the embodiment of the invention provides a method for controlling the way of an automatic driving vehicle to enter and exit an automatic driving special lane, so as to solve the technical problem that the way of the automatic driving vehicle to enter and exit between the automatic driving special lane and a non-automatic driving special lane can not be dynamically changed in the prior art.
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 a mode of an automatically driven vehicle entering and exiting an automatically driven lane, the method comprising: 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; and 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.
Optionally, 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.
Optionally, after the way of adjusting the automatic driving vehicle to enter and exit the automatic driving special lane to limit the entering and exiting, the method further includes: and 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, adjusting the way 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 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; and controlling the automatic driving vehicle to enter and exit the automatic driving special lane within the target driving range when the automatic driving vehicle enters and exits the automatic driving special lane in a limited way.
Optionally, communication devices are arranged on two sides of the special automatic driving lane; the method further comprises the steps of: and when the way that the automatic driving vehicle enters and exits the special automatic driving lane is regulated to limit the entering and exiting, the entering and exiting way and the target driving range are sent to the automatic driving vehicle terminal corresponding to the current driving road section by using communication equipment.
Optionally, a variable color traffic marking is arranged between the special automatic driving lane and the special non-automatic driving lane, and the variable color traffic marking is composed of double rows of LED lane lamps and comprises a free light inlet and outlet lamp group and a light outlet limiting lamp group; the method further comprises the steps of: the communication equipment is utilized to send the entering and exiting mode and the target driving range to a background management end corresponding to the special automatic driving lane; 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 access mode of the corresponding automatic driving vehicle in the special automatic driving lane is limited to access, the communication equipment is utilized to send the target driving range to the background management end, the background management end is utilized to control the free access lamp set corresponding to the target driving range to be opened, the free access lamp set corresponding to the special automatic driving lane in other positions is controlled to be closed, and the limited access lamp set corresponding to the other positions is controlled to be opened.
Optionally, the method further comprises: when the way that the automatic driving vehicle enters and exits the special automatic driving lane is adjusted to limit entering and exiting, the communication equipment is utilized to send the entering and exiting way and the target driving range to the background management end, and the background management end is utilized to send the entering and exiting way 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 automated guided vehicle entering and exiting an automated guided lane mode control apparatus, the automated guided vehicle entering and exiting an automated guided lane mode control apparatus including: 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; and 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.
A third aspect of the embodiments of the present invention provides a computer-readable storage medium storing computer instructions for causing a computer to execute the method for controlling a manner in which an autonomous vehicle enters and exits an autonomous dedicated lane according to any one of the first aspect and the first aspect of the embodiments of the present invention.
A fourth aspect of an embodiment of the present invention provides an electronic device, including: the system comprises a memory and a processor, wherein the memory and the processor are in communication connection, the memory stores computer instructions, and the processor executes the computer instructions so as to execute the method for controlling the way of controlling the automatic driving vehicle to enter and exit the special automatic driving lane according to 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 way of entering and exiting the automatic special driving lane of the automatic driving vehicle, when the way of entering and exiting the automatic special driving lane of the automatic driving vehicle is free, the number of first automatic driving vehicles corresponding to the automatic special driving lane, the number of second automatic driving vehicles corresponding to the non-automatic special driving lane and the number of manual driving vehicles corresponding to the non-automatic special driving lane in the preset duration range of the current driving road section are obtained; 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; and 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. The method acquires the number of vehicles of different driving lanes corresponding to the driving road section in real time, determines the way that the automatic driving vehicle corresponding to the driving road section enters and exits the special automatic driving lane by utilizing the number of the vehicles, optimizes the overall running condition of the traffic flow of the driving road section, and achieves the purpose that the entering and exiting way of the automatic driving vehicle between the special automatic driving lane and the special non-automatic driving 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 that are needed in the description of the embodiments or the prior art will be briefly described, and it is obvious that the drawings in the description below are some embodiments of the present invention, and other drawings can be obtained according to the drawings without inventive effort for a person skilled in the art.
FIG. 1 is a flow chart of a method of controlling access to an autopilot lane by an autopilot vehicle in accordance with an embodiment of the present invention;
fig. 2 is a schematic diagram of an implemented road segment including an autopilot dedicated lane and a non-autopilot dedicated lane provided according to an embodiment of the present invention;
FIG. 3 is a flow chart of a method for automatically driving a vehicle into or out of a lane and determining a position of the vehicle;
fig. 4 is a schematic diagram of a control effect of a lane marking for automatic driving with double-row LED lane lamps according to an embodiment of the present invention;
FIG. 5 is a block diagram of a configuration of an automated guided vehicle access automated guided lane mode control apparatus according to an embodiment of the present invention;
FIG. 6 is a schematic 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
For the purpose of making the objects, technical solutions and advantages of the embodiments of the present invention more apparent, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention, and it is apparent that the described embodiments are some embodiments of the present invention, but not all embodiments of the present invention. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
The embodiment of the invention provides a method for controlling a mode of automatically driving a vehicle to enter and exit an automatic driving special lane, as shown in fig. 1, comprising the following steps:
step S101: when the automatic driving vehicles enter and exit the automatic driving special lanes in a free way, the number of the first automatic driving vehicles corresponding to the automatic driving special lanes, the number of the second automatic driving vehicles corresponding to the non-automatic driving special lanes and the number of the manual driving vehicles corresponding to the non-automatic driving special lanes in the preset duration range of the current driving road section are obtained. Specifically, after the automated driving-dedicated lane is provided on the road, the automated driving vehicle may realize an entrance and exit between the non-automated driving-dedicated lane and the automated driving-dedicated lane. According to the different arrangement modes of the automatic driving vehicle entering and exiting the special automatic driving lane, the automatic driving vehicle mainly comprises a free entering and exiting mode and a limited entering and exiting mode. In general, the way in which the autonomous vehicle enters and exits the autonomous dedicated lane is free entry and exit by default.
Specifically, the traffic flow information on the current driving road section corresponding to the special automatic driving lane in the data acquisition time period is obtained, and the traffic flow information mainly comprises the position of an intersection on the road section, the position of a ramp entrance and a ramp exit and the number of vehicles on each lane on a plurality of discrete sections, wherein the types of the vehicles are mainly distinguished into automatic driving vehicles and manual driving vehicles, namely the number of the first automatic driving vehicles corresponding to the special automatic driving lane, the number of the second automatic driving vehicles corresponding to the special non-automatic driving lane and the number of the manual driving vehicles are included. The traffic flow information within the preset duration range can be obtained by using various traffic detection devices (coils, videos, ultrasonic waves, RFID (radio frequency identification devices) and the like) installed on the road section; the preset duration range can be set according to the actual traffic condition, and is generally 1-5 minutes, and the invention is not particularly limited to this, so long as the requirements are met.
Step S102: and 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. Specifically, the ratio value of the number of the automatic driving vehicles on the current driving road section can be obtained by calculating the number of different vehicles acquired in the preset duration range by the following formula:
wherein R represents a ratio 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 ratio value with a preset threshold value. Specifically, the preset threshold value represents a threshold value for switching between the entrance and exit of the automated driving vehicle into the automated driving special lane based on the set road characteristics, and may be set according to the actual condition of the road, which is not particularly limited in the present invention, as long as the requirement is satisfied.
Step S104: and 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. Specifically, the preset threshold is a threshold for switching the way of entering and exiting the autopilot lane of the autopilot vehicle, so that when the ratio value is greater than the preset threshold, the corresponding way of entering and exiting the autopilot lane of the autopilot vehicle is adjusted to limit the entering and exiting.
According to the method for controlling the way of the automatic driving vehicle entering and exiting the automatic driving special lane, the number of vehicles of different driving lanes corresponding to the driving road section is obtained in real time, the way of the automatic driving vehicle entering and exiting the automatic driving special lane corresponding to the driving road section is determined by utilizing the number of the vehicles, the overall running condition of the traffic flow of the driving road section is optimized, and the purpose that the way of the automatic driving vehicle entering and exiting between the automatic driving special lane and the non-automatic driving special lane is dynamically changed along with the state of the traffic flow is achieved.
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 proportion value according to the process from the step S102 to the step S102, comparing the proportion value with a preset threshold value, and adjusting the mode of entering and exiting the automatic driving special lane by the automatic driving vehicle when the proportion value is larger than the preset threshold value and keeps the state within the continuous preset duration range of the preset number. And repeating the process until the ratio value is smaller than the preset threshold value in the continuous preset duration range of the preset number, and adjusting the mode of the automatic driving vehicle entering and exiting 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 autopilot vehicle enters and exits the autopilot dedicated lane is adjusted to limit the entering and exiting, determining a specific entering and exiting position corresponding to the autopilot dedicated lane when the autopilot vehicle enters and exits in the manner of limiting the entering and exiting is further required, including: 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; and controlling the automatic driving vehicle to enter and exit the automatic driving special lane within the target driving range when the automatic driving vehicle enters and exits the automatic driving special lane in a limited way.
Specifically, decisions may be made based on lane change locations and current traffic information for each lane. Generally, the entering and exiting position of the special automatic driving lane needs to be closer to the lane changing position, and in order to ensure smooth running of the automatic driving vehicle, the greater the distance between the entering and exiting position and the lane changing position is when the number of lanes that the automatic driving vehicle needs to span is. The lane change position may include a road intersection position and/or a ramp entrance position.
Firstly, the number of the non-automatic driving special lanes corresponding to the current driving road section and the road section length corresponding to the current driving road section are obtained, and secondly, the distance between the simulated access position and the lane change position is generally in the value range of [ min { the number of the non-automatic driving special lanes is 5m, the road section length is 1/2}, min { (the number of the non-automatic driving special lanes is +2) } is 5m, the road section length is 1/2} ], wherein min { } represents taking the minimum value.
And finally, determining a target running range according to the distance value range, wherein the simulated access position corresponding to the value range is the target running range when the distance between the simulated access position and the lane change position meets the value range, namely, the simulated access position can be used as a specific access position corresponding to the automatic driving special lane in a limited access mode as long as the distance between the simulated access position and the lane change position meets the value range, namely, the automatic driving vehicle accesses the automatic driving special lane in the target running range.
As an optional implementation manner of the embodiment of the invention, communication devices are arranged on two sides of the special automatic driving lane; the method further comprises the steps of: and when the way that the automatic driving vehicle enters and exits the special automatic driving lane is regulated to limit the entering and exiting, the entering and exiting way and the target driving range are sent to the automatic driving vehicle terminal corresponding to the current driving road section by using communication equipment.
Specifically, communication devices arranged on two sides of the special automatic driving lane can be utilized to issue an entry and exit mode switching notification to the automatic driving vehicle terminal corresponding to the current driving road section, and the corresponding target driving range under the limited entry and exit mode is sent to guide the automatic driving vehicle corresponding to the automatic driving vehicle terminal to enter/exit the special automatic driving lane in the target driving range.
And secondly, communication equipment arranged on two sides of the special automatic driving lane can be used for issuing an access mode switching notification to a background management end corresponding to the current driving road section and sending a target driving range corresponding to the access limiting mode, and then the background management end is used for guiding the automatic driving vehicle corresponding to the special automatic driving vehicle terminal to enter/drive the special automatic driving lane in the target driving range by issuing the access mode switching notification and the target driving range corresponding to the access limiting mode. The transmission process is not particularly limited in the present invention, as long as the requirements are satisfied.
As an optional implementation manner of the embodiment of the invention, a color-changeable traffic marking formed by double rows of LED lane lamps can be arranged between the special automatic driving lane and the special non-automatic driving lane, wherein the double rows of LED lane lamps can comprise a free access lamp group and a limited access lamp group. Specifically, the free in-out lamp sets are intermittently paved in one row, and corresponding colors are set; the limiting lamp sets are continuously paved on the other row, corresponding colors are arranged, and the colors are different from the colors of the free lamp sets.
Firstly, communication equipment arranged on two sides of an automatic driving special lane is utilized to send an entering and exiting mode corresponding to the automatic driving special lane corresponding to a current driving road section and a target driving range to a background management end corresponding to the automatic driving special lane.
Then, the background management end can be utilized to control the color change of the double-row LED lane lamps in the middle of the automatic driving special lane and the non-automatic driving special lane. Specifically, when the way that the automatic driving vehicle enters and exits the special automatic driving lane is free entry and exit, the background management end controls the corresponding free entry and exit lamp set to be started and controls the corresponding restricted entry and exit lamp set to be closed; when the automatic driving vehicle enters and exits the automatic driving special lane in a limited manner, 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, controls the free entering and exiting lamp group corresponding to other positions corresponding to the automatic driving special lane to be turned off, and simultaneously turns on the limited entering and exiting lamp group corresponding to other positions corresponding to the automatic driving special lane.
In one example, as shown in fig. 2, the implemented road section is a highway section having four lanes in one direction, wherein the innermost lane is an automated driving dedicated lane, and the remaining three lanes are general lanes (i.e., non-automated driving dedicated lanes). The two lines between the automatic driving special lane and the general lane are double-row LED lane lamps and are special lane marks for automatic driving. The left line in the driving direction represents the marking of the free access lamp set, the right line represents the marking of the restricted access lamp set, the drawing represents the default state, namely the free access lamp set is started, the restricted access lamp set is closed, and the automatic driving vehicle can enter the lane special for automatic driving from any position.
The traffic and vehicle type information of each lane of the road section are obtained in real time in a detection mode such as video, each data acquisition time period is 1 minute, namely, the video acquires lane-dividing traffic data of 1 minute and calculates the proportion of the automatic driving vehicles. Then, the corresponding access mode and access position are decided according to the flow shown in fig. 3. The threshold is set at 30% here.
In the decision process, when the access mode is switched from free access to restricted access, the access position of the special automatic driving lane is determined according to the ramp exit, the traffic information of each lane and the like. And the access mode and the access position information are sent to a background management end corresponding to the special lane for automatic driving, the background management end controls the on and off of the LED lane lamps at different positions, as shown in fig. 4, the free access lamp groups at the access positions are on at the moment, the free access lamp groups at other positions are off, the restricted access lamp groups at other positions are on, and the lamp groups with flashing marks in the figure are lamp groups in an on state. At the same time, these decision information are transmitted to the corresponding autonomous vehicle terminals, from which the autonomous vehicle having an entry/exit request can enter/exit the autonomous dedicated lane at the entry/exit location.
When the ratio of the automated driving vehicle is less than the threshold value (30%) in two continuous data acquisition time periods (2 minutes), the in-out mode is switched back to free in-out, as shown in fig. 2, and the automated driving vehicle can enter/travel into the automated driving special lane at any position.
The embodiment of the invention also provides a device for controlling the way of automatically driving a vehicle into or out of an automatic driving special lane, as shown in fig. 5, the device comprises:
the acquiring module 501 is configured to acquire, when a manner that an autonomous vehicle enters and exits from an autonomous dedicated lane is free to enter and exit, a first number of autonomous vehicles corresponding to the autonomous dedicated lane, a second number of autonomous vehicles corresponding to a non-autonomous dedicated lane, and a number of manual vehicles corresponding to the non-autonomous dedicated lane in a preset duration range of a current driving road section; for details, see the description of step S101 in the above method embodiment.
The determining module 502 is configured to determine a ratio value of the number of autonomous vehicles corresponding to the current driving road section within a preset duration range according to the number of first autonomous vehicles, the number of second autonomous vehicles and the number of manually driven vehicles; for details, see the description related to step S102 in the above method embodiment.
A comparison module 503, configured to compare the ratio value with a preset threshold; for details, see the description of step S103 in the above method embodiment.
An adjustment module 504, configured to adjust the manner of entering and exiting the autopilot lane to limit entering and exiting when the ratio value is greater than the preset threshold value; for details, see the description related to step S104 in the above method embodiment.
According to the automatic driving vehicle access special lane mode control device provided by the embodiment of the invention, the number of vehicles in different driving lanes corresponding to the driving road section is obtained in real time, the mode that the automatic driving vehicle corresponding to the driving road section accesses the automatic driving special lane is determined by utilizing the vehicle number, the overall running condition of the traffic flow of the driving road section is optimized, and the purpose that the access 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 is realized.
As an alternative 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 way 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 within the range of the preset number of continuous preset duration.
As an alternative implementation manner of the embodiment of the present invention, the apparatus further includes: and the second adjusting module is used for adjusting the mode of the automatic driving vehicle entering and exiting the automatic driving special lane to freely enter and exit when the proportion value of the current driving road section in the continuous preset duration range of the preset number is smaller than the preset threshold value.
As an alternative implementation manner of the embodiment of the present invention, the apparatus further includes: 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; and controlling the automatic driving vehicle to enter and exit the automatic driving special lane within the target driving range when the automatic driving vehicle enters and exits the automatic driving special lane in a limited way.
As an optional implementation manner of the embodiment of the invention, communication devices are arranged on two sides of the special automatic driving lane; the apparatus further comprises: 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, and sending the entering and exiting way and the target driving range to the automatic driving vehicle terminal corresponding to the current driving road section by using the communication equipment.
As an optional implementation manner of the embodiment of the invention, a variable color traffic marking is arranged between the special automatic driving lane and the special non-automatic driving lane, and the variable color traffic marking is composed of double rows of LED lane lamps, including a free light-in/out lamp group and a limited light-in/out lamp group; the apparatus 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 special automatic driving lane by using the communication equipment; the first control module is used for controlling the free access lamp group to be opened and controlling the restricted access lamp group to be closed by utilizing the background management end when the way that the automatic driving vehicle accesses the special automatic driving lane is free access; and the second control module is used for sending the target driving range to the background management end by using the communication equipment and controlling the free access lamp group corresponding to the target driving range to be started and controlling the free access lamp group corresponding to the automatic driving special lane in other positions to be closed and controlling the restricted access lamp group corresponding to the other positions to be started when the automatic driving vehicle accesses the automatic driving special lane in a manner of restricting access.
As an alternative implementation manner of the embodiment of the present invention, the apparatus further includes: and the third sending module is used for limiting the entering and exiting of the automatic driving vehicle in the way of entering and exiting the special automatic driving lane, sending the entering and exiting way and the target driving range to the background management end by using the communication equipment and sending the entering and exiting way and the target driving range to the automatic driving vehicle terminal corresponding to the current driving road section by using the background management end.
The function description of the automatic driving vehicle in-out automatic driving special lane mode control device provided by the embodiment of the invention is detailed with reference to the description of the automatic driving vehicle in-out automatic driving special lane mode control method in the embodiment.
The embodiment of the present invention also provides a storage medium, as shown in fig. 6, on which a computer program 601 is stored, which when executed by a processor, implements the steps of the method for controlling the way in which an autonomous vehicle enters and exits an autonomous dedicated lane in the above embodiment. The storage medium also stores audio and video stream data, characteristic frame data, 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 (Random AccessMemory, RAM), a Flash Memory (Flash Memory), a Hard Disk (HDD), or a Solid State Drive (SSD); the storage medium may also comprise a combination of memories of the kind described above.
It will be appreciated by those skilled in the art that implementing all or part of the above-described embodiment method may be implemented by a computer program to instruct related hardware, where the program may be stored in a computer readable storage medium, and the program may include the above-described embodiment method when executed. Wherein the storage medium may be a magnetic Disk, an optical Disk, a Read-Only Memory (ROM), a random access Memory (RandomAccessMemory, RAM), a Flash Memory (Flash Memory), a Hard Disk (HDD), a Solid State Drive (SSD), or the like; the storage medium may also comprise a combination of memories of the kind described above.
The present invention also provides an electronic device, as shown in fig. 7, which may include a processor 71 and a memory 72, where the processor 71 and the memory 72 may be connected by a bus or other means, and in fig. 7, the connection is exemplified by a bus.
The processor 71 may be a central processing unit (Central Processing Unit, CPU). The processor 71 may also be other general purpose processors, digital signal processors (Digital Signal Processor, DSP), application specific integrated circuits (Application Specific Integrated Circuit, ASIC), field programmable gate arrays (Field-Programmable Gate Array, FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, or combinations of the above.
The memory 72 serves as a non-transitory computer readable storage medium that may 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 of the processor and data processing by running non-transitory software programs, instructions, and modules stored in the memory 72, that is, implements the method of controlling the way in which the autonomous vehicle enters and exits the lane for autonomous use in the above-described method embodiment.
The memory 72 may include a memory program area that may store an operating device, an application program required for at least one function, and a memory data area; the storage data area may store data created by the processor 71, etc. 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 may optionally include memory located remotely from processor 71, such remote memory being connectable to processor 71 through 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, which when executed by the processor 71, perform the method of automated vehicle access automated lane mode control in the embodiment shown in fig. 1-4.
The specific details of the electronic device may be understood correspondingly with reference to the corresponding related descriptions and effects in the embodiments shown in fig. 1 to 4, which are not repeated here.
Although embodiments of the present invention have been described in connection with the accompanying drawings, various modifications and variations may be made by those skilled in the art without departing from the spirit and scope of the invention, and such modifications and variations fall within the scope of the invention as defined by the appended claims.
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.
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