CN115331441A - Narrow curve passage control system and method based on vehicle-road cooperation - Google Patents
Narrow curve passage control system and method based on vehicle-road cooperation Download PDFInfo
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/01—Detecting movement of traffic to be counted or controlled
- G08G1/0104—Measuring and analyzing of parameters relative to traffic conditions
- G08G1/0137—Measuring and analyzing of parameters relative to traffic conditions for specific applications
- G08G1/0145—Measuring and analyzing of parameters relative to traffic conditions for specific applications for active traffic flow control
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/01—Detecting movement of traffic to be counted or controlled
- G08G1/0104—Measuring and analyzing of parameters relative to traffic conditions
- G08G1/0108—Measuring and analyzing of parameters relative to traffic conditions based on the source of data
- G08G1/0112—Measuring and analyzing of parameters relative to traffic conditions based on the source of data from the vehicle, e.g. floating car data [FCD]
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/01—Detecting movement of traffic to be counted or controlled
- G08G1/0104—Measuring and analyzing of parameters relative to traffic conditions
- G08G1/0108—Measuring and analyzing of parameters relative to traffic conditions based on the source of data
- G08G1/0116—Measuring and analyzing of parameters relative to traffic conditions based on the source of data from roadside infrastructure, e.g. beacons
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/01—Detecting movement of traffic to be counted or controlled
- G08G1/0104—Measuring and analyzing of parameters relative to traffic conditions
- G08G1/0108—Measuring and analyzing of parameters relative to traffic conditions based on the source of data
- G08G1/012—Measuring and analyzing of parameters relative to traffic conditions based on the source of data from other sources than vehicle or roadside beacons, e.g. mobile networks
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/01—Detecting movement of traffic to be counted or controlled
- G08G1/0104—Measuring and analyzing of parameters relative to traffic conditions
- G08G1/0125—Traffic data processing
- G08G1/0133—Traffic data processing for classifying traffic situation
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/01—Detecting movement of traffic to be counted or controlled
- G08G1/017—Detecting movement of traffic to be counted or controlled identifying vehicles
- G08G1/0175—Detecting movement of traffic to be counted or controlled identifying vehicles by photographing vehicles, e.g. when violating traffic rules
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/01—Detecting movement of traffic to be counted or controlled
- G08G1/042—Detecting movement of traffic to be counted or controlled using inductive or magnetic detectors
Abstract
The invention discloses a narrow curve passage control system and method based on vehicle-road cooperation. The road side unit acquires vehicle information of curves and nearby roads through the sensing module and the V2X module, a static high-precision map stored by the map module is combined, a dynamic high-precision map reflecting road condition information is generated through the edge calculation module, and the control module formulates a passing strategy of each vehicle according to the road condition information and a preset curve passing rule and sends the passing strategy to the vehicle-mounted unit through the V2X module. The on-board unit provides driving assistance information and instructions to the vehicle driver to guide the vehicle safely and quickly through a curve. The invention can acquire the road conditions of the curve area and the nearby roads in a larger range, formulate the passing strategy of each vehicle by taking the principles of safety, high efficiency, energy conservation and emission reduction as the principles, reduce the waiting time for the vehicle to leave the way by prompting the suggested vehicle speed and effectively improve the road passing efficiency.
Description
Technical Field
The invention relates to a vehicle communication command system for narrow curves.
Background
With the popularization of motor vehicles in China, the number and frequency of motor vehicles passing on mountainous roads are increasing day by day. Due to the poor infrastructure of the mountain road, the steep slope, the sharp bend and the narrow road of part of the road sections affect the safe passing of the motor vehicles. Particularly, in a narrow curve where only one vehicle is allowed to pass, the driver needs to decelerate in advance, observe an oncoming vehicle through a turning mirror, make a whistle, or stop for giving way to pass through the curve due to the limited field of vision of the driver of the vehicle. The method depends on the experience judgment of a driver on one hand, and on the other hand, the visibility of the reflector is reduced under the severe weather conditions, which all affect the safe passing of the vehicle and the passing efficiency of the vehicle at the bend.
Chinese patent CN 102800202A "traffic control system and control method for narrow curve in mountain area" discloses using signal lamp and parking column to realize vehicle passing control, but its technical scheme is easily affected by weather, and its control means is relatively single, when there are many vehicles passing in two directions, the parking column acts to generate extra time overhead, so that the passing efficiency of the scheme is low. .
Disclosure of Invention
Aiming at the problems existing in the narrow curve vehicle passing, the invention provides a narrow curve vehicle passing control system and method based on vehicle-road cooperation, and the method is suitable for narrow curves with limited vision and only allowing a single vehicle to pass:
a Road Side Unit (RSU) is arranged on the road side to realize the functions of sensing the road traffic condition and controlling the traffic, and an on-board unit (OBU) is configured on a vehicle to receive the prompt information and the control instruction of the road side unit, provide driving auxiliary information and instructions for a vehicle driver and guide the vehicle to safely and quickly pass through a curve. In addition, the vehicle-road cooperative system can acquire the road conditions of the curve area and the nearby roads in a wider range, the passing strategy of each vehicle is formulated according to the principles of safety, high efficiency, energy conservation and emission reduction, the vehicle passing waiting time is reduced by prompting the suggested vehicle speed, and the road passing efficiency is effectively improved.
The technical scheme of the invention is as follows:
a narrow curve passage control system based on vehicle-road cooperation comprises a road side unit arranged on a curve and vehicle-mounted units arranged on vehicles, wherein the road side unit comprises a sensing module, a road side communication module, a map module, an edge calculation module, a road side control module and a signal indicator lamp;
the sensing module is used for identifying road condition information of a curve area, and particularly acquiring state information of a vehicle without a vehicle-mounted unit, wherein the state information comprises the position, the size, the running speed, the direction and the like of the vehicle;
the roadside communication module and the vehicle-mounted communication module realize communication, the roadside communication module sends prompt information and control instructions, and the vehicle-mounted communication module sends vehicle information;
the map module stores high-precision maps of road curve areas and nearby road sections;
the edge calculation module performs fusion processing on the data acquired by the sensing module and the vehicle data acquired by the roadside communication module to extract vehicle information of a curve area and a nearby road section, and a dynamic high-precision map is constructed to reflect real-time road conditions by combining with a high-precision map stored by the map module;
the road side control module calculates an optimal passing strategy by combining preset passing rules according to the real-time road condition information provided by the edge calculation unit, and sends control instructions and prompt information to each vehicle to guide the vehicles to pass;
the signal indicator lamp is controlled by the road side control module and is used for commanding the vehicle without the vehicle-mounted communication unit to pass in a curve area;
the positioning module acquires information such as vehicle position, speed, traveling direction and the like;
the man-machine module outputs the prompt information and the control instruction sent by the road side unit to a driver in an image or voice mode;
the vehicle-mounted control module acquires information such as vehicle position, speed, traveling direction and the like from the positioning module and sends the information to the road side unit through the vehicle-mounted communication module; and acquiring prompt information and a control instruction from the vehicle-mounted communication module and outputting the prompt information and the control instruction through the man-machine module.
The sensing module comprises a camera and a laser radar, and is used for acquiring road condition information in a 150-meter range of a curve area and outputting image data and point cloud data of the laser radar; the roadside communication module comprises a V2X communication module and an LTE communication module, the V2X communication module is used for realizing communication between the roadside unit and the vehicle-mounted unit, and the LTE communication module is used for realizing connection between the roadside unit and the mobile network.
The man-machine module comprises a display, a loudspeaker and a key, and a driver inputs configuration information and an operation instruction through the key; and the vehicle-mounted control module receives user configuration information and an operation instruction from the keys to complete equipment configuration and corresponding operation.
The vehicle-mounted unit also comprises a host interface module which realizes the connection between the vehicle-mounted unit and a vehicle-mounted network, realizes the communication with the vehicle main controller through the connection and acquires the vehicle state information.
A narrow curve passage control method based on vehicle-road cooperation comprises the following steps:
a, the vehicle-mounted unit periodically sends the position, the speed, the advancing direction and the VIN code information of the vehicle to the road side unit;
the road side unit B acquires video images and laser point cloud data of a curve region through the sensing module, and performs fusion processing on the images and the point cloud data acquired by the sensing module and vehicle data sent by the vehicle-mounted unit through the edge calculation module, so that extraction of vehicle information of curves and nearby road sections is realized, and a dynamic high-precision map is constructed to reflect real-time road conditions;
and the C road side unit determines the passing sequence and the passing strategy of each vehicle near the curve according to the position of the vehicle in the acquired curve real-time high-precision map and in combination with a preset curve passing rule, and sends prompt information and a control instruction to the vehicle near the curve. The preset curve passing rules comprise:
1) Preferential passage of vehicles which first reach a curve area
2) Single vehicle yielding fleet;
3) The small car lets go of the big car;
4) The short fleet gives way to the long fleet;
5) The vehicle on the downhill gives way to the vehicle on the uphill;
the method comprises the steps of distinguishing upstream vehicles and downstream vehicles according to vehicle positions and traveling directions, ignoring the vehicles which pass through a curve, detecting whether a vehicle team exists or not, calculating the length of the vehicle team, further calculating the predicted time of each vehicle/vehicle team reaching the curve area, and finally arranging the passing sequence of the vehicles/vehicle teams according to passing rules.
When the distance between the two vehicles is greater than the safe driving distance, the two vehicles are judged as a single vehicle, when the distance between the two vehicles is less than or equal to the safe driving distance, the two vehicles are judged as a motorcade, and the safe driving distance formula is as follows:
S＝V*V/2g(μcosα±sinα)+V*Tf
wherein V is the driving speed, mu is the road friction coefficient, alpha is the road slope angle, tf is the reaction time, g =9.8m/s, plus sign is taken in upper formula brackets of uphill vehicles, minus sign is taken in upper formula brackets of downhill vehicles;
when the vehicles in the upstream and downstream are both motorcades, the passing order is determined according to the length of the motorcades, and the motorcades with large lengths preferentially pass. The fleet length is calculated from the fleet head position and the fleet tail position.
On the basis of determining the vehicle passing sequence, calculating the optimal driving speed of the vehicle according to the distance between the vehicle and the curve and the predicted time of the vehicle in front passing through the curve, and sending the information of the suggested driving speed, the distance to the curve, the predicted arrival time and the like to the corresponding vehicle;
when the yielding vehicle reaches the curve area, the vehicle passing preferentially does not leave the curve area, and the yielding vehicle needs to wait for the yielding vehicle; for the vehicle which is recommended to pass preferentially, the vehicle is recommended to run according to the maximum speed limit of the road, and the calculation method for the vehicle which needs to give way to recommend the running speed is as follows:
Vrec＝Sgw/[Sw/min(Vga,Vw)+Sga/min(Vga,Vmax)]
wherein Sgw is the distance between the yielding vehicle and the curve, vga is the speed of the prior vehicle, sga is the distance between the prior vehicle and the curve, sw is the length of the curve area, vw is the maximum driving speed of the curve area, and Vmax is the maximum driving speed of the road near the curve.
Also included is a congestion passing policy: when the length of a motorcade waiting for passing in a two-way queue on a curve road section is close to a V2X coverage range, sequentially releasing the vehicles going up and down according to the maximum waiting time; setting the maximum waiting time as tmax, starting the upstream fleet to pass at the time of T0, assuming that the fleets all pass according to the maximum speed limit of a road, wherein the number of vehicles allowed to pass in the time of tmax is N, and the distance between the Nth vehicle and the head vehicle of the fleet is Sfn, the following relations are provided: and Sfn/Vmax + Sw/Vw is less than or equal to tmax, sending a passing instruction and a suggested speed to the front N vehicles of the upper driving team, and sending prompt instructions of moving forward, continuing waiting and the like to the (N + 1) th vehicle and the rear vehicles thereof.
When the Nth vehicle of the upstream fleet passes through the curve area, calculating the number of vehicles which can pass through the downstream fleet, and sending corresponding control and prompt instructions to the vehicles of the downstream fleet; meanwhile, updating the number and the length of the upstream fleet, and if the length of the fleet is still close to the V2X coverage range, continuing to control the bidirectional traffic of the vehicles at the curve according to the congestion traffic strategy; and if the length of the uplink fleet is smaller than the V2X coverage range, controlling the vehicles to pass according to a normal passing strategy. The invention has the beneficial effects that:
the method for controlling the vehicle to pass through the vehicle-road cooperative system is not easily influenced by weather, and the signal transmission is more reliable. In addition, the vehicle-road cooperative system can acquire the road conditions of the curve area and the nearby roads in a wider range, formulate the passing strategy of each vehicle according to the principles of safety, high efficiency, energy conservation and emission reduction, reduce the vehicle passing waiting time by prompting the suggested vehicle speed, effectively improve the road passing efficiency, provide driving auxiliary information and instructions for the vehicle driver, and guide the vehicle to safely and quickly pass through the curve.
Drawings
FIG. 1 is a schematic diagram of a roadside unit system.
FIG. 2 is a schematic diagram of an on-board unit system.
FIG. 3 is a system work flow diagram
FIG. 4 is a vehicle sequencing and traffic control flow diagram.
Detailed Description
Example 1:
the vehicle-road cooperative system is composed of a Road Side Unit (RSU) arranged at the top end of a curve and an on-board unit (OBU) installed on each vehicle. The system structure of the road side unit is shown in fig. 1, which includes:
the sensing module comprises a camera and a laser radar, realizes the acquisition of road condition information in a curve area (R is less than 150 meters), and outputs image data and point cloud data of the laser radar; the sensing module can sense not only the information (position, type and speed) of the vehicles, but also the road conditions such as the number of vehicles in line, the congestion condition and the like.
The communication module comprises a V2X communication module and an LTE communication module, wherein the V2X communication module is used for realizing communication between the road side unit and the vehicle-mounted unit, receiving information sent by vehicles within a V2X signal coverage range (R is less than 1.5 km), including vehicle positions, speeds, advancing directions, VIN codes and the like, and sending prompt information and control instructions of the road side unit to the vehicle-mounted unit; the LTE communication module realizes the connection between the road side unit and the mobile network, and can inquire vehicle information such as vehicle type, overall dimension and the like through the network according to the vehicle VIN code;
the map module is used for storing high-precision maps of road curve areas and nearby road sections;
the edge calculation module is used for fusing the image and point cloud data acquired by the sensing module and the vehicle data acquired by the communication module to extract vehicle information of a curve and a nearby road section, and constructing a dynamic high-precision map to reflect real-time road conditions by combining a high-precision map stored by the map module;
the control module is used for calculating an optimal traffic strategy by combining a preset traffic rule according to the real-time road condition information provided by the edge calculation unit, sending a control instruction and prompt information to each vehicle and guiding the vehicles to pass;
the signal indicator lamp is controlled by the control module and provides curve area traffic guidance for vehicles without vehicle-mounted units.
The system composition of the on-board unit is shown in fig. 2, which includes:
the positioning module is used for acquiring information such as vehicle position, speed, traveling direction and the like;
the communication module is used for realizing communication with the road side unit, sending information such as the position, the speed, the traveling direction and the VIN code of the vehicle to the road side unit, and receiving prompt information and control instructions sent by the road side unit;
the man-machine module comprises a display, a loudspeaker and a key, and outputs the prompt information and the control instruction sent by the road side unit to a driver in an image or voice mode, and the driver inputs configuration information and an operation instruction through the key;
the control module acquires information such as the position, the speed, the traveling direction and the like of the vehicle from the positioning module and sends the information to the road side unit through the V2X communication module; acquiring prompt information and a control instruction from the communication module and outputting the prompt information and the control instruction through the man-machine module; receiving user configuration information and an operation instruction from the key to complete equipment configuration and corresponding operation;
the host interface module (optional) realizes the connection of the OBU and the vehicle-mounted network, realizes the communication with a vehicle main controller through the connection, and acquires vehicle state information such as speed, a steering lamp, a brake and the like.
The work flow of the system is as shown in FIG. 3: the method comprises the steps that Road Side Units (RSUs) are started, road condition information of a curve area is obtained through a sensing module, vehicle information sent by all vehicle-mounted units (OBUs) in a signal coverage range is obtained through a V2X module, a dynamic high-precision map is built through an edge computing module in combination with the sensing information, the vehicle information and a high-precision map stored by a map module to reflect real-time road conditions, vehicles are sequenced through a control module according to a traffic strategy, and traffic prompts and instructions are issued to the vehicle-mounted units.
The narrow curve passage control method based on vehicle-road cooperation comprises the following steps:
a, the vehicle-mounted unit periodically sends the position, the speed, the advancing direction and the VIN code information of the vehicle to the road side unit;
the road condition information of the curve region is acquired by the road side unit B through the sensing module, and the image and point cloud data acquired by the sensing module and the vehicle data sent by the vehicle-mounted unit are fused through the edge calculation module, so that the vehicle information of the curve and the nearby road sections is extracted, and a dynamic high-precision map is constructed to reflect the real-time road condition;
and the C road side unit determines the passing sequence and the passing strategy of each vehicle near the curve according to the position of the vehicle in the acquired curve real-time high-precision map and in combination with a preset curve passing rule, and sends prompt information and a control instruction to the vehicle near the curve.
Example 2:
1. an on-board unit (OBU) sends information such as vehicle position, speed, traveling direction and VIN codes through a V2X broadcast channel cycle;
2. the Road Side Unit (RSU) combines the received vehicle information (far, less than 1.5 km) near the curve and the vehicle information (near, less than 150 m) in the curve area (including the information of the vehicle without the vehicle-mounted unit) acquired by the sensing module and the edge calculation module with a pre-stored static high-precision map of the curve section to construct a real-time dynamic high-precision map, wherein the map comprises the information of the position, the speed, the traveling direction, the distance from the curve and the like of the vehicle within the range of 3km near the curve;
3. the road side unit determines the passing order and the passing strategy of each vehicle/fleet near the curve by combining a preset curve passing rule according to the positions of the vehicles in the acquired curve real-time high-precision map, and sends prompt information and control instructions to the vehicles near the curve;
4. bend rule of passing based on factors such as safety, efficiency, energy saving and emission reduction formulate includes:
1) Single vehicle yielding fleet (efficiency, energy saving);
2) The small vehicle gives the big vehicle (safety and energy saving);
3) The short fleet gives a long fleet (efficiency, energy saving);
4) The vehicle going downhill (downgoing) lets go uphill (upgoing) (safety, efficiency, energy saving);
5. the method for determining the passing order of vehicles near the curve comprises the following steps:
1) The vehicle which firstly reaches the curve area passes through preferentially;
assuming that the distances from the curve to the nearest ascending and descending vehicles to the curve area at time T are Su and Sd, respectively, and the driving speeds are Vu and Vd, respectively, if the driving speeds of the two vehicles are not changed, the time tu and td required for reaching the curve area are respectively:
tu＝Su/Vu,td＝Sd/Vd；
if tu is less than or equal to td, the uplink vehicle preferentially passes; otherwise, the descending vehicles pass preferentially.
2) If the time for the two ascending and descending vehicles to reach the curve area is the same, determining the passing sequence of the two vehicles according to the passing rule in the step 4;
3) When two vehicles in the same direction are close to each other, the two vehicles are considered as a vehicle fleet, the position and the speed of the vehicle fleet are determined by the head vehicle, and the length of the vehicle fleet is determined by the position of the head vehicle and the position of the tail vehicle. The distance reference safe driving distance of judging two cars as the motorcade, judge 2 singles when two cars distance is greater than safe driving distance, judge two cars as the motorcade when two cars distance is less than or equal to safe driving distance, safe driving distance formula as follows:
S＝V*V/2g(μcosα±sinα)+V*Tf
wherein V is driving speed, mu is road friction coefficient (0.8 is taken, 0.2 is taken in rainy days), alpha is road slope angle, tf is reaction time (1 second is usually taken), g =9.8m/s, plus sign is taken in the formula bracket on the uphill vehicle, and minus sign is taken in the formula bracket on the downhill vehicle.
And when the distance between the single vehicle running in the same direction and the motorcade is less than the safety distance, the single vehicle is combined into the motorcade, and the number, the length and the speed of the motorcade are updated. When the single vehicle is in front of the traveling direction of the fleet of vehicles, the distance between the single vehicle and the fleet of vehicles is determined by the position of the single vehicle and the position of the fleet of vehicles (namely, the position of the head vehicle); when the vehicle is behind the traveling direction of the fleet, the distance between the vehicle and the fleet is determined by the position of the vehicle and the position of the end of the fleet.
When the distance between the head vehicle and the second vehicle at the head in the fleet exceeds the safety distance, the head vehicle of the original fleet is regarded as a single vehicle, the second vehicle at the head of the original fleet is regarded as the head vehicle, and the number, the length and the speed of the fleet are correspondingly changed. Similarly, when the distance between the vehicle at the tail part of the motorcade and the second vehicle at the tail part of the motorcade exceeds the safe distance, the vehicle at the tail part of the original motorcade is regarded as a single vehicle, the second vehicle at the tail part of the original motorcade is regarded as a tail vehicle, and the number and the length of the motorcade are correspondingly changed.
4) When the uplink vehicles and the downlink vehicles are both fleets, the passing order is determined according to the lengths of the fleets, and the fleets with large lengths pass preferentially. The fleet length is calculated from the fleet head position and the fleet tail position.
6. On the basis of determining the vehicle passing sequence, the optimal driving speed of the vehicle is calculated according to the distance between the vehicle and the curve and the predicted time of the vehicle in front passing through the curve, and the information of the recommended driving speed, the distance to the curve, the predicted arrival time and the like is sent to the corresponding vehicle. For the vehicle close to the curve, if the roadside unit judges that the two vehicles meet in the curve area, the vehicle requiring giving way is sent with the giving way prompt information according to the passing rule described in the step 4, and a parking giving way instruction is sent before the vehicle enters the curve area; and sending a meeting prompting instruction (comprising the recommended driving speed, the distance of the front meeting vehicle and the like) to the vehicle which does not need to give way.
7. And suggesting a calculation method of the running speed.
Assuming that the length of a curve area is Sw, the speed limit of a curve road section is Vw, the speed limit of a road section near the curve is Vmax, assuming that the driving speeds of an ascending vehicle and a descending vehicle at the moment T are Vu and Vd respectively, the distances from the ascending vehicle and the descending vehicle to the curve are Su and Sd respectively, the predicted time of reaching the curve area is tu and td respectively, and assuming that tu is less than or equal to td, the ascending vehicle preferentially passes:
if td is less than or equal to tu + Sw/min (Vu, vw), i.e., when the descending vehicle reaches the curve area, the ascending vehicle does not yet leave the curve area, the descending vehicle needs to be allowed to wait. If it is desired to minimize the let-go waiting time, the up-going or down-going vehicle may be prompted to travel at the recommended speed.
The method for calculating the recommended running speed of the vehicle needing to give way comprises the following steps:
Vrec＝Sgw/[Sw/min(Vga,Vw)+Sga/min(Vga,Vmax)]
wherein Sgw is the distance between the yielding vehicle and the curve, vga is the speed of the prior passing vehicle, and Sga is the distance between the prior passing vehicle and the curve.
If the vehicle passing preferentially is a vehicle team, and the length of the vehicle team is assumed to be Sf (the position of the head vehicle is subtracted from the position of the tail vehicle), the method for calculating the driving speed of the vehicle giving way is suggested to comprise the following steps:
Vrec＝Sgw/[(Sw+Sf)/min(Vga,Vw)+Sga/min(Vga,Vmax)]
the vehicle-mounted unit receives the prompting information and the driving instruction sent by the road side unit and then outputs the prompting information and the driving instruction through the man-machine module, and a driver drives a vehicle according to the driving prompting information and the driving instruction (including driving speed suggestion, parking and yielding, distance from a curve, front intersection vehicle distance and the like) output by the vehicle-mounted unit.
Judging basis for recovering passing of the yielding vehicle:
the vehicles for passing can recover to pass after waiting for the vehicles passing preferentially or the motorcade passing through the curve area. The method for judging whether the vehicle or the fleet passes through the curve area comprises the following steps:
for the bicycle which is preferentially passed, the road side unit judges whether the bicycle passes through the curve area or not through the sensing module, the V2X module and the edge calculation module;
for the motorcade, the roadside unit judges whether the motorcade tail car passes through the curve area or not through the sensing module, the V2X module and the edge calculation module.
8. A traffic strategy when congestion occurs on a curve section (bidirectional queuing);
when the motorcade is queued to wait for passing in both directions of the curve road section and the length of the motorcade is close to the range covered by V2X, the passing strategy cannot be judged according to the length of the motorcade because the information such as the number of the motorcade is inaccurate, and the upstream vehicles and the downstream vehicles can be released in sequence according to the maximum waiting time. Assuming that the maximum waiting time is tmax, the upstream fleet starts to pass at the time of T0, assuming that the fleets all pass according to the maximum speed limit of a road, the number of vehicles allowed to pass in the time of tmax is N, and the distance between the Nth vehicle and the head vehicle of the fleet is Sfn, the following relations are provided:
Sfn/Vmax+Sw/Vw≤tmax
considering the conditions of starting acceleration time of the vehicle, partial vehicles running below the speed limit and the like, the allowable vehicle should be less than N. The RSU sends a passing instruction and a suggested speed to the front N vehicles of the upstream team, and sends prompt instructions for moving forward, continuing waiting and the like to the (N + 1) th vehicle and the rear vehicles.
And after the Nth vehicle of the upstream fleet passes through the curve area, the RSU calculates the number of vehicles which can pass through the downstream fleet according to the calculation method, and sends corresponding control and prompt instructions to the vehicles of the downstream fleet. Meanwhile, updating the number and the length of the upstream fleet, and if the length of the fleet is still close to the V2X coverage range, continuing to control the bidirectional traffic of the vehicles at the curve according to the congestion traffic strategy; and if the length of the uplink fleet is smaller than the V2X coverage range, controlling the vehicles to pass according to a normal passing strategy.
Example 3:
as shown in fig. 4, the roadside unit obtains the recent real-time high-definition map from the map module, and divides the vehicles into ascending vehicles and descending vehicles according to the vehicle positions and the driving directions, wherein the vehicles which have already passed through the curve do not participate in queuing. And identifying the fleets in the uplink vehicles and the downlink vehicles according to the distance between the vehicles, numbering the fleets and the single vehicles respectively, and calculating the number and the length of each fleet, wherein the position and the speed of the fleets are determined by the head vehicles, and the length of the fleets is calculated by the positions of the head vehicles and the tail vehicles. Calculating the time of the vehicle or the motorcade reaching the curve according to the speed and the position of the vehicle or the motorcade, and recording the time of the ascending vehicle as Tu m And the down vehicle arrival time is recorded as Td n And m and n are numbers. Comparing the arrival time of each number from m = n =1, and leading the first-arrival person to pass preferentially; when the arrival time is the same, the motorcade is preferentially passed, whether the motorcade exists or not is judged firstly, if the motorcade exists in the up-going and down-going states, the length of the motorcade is judged, and the person with the larger length has the priority; when two vehicles with the same time of reaching the curve are both single vehicles, the large vehicle preferentially passes through, and if the two vehicles are also the same in size, the ascending vehicle preferentially passes through. And sending the traffic information to the vehicle-mounted unit, refreshing the map again, judging whether a vehicle passes through the curve area or whether a new vehicle enters the curve range, and recalculating the queue if the vehicle passes through the curve area or the new vehicle enters the curve range.
Claims (10)
1. A narrow curve passage control system based on vehicle-road cooperation comprises a road side unit arranged on a curve and vehicle-mounted units arranged on vehicles, and is characterized in that the road side unit comprises a sensing module, a road side communication module, a map module, an edge calculation module, a road side control module and an information indicator lamp, and the vehicle-mounted units comprise a positioning module, a vehicle-mounted communication module, a human-computer module and a vehicle-mounted control module;
the sensing module is used for identifying road condition information of a curve area, and acquiring state information of a vehicle without a vehicle-mounted unit;
the roadside communication module and the vehicle-mounted communication module realize communication, the roadside communication module sends prompt information and control instructions, and the vehicle-mounted communication module sends vehicle information;
the map module stores high-precision maps of road curve areas and nearby road sections;
the edge calculation module performs fusion processing on the data acquired by the sensing module and the vehicle data acquired by the roadside communication module to extract vehicle information of a curve and a nearby road section, and a dynamic high-precision map is constructed to reflect real-time road conditions by combining with a high-precision map stored by the map module;
the road side control module calculates an optimal passing strategy by combining preset passing rules according to the real-time road condition information provided by the edge calculation unit, and sends control instructions and prompt information to each vehicle to guide the vehicles to pass;
the signal indicator lamp is controlled by the road side control module and is used for controlling vehicles without vehicle-mounted units to pass through a curve area;
the positioning module acquires information such as vehicle position, speed, traveling direction and the like;
the man-machine module outputs the prompt information and the control instruction sent by the road side unit to a driver in an image or voice mode;
the vehicle-mounted control module acquires information such as vehicle position, speed, traveling direction and the like from the positioning module and sends the information to the road side unit through the vehicle-mounted communication module; and acquiring prompt information and a control instruction from the vehicle-mounted communication module and outputting the prompt information and the control instruction through the man-machine module.
2. The narrow curve passage control system based on the vehicle-road cooperation according to claim 1, characterized in that: the sensing module comprises a camera and a laser radar, and is used for acquiring road condition information in a 150-meter range of a curve area and outputting image data and point cloud data of the laser radar; the roadside communication module comprises a V2X communication module and an LTE communication module, the V2X communication module is used for realizing communication between the roadside unit and the vehicle-mounted unit, and the LTE communication module is used for realizing connection between the roadside unit and the mobile network.
3. The narrow curve passage control system based on the vehicle-road cooperation according to claim 1, characterized in that: the man-machine module comprises a display, a loudspeaker and a key, and a driver inputs configuration information and an operation instruction through the key; and the vehicle-mounted control module receives user configuration information and an operation instruction from the key to complete equipment configuration and corresponding operation.
4. The narrow curve passage control system based on the vehicle-road cooperation according to claim 1, characterized in that: the vehicle-mounted unit also comprises a host interface module which realizes the connection between the vehicle-mounted unit and a vehicle-mounted network, realizes the communication with a vehicle main controller through the connection and acquires the vehicle state information.
5. A narrow curve passage control method based on vehicle-road cooperation is characterized by comprising the following steps:
a, the vehicle-mounted unit periodically sends the position, the speed, the advancing direction and the VIN code information of the vehicle to the road side unit;
the road side unit B acquires a video image and a laser point cloud of a curve area through the sensing module, and performs fusion processing on the image and the point cloud data acquired by the sensing module and vehicle data sent by the vehicle-mounted unit through the edge calculation module, so that the road condition information of the curve area and nearby road sections is extracted, and a dynamic high-precision map is constructed to reflect real-time road conditions;
and the C road side unit determines the passing sequence and the passing strategy of each vehicle near the curve according to the position of the vehicle in the acquired curve real-time high-precision map and in combination with a preset curve passing rule, and sends prompt information and a control instruction to the vehicle near the curve.
6. The narrow curve passage control method based on the vehicle-road cooperation according to claim 5, wherein the preset curve passage rule includes: 1) The vehicle which firstly reaches the curve area passes preferentially; 2) Single vehicle yielding fleet; 3) The method comprises the following steps that a small car gives way to a large car, the size of the car is judged according to the perception of road side equipment or the size of the car is obtained by inquiring registration information of the car according to a VIN code sent by the car; 4) The vehicle on the downhill gives way to the vehicle on the uphill; 5) When the uplink and downlink vehicles are both fleets, determining a passing sequence according to the lengths of the uplink and downlink fleets, wherein the fleets with large lengths pass preferentially, and the lengths of the fleets are calculated according to the positions of head cars and tail cars of the fleets; the method comprises the steps of firstly calculating an arrival sequence of each vehicle to a curve area, then detecting whether a vehicle team exists and the length of the vehicle team, and finally making vehicle/vehicle team passing sequence arrangement according to a passing rule.
7. The narrow curve passage control method based on the vehicle-road cooperation according to claim 6, characterized in that: when the distance between the two vehicles is greater than the safe driving distance, the two vehicles are judged as a single vehicle, when the distance between the two vehicles is less than or equal to the safe driving distance, the two vehicles are judged as a motorcade, and the safe driving distance formula is as follows:
S＝V*V/2g(μcosα±sinα)+V*Tf
wherein V is the driving speed, mu is the road friction coefficient, alpha is the road slope angle, tf is the reaction time, g =9.8m/s, and plus sign is taken in the formula bracket on the vehicle with an uphill slope, and minus sign is taken in the formula bracket on the vehicle with a downhill slope.
8. The narrow curve passage control method based on the vehicle-road cooperation according to claim 6, characterized in that: on the basis of determining the vehicle passing sequence, calculating the optimal driving speed of the vehicle according to the distance between the vehicle and the curve and the predicted time of the vehicle in front passing through the curve, and sending the information of the suggested driving speed, the distance to the curve, the predicted arrival time and the like to the corresponding vehicle; assuming that the length of a curve area is Sw, the speed limit of the curve area is Vw, and the speed limit of a road section near the curve is Vmax, if a vehicle to be allowed to move arrives at the curve area, the vehicle to be allowed to move needs to be allowed to move for waiting, and if the vehicle to be allowed to move preferentially does not leave the curve area; the calculation formula of the recommended running speed of the vehicle needing to give way is as follows:
Vrec＝Sgw/[Sw/min(Vga,Vw)+Sga/min(Vga,Vmax)]
wherein Sgw is the distance between the yielding vehicle and the curve, vga is the speed of the prior passing vehicle, and Sga is the distance between the prior passing vehicle and the curve.
9. The narrow curve traffic control method based on vehicle-road coordination according to claim 6, characterized by further comprising a congestion traffic strategy: when the length of a motorcade waiting for passing in a two-way queue on a curve road section is close to a V2X coverage range, sequentially releasing the vehicles going up and down according to the maximum waiting time; the maximum waiting time is set to be tmax, the upstream fleet starts to pass at the time of T0, the fleets are assumed to all pass according to the maximum speed limit of a road, the number of vehicles allowed to pass in the time of tmax is N, the distance between the Nth vehicle and the head vehicle of the fleet is Sfn, and the following relations exist: and Sfn/Vmax + Sw/Vw is less than or equal to tmax, sending a passing instruction and a suggested speed to the front N vehicles of the upper driving team, and sending prompt instructions of moving forward, continuing waiting and the like to the (N + 1) th vehicle and the rear vehicles thereof.
10. The narrow curve passage control method based on the vehicle-road cooperation according to claim 9, characterized in that: when the Nth vehicle of the upstream fleet passes through the curve area, calculating the number of vehicles which can pass through the downstream fleet, and sending corresponding control and prompt instructions to the vehicles of the downstream fleet; meanwhile, updating the number and the length of the upstream fleet, and if the length of the fleet is still close to the V2X coverage range, continuing to control the bidirectional traffic of the vehicles at the curve according to the congestion traffic strategy; and if the length of the uplink fleet is smaller than the V2X coverage range, controlling the vehicles to pass according to a normal passing strategy.
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