CN115331461A - Mixed traffic passing control method and device for signalless intersection and vehicle - Google Patents
Mixed traffic passing control method and device for signalless intersection and vehicle Download PDFInfo
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Abstract
The invention discloses a mixed traffic passing control method and device for a signalless intersection, a vehicle control system and a vehicle, wherein the method comprises the following steps: acquiring a first driving state of a vehicle in an initial region on a first lane and a second driving state of a vehicle in an initial region on a second lane intersecting with the first lane, wherein the initial region is a roadside unit minimum detection coverage area, close to an intersection, of the first lane and the second lane; determining expected conflict positions, expected conflict vehicle types and expected conflict occurrence time according to the first running state and the second running state; determining the driving priority of the first vehicle and the second vehicle expected to conflict according to the types of the vehicles expected to conflict; and optimizing the running speed of the first vehicle and/or the second vehicle according to the running priority and the time when the conflict occurs. The invention realizes the problem that the vehicles which are intelligently driven and manually driven pass through the non-signal intersection smoothly at the same time.
Description
Technical Field
The invention relates to the technical field of intelligent traffic, in particular to a method and a device for controlling mixed traffic passing at a signalless intersection, a vehicle control system and a vehicle.
Background
With the rapid development of society and economy in China, the consumption level per capita is continuously improved, and the holding capacity of automobiles becomes larger and larger, so that a series of traffic problems are caused. Intersections serve as bottlenecks in a road network, and many difficulties need to be solved in the aspect of traffic control reminding. The traffic accident data published in each region shows that the intersection accident ratio is large. For example, according to data published by a traffic department in a certain year, the number of accidents at an intersection accounts for 30% of the total number of accidents, so that the traffic safety at the intersection is particularly important. The traditional intersection passing scheme is characterized in that signal lamps are additionally arranged, and the problem of vehicle collision at the intersection is solved when the signal lamps are matched.
In recent years, with the development of a new generation of wireless communication technology, a high-precision manufacturing technology and an artificial intelligence technology, the intelligent internet automobile and intelligent traffic industry of China enters a motorway, and technological innovation is increasingly active. Research on safe and efficient traffic intersections of intelligent networked vehicles under the condition of no signal lamp is becoming more and more popular. The existing methods mainly comprise a method for accepting a gap model, a method for using a phase-like model, a heuristic optimization algorithm based on game theory and the like.
The method assumes that vehicles in the traffic environment are intelligent networked automobiles with complete automatic driving capability, but automatic driving and full landing have a lot of difficulties, and it is expected that a scene that hybrid traffic flow shares road resources is formed by the intelligent networked automobiles (Connected and Automated vehicles, CAV) and manually driven vehicles (HDV) for a long time in the future. For the traffic of mixed traffic flow under the scene of no signal intersection, no good solution exists yet.
Disclosure of Invention
The invention aims to overcome the technical defects and provides a mixed traffic passing control method and device at a signalless intersection, a vehicle control system and a vehicle, which can adjust the speed of vehicles with different priorities at the signalless intersection to avoid vehicle conflict.
In order to achieve the technical purpose, the invention adopts the following technical scheme:
in a first aspect, the invention provides a mixed traffic passing control method for a signalless intersection, which comprises the following steps:
acquiring a first driving state of a vehicle in an initial region on a first lane and a second driving state of a vehicle in an initial region on a second lane intersecting the first lane, wherein the initial regions are road side unit minimum detection coverage areas of the first lane and the second lane close to an intersection;
determining expected conflict positions, expected conflict vehicle types and expected conflict occurrence time according to the first running state and the second running state;
determining the driving priority of the first vehicle and the second vehicle expected to conflict according to the types of the vehicles expected to conflict;
and optimizing the running speed of the first vehicle and/or the second vehicle according to the running priority and the time when the conflict occurs.
In some embodiments, said determining said collision location based on said first and second driving conditions comprises:
dividing the conflict area into a plurality of conflict sub-areas, wherein the conflict area is an intersection area of a first traffic lane and a second traffic lane;
according to the first running state and the second running state, pre-judging a first vehicle and a second vehicle expecting a conflict, and determining the speed of the first vehicle and the second vehicle and the type of the conflict expected;
and determining a conflict subarea where the conflict position is located according to the speed of the first vehicle and the second vehicle and the collision type.
In some embodiments, said determining a time at which a conflict occurs based on said first and second driving states comprises:
respectively acquiring first time and second time when the first vehicle and the second vehicle reach a junction of an initial region and a collision region from the initial region;
respectively acquiring third time and fourth time when the first vehicle and the second vehicle reach a collision position from a junction of an initial region and a collision region;
and determining a first conflict time when the first vehicle arrives at the conflict position according to the first time and the third time, and determining a second conflict time when the second vehicle arrives at the conflict position according to the second time and the third time.
In some embodiments, the obtaining a first time and a second time for the first vehicle and the second vehicle to reach the interface between the initial region and the collision region from the initial region, respectively, comprises:
respectively acquiring a first driving state of a first vehicle and a second driving state of a second vehicle, a first distance from an initial region to a junction of the initial region and a collision region of the first vehicle, and a second distance from the second vehicle and the junction of the initial region and the collision region of the second vehicle;
determining the first time according to the first driving state and the first distance; and determining the second time according to the second driving state and the second distance.
In some embodiments, the obtaining a third time and a fourth time when the first vehicle and the second vehicle reach the collision location from the boundary between the initial region and the collision region, respectively, includes:
establishing a rectangular coordinate system with the center of the intersection as an origin, and respectively acquiring a first boundary line coordinate and a first conflict position coordinate of the center of mass of the first vehicle and a second boundary line coordinate and a second conflict position coordinate of the center of mass of the second vehicle;
determining a third time according to the first running state, the first time, the first boundary line coordinate and the first collision position coordinate;
and determining fourth time according to the second driving state, the second time, the second boundary line coordinate and the second collision position coordinate.
In some embodiments, said optimizing the travel speed of the first vehicle and/or the second vehicle according to the travel priority comprises:
determining vehicle types of the first vehicle and the second vehicle which are likely to generate conflict;
if the vehicle types of the first vehicle and the second vehicle which are likely to generate conflict are the intelligent networked vehicle and the manually-driven vehicle, determining that the manually-driven vehicle preferentially passes through, and performing deceleration operation on the intelligent networked vehicle;
if the types of the first vehicle and the second vehicle which are possible to generate the conflict are both intelligent networked vehicles, judging the size of the first conflict time and the second conflict time, selecting the first vehicle and/or the second vehicle with short time in the first conflict time and/or the second conflict time as a priority passing vehicle, and carrying out speed optimization on the non-priority passing vehicles.
In some embodiments, said optimizing the travel speed of the first vehicle and/or the second vehicle according to the travel priority further comprises:
and controlling the non-priority passing vehicle to run according to the optimized speed.
In a second aspect, the present invention further provides a mixed traffic passing control device at a signalless intersection, including:
the system comprises an acquisition module, a display module and a control module, wherein the acquisition module is used for acquiring a first driving state of a vehicle in an initial region on a first driving lane and a second driving state of the vehicle in the initial region on a second driving lane which is intersected with the first driving lane, and the initial region is a minimum arrangement region of a road side unit;
the conflict information determining module is used for determining the conflict position, the type of the vehicle which is possible to generate the conflict and the conflict occurrence time according to the first running state and the second running state;
the driving priority determining module is used for determining the driving priority of the first vehicle and the second vehicle which are possibly collided according to the types of the vehicles which are possibly collided;
and the speed optimization module is used for optimizing the running speed of the first vehicle and/or the second vehicle according to the running priority and the time when the conflict occurs.
In a third aspect, the present invention further provides a vehicle control system, including: a processor and a memory;
the memory has stored thereon a computer readable program executable by the processor;
the processor, when executing the computer readable program, implements the steps in the signalless intersection hybrid traffic passage control method as described above.
In a fourth aspect, the invention further provides a vehicle comprising the intersection hybrid traffic passage control device as described above, and/or the vehicle control system as described above.
Compared with the prior art, the signalless intersection hybrid traffic control method, the signalless intersection hybrid traffic control device, the vehicle control system and the vehicle provided by the invention have the advantages that firstly, the first driving state and the second driving state of the vehicle corresponding to the initial areas on the first driving lane and the second driving lane are respectively obtained, wherein the driving states comprise the speed, the acceleration, the lane information, the front wheel steering angle and other vehicle state information of the vehicle, the expected collision position, the expected collision vehicle type and the expected collision occurrence time are judged in advance by analyzing the driving state of the vehicle which is about to enter the initial areas of the intersection, then, the driving priority of the first vehicle and the second vehicle which are likely to collide is determined according to the expected collision vehicle type, finally, the speed of the vehicle with low priority is optimized, and the first vehicle and the second vehicle which are likely to collide can normally pass through the intersection are ensured by enabling the vehicle with low priority to run at the optimized speed; according to the invention, the road side unit is used for collecting the vehicle traffic speed track information of the area near the intersection in real time, the intersection traffic condition that vehicles with different priorities (such as manual driving and intelligent networked automobiles) coexist can be solved without complex algorithm, the use limitation is avoided, and the method is efficient and safe.
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Fig. 1 is a flowchart of an embodiment of a mixed traffic passing control method for a signalless intersection provided by the invention;
fig. 2 is a flowchart of an embodiment of step S102 in the method for controlling hybrid traffic passing at a signalless intersection according to the present invention;
fig. 3 is a flowchart of another embodiment of step S102 in the method for controlling hybrid traffic passing at a non-signalized intersection according to the present invention;
fig. 4 is a flowchart of an embodiment of step S301 in the method for controlling mixed traffic passing at a signalless intersection according to the present invention;
fig. 5 is a flowchart of another embodiment of step S302 in the method for controlling hybrid traffic passing at a signalless intersection according to the present invention;
fig. 6 is a flowchart of an embodiment of step S104 in the method for controlling hybrid traffic passing at a signalless intersection according to the present invention;
FIG. 7 is a schematic view of an embodiment of a no-signal intersection hybrid traffic passage control apparatus provided by the present invention;
fig. 8 is a schematic diagram of a vehicle control system according to an embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
The mixed traffic control method, the mixed traffic control device, the vehicle control system and the vehicle at the signalless intersection can be used for crossroads, three-way intersections, one-way roads and the like, and are simultaneously suitable for road types such as highways, urban roads, examination roads, competition roads, automobile experiment roads and the like; the control method, the control device, the vehicle control system and the vehicle can be integrated with the system or can be relatively independent.
The following explains the related terms in the no-signal intersection hybrid traffic control method, the no-signal intersection hybrid traffic control device, the vehicle control system and the vehicle according to the present invention:
a non-signalized intersection (non-signalized crossing) is a road traffic science and technology term published in 1996, is mainly a plane intersection without signal control, is usually an intersection where a main road or a secondary road intersects with a branch road, and is controlled by stopping and giving way or reducing speed and giving way or has no control measure;
the hybrid traffic refers to the situation that an intelligent networked vehicle and an artificial driving vehicle run on the same road in a hybrid way, and under the hybrid running situation, collision accidents of the artificial driving vehicle and the intelligent networked vehicle are easy to happen;
the intelligent network-Connected Vehicle (CAV) refers to the organic combination of the Vehicle networking and the intelligent Vehicle, is a new generation Vehicle which carries advanced Vehicle-mounted sensors, controllers, actuators and other devices, integrates modern communication and network technologies, realizes the intelligent information exchange and sharing between the Vehicle and people, roads, backgrounds and the like, realizes safe, comfortable, energy-saving and efficient driving, and can finally replace people to operate;
the system comprises a Cellular Vehicle networking network (C-V2X), a Cellular Vehicle networking network (C) and a Cellular Vehicle networking network (V2X), wherein the C is Cellular, the V2X is vehicular to electric connection, the Vehicle-to-Vehicle (V2V), vehicle-to-Vehicle infrastructure (V2I), vehicle-to-human (V2P) and Vehicle-to-network (V2N) connection are mainly included, and the C-V2X mutually communicates the Vehicle and surrounding road participants through an end-to-end direct connection mode, so that the Vehicle can timely sense the road participants, know the intentions of other participants in the whole road and reasonably plan a path, and accidents are avoided;
the OBU is a key device for road intelligent upgrading in a C-V2X scene, is mainly used for data communication between vehicles and roads, transmits information to the vehicles and the cloud end in a PC5 and Uu communication mode, ensures that massive information such as traffic signal lamps, traffic signs, parking positions and vehicle states can be transmitted in time, achieves vehicle speed guiding, speed limit early warning, congestion reminding and the like in a V2I scene, and provides services for auxiliary driving and automatic driving.
The embodiment provides a mixed traffic control method for a signalless intersection, under the situation of the signalless intersection where an intelligent networked automobile and a manually-driven automobile are mixed to pass, the intersection is formed by connecting four bidirectional six lanes, the middle lane is set to be straight, the left lane is set to be left-turning, the right lane is set to be right-turning, two Vehicle types of an intelligent networked automobile CAV and a manually-driven automobile HDV are arranged in the scene, wherein the intelligent networked automobile CAV is completely unmanned and is loaded with On-Board units (OBUs) which can exchange information with Road Side units (RSUs, road Side units) through a C-V2X (Cellular Vehicle-to-observing) protocol, and the manually-driven automobile HDV is not loaded with any V2X equipment and is completely controlled by a driver; within the range of the Intersection, the speed and time distribution of the intelligent internet vehicles are uniformly managed by an Intersection Scheduling Center (ISC), which is composed of a road side unit (rsu) and a Mobile Edge Computing device (MEC). Fig. 1 is a flowchart of a mixed traffic control method at a non-signalized intersection according to an embodiment of the present invention, and referring to fig. 1, the mixed traffic control method at the non-signalized intersection includes:
s101, acquiring a first driving state of a vehicle in an initial region on a first lane and a second driving state of a vehicle in an initial region on a second lane intersecting with the first lane, wherein the initial region is a minimum detection coverage area of a road side unit, close to an intersection, of the first lane and the second lane;
s102, determining expected conflict positions, expected conflict vehicle types and expected conflict occurrence time according to the first running state and the second running state;
s103, determining the driving priority of the first vehicle and the second vehicle expected to conflict according to the types of the vehicles expected to conflict;
and S104, optimizing the running speed of the first vehicle and/or the second vehicle according to the running priority and the time when the conflict occurs.
In this embodiment, according to the method, the apparatus, the electronic device and the storage medium for controlling mixed traffic passing at a signalless intersection provided by the present invention, first and second driving states of a vehicle corresponding to initial areas on a first and second lanes are respectively obtained, where the driving states include vehicle state information such as speed, acceleration, lane information and front wheel steering angle of the vehicle, an expected collision position, an expected collision vehicle type and expected collision occurrence time are determined by analyzing the vehicle driving state of the initial area to be entered into the intersection, then driving priorities of the first and second vehicles that may collide are determined according to the expected collision vehicle type, and finally the vehicle with ground priority is subjected to speed optimization, and a vehicle with a low priority is driven at an optimized speed, so as to ensure that the first and second vehicles that may collide can normally pass through the intersection; the intersection dispatching center integrated by the road side unit and the MEC host collects and processes the real-time traffic speed track information of the vehicles, can solve the intersection passing condition of the coexistence of manual driving and intelligent networked automobiles without complex algorithm, is not limited by use, and is efficient and safe.
In a specific embodiment, when a vehicle enters an initial area of a non-signalized intersection, real-time position, speed, track and other running information of a CAV vehicle and motion state information of surrounding vehicles are collected and shared to a road side unit by an on-board unit, the road side unit sends data to a mobile edge computing MEC, the MEC predicts a possible conflict position and a possible conflict vehicle type in a conflict area through data processing and computing, judges whether the CAV conflicts with the CAV or conflicts with the HDV, and then computes conflict time distribution to conflict the traffic priority of each vehicle. In the present scenario, this type of conflict is not considered, since HDV and HDV do not have control when they conflict. After the traffic priority is distributed, the MEC optimizes the speed of the CAV vehicle. And sending the speed optimization result to the vehicle-mounted unit by the road side unit, and driving each CAV according to the distributed speed and acceleration. According to the wireless access standard of the vehicle networking environment, the communication between the CAV vehicle-mounted unit and the road side unit is based on a C-V2X protocol, and because the delay of packet transmission is generally millisecond level, the speed limit of the driving speed of the vehicle at the intersection in China is 40km/h, and the moving distance of the vehicle during data transmission can be ignored.
In some embodiments, referring to fig. 2, the determining the collision location according to the first driving state and the second driving state includes:
s201, dividing the conflict area into a plurality of conflict sub-areas, wherein the conflict area is an intersection area of a first traffic lane and a second traffic lane;
s202, pre-judging a first vehicle and a second vehicle expecting a conflict according to the first running state and the second running state, and determining the speed of the first vehicle and the second vehicle and the type of the expected conflict;
s203, determining a collision sub-area where the collision position is located according to the speed of the first vehicle and the second vehicle and the collision type.
In this embodiment, the intersection is divided into an initial region and a collision region, wherein the initial region is a road region detectable by a roadside unit at a section of the road right before the vehicle enters the intersection, the initial region is located before a stop line, and the collision region is a road intersection and is located in the stop line; the collision area is divided into a plurality of sub-areas according to the number of the lanes and the driving rule of the lanes, in the embodiment, the collision area can be divided into 36 sub-areas, and the collision positions of two vehicles which may collide under the theoretical condition are pre-determined, so that the road side unit can be guided to acquire accurate collision time, and a subsequent analysis center is guided to perform speed optimization on the vehicles which may collide.
In some embodiments, referring to fig. 3, said determining a time at which a conflict occurs based on said first driving state and said second driving state comprises:
s301, respectively acquiring first time and second time when the first vehicle and the second vehicle reach a junction of an initial region and a collision region from the initial region;
s302, respectively obtaining third time and fourth time when the first vehicle and the second vehicle reach a collision position from a junction of an initial area and a collision area;
s303, determining a first collision time when the first vehicle arrives at the collision position according to the first time and the third time, and determining a second collision time when the second vehicle arrives at the collision position according to the second time and the third time.
In this embodiment, the first vehicle and the second vehicle have different driving conditions in the initial area and the collision area, and are specifically represented by different information such as the speed, the acceleration, the turning angle and the like of the driving, so that the time from the initial position detected by the roadside unit to the boundary between the initial area and the collision area by the first vehicle and the second vehicle is different from the time determination manner from the initial end of the collision area to the collision position by the first vehicle and the second vehicle, and therefore, the time from the initial position to the collision position by the first vehicle and the second vehicle is divided into two parts to calculate the sum value so as to obtain more accurate collision time, thereby optimizing the driving speed of the colliding vehicle and enabling two vehicles which are likely to collide to smoothly pass through the intersection.
In some embodiments, referring to fig. 4, the obtaining a first time and a second time when the first vehicle and the second vehicle reach the boundary between the initial region and the collision region from the initial region, respectively, includes:
s401, respectively acquiring a first running state of a first vehicle and a second running state of a second vehicle, a first distance from an initial region to a junction of the initial region and a collision region of the first vehicle, and a second distance from the second vehicle and the initial region to the junction of the initial region and the collision region of the second vehicle;
s402, determining the first time according to the first running state and the first distance; and determining the second time according to the second driving state and the second distance.
In this embodiment, a specific example will be describedEstablishing a rectangular coordinate system by taking the central point of the conflict area as an origin, so that the vehicles in the initial area on the first traffic lane, the vehicles in the second traffic lane and the vehicles in the conflict area are all positioned in the same rectangular coordinate system; specifically, taking a left-turn collision as an example, assume the initial coordinates of the centroids of two vehicles as v i Initial velocity v i Initial front wheel angle of
The centroid coordinate after reaching the boundary is (x) i ′(0),y i ' (0)) at a velocity v i ' front wheel corner is
The coordinates of the conflict position are (x) c ,y c ) The time when the vehicle reaches the boundary between the initial region and the collision region from the monitored initial position is t a,i The time when the vehicle reaches the collision position from the boundary line is t b,i The total time from the initial position to the collision position of the vehicle is t i The distance from the initial position to the boundary line is d i The distance from the boundary line to the collision position is L i Acceleration of the vehicle is a i The length and width of the vehicle are S i And W i (ii) a When calculating the vehicle conflict, the vehicle is simplified into S i Width of W i Is rectangular. Assuming that the vehicle body mass is uniformly distributed, the mass point angle
The vertex coordinates of the vehicle are
Wherein Z i,1 ,Z i,2 ,Z i,3 ,Z i,4 The vertexes of the left front, the right front, the left rear and the right rear of the ith vehicle are respectively; the first time and the second time when the first vehicle and the second vehicle arrive at the boundary line of the initial region and the collision region from the initial positions are respectively:
in some embodiments, referring to fig. 5, the obtaining a third time and a fourth time when the first vehicle and the second vehicle reach the collision position from the boundary between the initial area and the collision area, respectively, includes:
s501, establishing a rectangular coordinate system with the center of the intersection as an origin, and respectively obtaining a first boundary line coordinate and a first conflict position coordinate of the centroid of the first vehicle and a second boundary line coordinate and a second conflict position coordinate of the centroid of the second vehicle;
s502, determining third time according to the first running state, the first time, the first boundary line coordinate and the first conflict position coordinate;
and S503, determining fourth time according to the second running state, the second time, the second boundary line coordinate and the second conflict position coordinate.
In this embodiment, a specific example is described, and in case of conflict, the vertex coordinates of the first vehicle and the second vehicle are respectively
And
the coordinates of the center of mass are respectively (x) 1 ″(0),y 1 "(0)) and (x) 2 ″(0),y 2 "(0)), and the front wheel turning angles are respectively
And
the vertex coordinates of the first vehicle may be expressed as follows:
first vehicle vertex Z 12 "at side Z of the second vehicle 21 ″Z 22 "above, there are:
first vehicle vertex Z 11 "at side Z of the second vehicle 21 ″Z 23 "above, there are:
second vehicle vertex Z 21 "at side Z of the first vehicle 11 ″Z 12 "above, there are:
second vehicle vertex Z 22 "at side Z of the first vehicle 12 ″Z 14 "above, there are:
and calculating a third time and a fourth time which are different according to the different particle coordinates by the different collision situations, wherein the third time is as follows:
the fourth time is as follows:
wherein the first conflict time t 1 Comprises the following steps:
second collision time t 2 Comprises the following steps:
in some embodiments, referring to fig. 6, the optimizing the driving speed of the first vehicle and/or the second vehicle according to the driving priority includes:
s601, judging the vehicle types of the first vehicle and the second vehicle which are possible to generate conflict;
s602, if the types of the first vehicle and the second vehicle which are possibly in conflict are the intelligent networked automobile and the manually-driven automobile, determining that the manually-driven automobile preferentially passes through, and performing deceleration operation on the intelligent networked automobile;
s603, if the types of the first vehicle and the second vehicle which are possible to generate the conflict are both intelligent networked vehicles, judging the sizes of the first conflict time and the second conflict time, selecting the first vehicle and/or the second vehicle with short time in the first conflict time and/or the second conflict time as a priority passing vehicle, and carrying out speed optimization on the non-priority passing vehicles.
In the embodiment, when the type of the conflicted vehicle is CAV and CAV confliction, the time that the CAV vehicle arrives at the conflicted position of the intersection is sequenced from small to large, the sequence that the vehicle arrives at the conflicted position is determined in advance, then the actual situation that the vehicle arrives at a stop line, the current position, the speed, the front wheel turning angle, the destination position and other information are comprehensively considered, and the passing priority of the vehicle is determined; when the conflicting vehicle types are CAV and HDV conflicts, the HDV is set to be high priority and the CAV is set to be low priority because the CAV can be controlled by the MEC and the HDV is only influenced by factors such as a driver, the environment and the like; after the passing priority of the vehicles is determined, the speed of the CAV vehicles is optimized, the vehicles with high priority maintain the original speed or accelerate to pass through the intersection, and the vehicles with low priority are decelerated appropriately to avoid collision.
Wherein, in a specific embodiment, when the direct driving conflict is considered, the time when the vehicle reaches the conflict point after the speed optimization is t j If the first vehicle and the second vehicle are both CAV, if the first vehicle is a high-priority passing vehicle and the second vehicle is a low-priority passing vehicle, the acceleration of the first vehicle and the acceleration of the second vehicle are respectively a 1 、a 2 The length of the car body is S 1 、S 2 Then, the optimized speed satisfies the following relation:
if the first vehicle is of low priority and the second vehicle is of high priority, the optimized speed should satisfy the following relation:
if the first vehicle is CAV and the second vehicle is HDV, the first vehicle is in low priority and the second vehicle is in high priority, and the speed of the first vehicle needs to be optimized; since the driver usually decelerates to drive according to the surrounding situation when passing through the intersection, the optimized speed of the first vehicle should satisfy
And t is j <t i ，a 1 The size is large; if the first vehicle is HDV and the second vehicle is CAV, the speed of the second vehicle after optimization should meet the requirement
And t is j <t i ，a 2 It is too large.
In another specific embodiment, when a left-turn collision is considered, if both the first vehicle and the second vehicle are CAV, and if the first vehicle CAV1 is of high priority and the second vehicle is of low priority, the optimized speed satisfies the following relation:
if the first vehicle is of low priority and the second vehicle is of high priority, the optimized speed should satisfy the following relation:
if the first vehicle is CAV and the second vehicle is HDV, the HDV is high priority, the CAV is low priority, and the optimized speed of the CAV is satisfied
And t is j <t i ，a 1 The size is large; if the first vehicle is HDV and the second vehicle is CAV, the optimized CAV speed should meet the requirement
And t is j <t i ，a 2 It is too large.
In some embodiments, said optimizing the travel speed of the first vehicle and/or the second vehicle according to the travel priority further comprises:
and controlling the non-priority passing vehicle to run according to the optimized speed.
In this embodiment, the MEC transmits the speed optimization result to the roadside unit, and the roadside unit transmits data to the CAV onboard unit through the C-V2X protocol; in the process of information transmission, although the existing C-V2X protocol has a high packet acceptance rate, the possibility of packet loss still exists. Therefore, after receiving the information, the CAV vehicle-mounted unit feeds back the information to the road side unit in the ISC, and if the road side unit does not receive the feedback, the vehicle-mounted unit transmits the data to the road side unit and the MEC again for calculation; and after the CAV vehicle-mounted unit receives the information, the CAV vehicle runs at the optimized speed, the conflict with other CAV and HDV vehicles is avoided, and finally the CAV and HDV vehicles can safely and efficiently pass through the signalless intersection.
Based on the above-mentioned hybrid traffic control method for the signalless intersection, an embodiment of the present invention further provides a hybrid traffic control apparatus 700 for the signalless intersection, referring to fig. 7, where the hybrid traffic control apparatus 700 for the signalless intersection includes an obtaining module 710, a conflict information determining module 720, a driving priority determining module 730, and a speed optimizing module 740,
an obtaining module 710, configured to obtain a first driving state of a vehicle in an initial region on a first lane and a second driving state of a vehicle in an initial region on a second lane intersecting the first lane, where the initial region is a minimum arrangement region of roadside units;
a conflict information determining module 720, configured to determine the conflict position, the type of the vehicle that may generate the conflict, and the time when the conflict occurs according to the first driving state and the second driving state;
a driving priority determining module 730, configured to determine driving priorities of a first vehicle and a second vehicle that may conflict with each other according to the types of vehicles that may conflict with each other;
and a speed optimization module 740, configured to optimize the driving speed of the first vehicle and/or the second vehicle according to the driving priority and the time when the conflict occurs.
Based on the non-signalized intersection mixed traffic passing control method, the invention also correspondingly provides a vehicle control system, which comprises the following steps: a processor and a memory;
the memory has stored thereon a computer readable program executable by the processor;
the processor, when executing the computer readable program, implements the steps in the signalless intersection hybrid traffic passage control method as described above.
The vehicle control system also comprises an engine and power transmission centralized control system, a chassis comprehensive control and safety system, an intelligent vehicle body electronic system and a communication and information/entertainment system.
The engine and power transmission centralized control system comprises an engine centralized control system, an automatic speed change control system, a brake anti-lock and traction control system and the like; the chassis comprehensive control and safety system comprises a vehicle stability control system, an active vehicle body attitude control system, a cruise control system, an anti-collision early warning system, a driver intelligent support system and the like; the intelligent vehicle body electronic system comprises an automatic adjusting seat system, an intelligent headlamp system, an automobile night vision system, an electronic door lock, an anti-theft system and the like; the communication and information/entertainment system comprises an intelligent automobile navigation system, a voice recognition system, an 'ON STAR' system (having functions of automatic calling for help, inquiring and the like), an automobile maintenance data transmission system, an automobile sound system, a real-time traffic information consultation system, a dynamic vehicle tracking and management system, an information service system (including a network and the like) and the like. While only some of the components of the in-vehicle control system have been described above, it should be understood that not all of the illustrated components need be implemented, and that more or fewer components may be implemented instead.
The invention also provides a vehicle which comprises the intersection hybrid traffic passage control device and/or a vehicle control system, a brake switch, a clutch switch, a transmission neutral switch, an engine and the like.
Of course, it will be understood by those skilled in the art that all or part of the processes of the methods of the above embodiments may be implemented by a computer program instructing relevant hardware (such as a processor, a controller, etc.), and the program may be stored in a computer readable storage medium, and when executed, the program may include the processes of the above method embodiments. The storage medium may be a memory, a magnetic disk, an optical disk, etc.
The above-described embodiments of the present invention should not be construed as limiting the scope of the present invention. Any other corresponding changes and modifications made according to the technical idea of the present invention should be included in the protection scope of the claims of the present invention.
Claims (10)
1. A mixed traffic passing control method for a signalless intersection is characterized by comprising the following steps:
acquiring a first driving state of a vehicle in an initial region on a first lane and a second driving state of a vehicle in an initial region on a second lane intersecting with the first lane, wherein the initial region is a minimum detection coverage area of a roadside unit close to an intersection between the first lane and the second lane;
determining expected conflict positions, expected conflict vehicle types and expected conflict occurrence time according to the first running state and the second running state;
determining the driving priority of the first vehicle and the second vehicle which are expected to conflict according to the types of the vehicles which are expected to conflict;
and optimizing the running speed of the first vehicle and/or the second vehicle according to the running priority and the time when the conflict occurs.
2. The non-signalized intersection hybrid traffic control method according to claim 1, wherein the determining the collision position according to the first and second driving states includes:
dividing a conflict area into a plurality of conflict sub-areas, wherein the conflict area is an intersection area of a first traffic lane and a second traffic lane;
according to the first running state and the second running state, pre-judging a first vehicle and a second vehicle expecting a conflict, and determining the speed of the first vehicle and the second vehicle and the type of the conflict expected;
and determining a conflict subarea where the conflict position is located according to the speed of the first vehicle and the second vehicle and the collision type.
3. The signalless intersection hybrid traffic passage control method according to claim 1, wherein the determining of the time at which the collision occurs based on the first traveling state and the second traveling state includes:
respectively acquiring first time and second time when the first vehicle and the second vehicle reach a junction of an initial region and a collision region from the initial region;
respectively acquiring third time and fourth time for the first vehicle and the second vehicle to reach a collision position from a junction of an initial area and a collision area;
and determining a first collision time when the first vehicle arrives at the collision position according to the first time and the third time, and determining a second collision time when the second vehicle arrives at the collision position according to the second time and the third time.
4. The signalless intersection hybrid traffic control method according to claim 3, wherein the obtaining of the first time and the second time at which the first vehicle and the second vehicle reach the intersection of the initial region and the collision region from the initial region, respectively, comprises:
respectively acquiring a first running state of a first vehicle and a second running state of a second vehicle, a first distance from an initial region to a junction of an initial region and a collision region of the first vehicle, and a second distance from the second vehicle and the initial region to the junction of the initial region and the collision region;
determining the first time according to the first driving state and the first distance; and determining the second time according to the second driving state and the second distance.
5. The signalless intersection hybrid traffic passage control method according to claim 4, wherein the acquiring of the third time and the fourth time at which the first vehicle and the second vehicle reach the collision position from an intersection of the initial zone and the collision zone, respectively, comprises:
establishing a rectangular coordinate system with the center of the intersection as an origin, and respectively acquiring a first boundary line coordinate and a first collision position coordinate of the center of mass of the first vehicle, and a second boundary line coordinate and a second collision position coordinate of the center of mass of the second vehicle;
determining a third time according to the first running state, the first time, the first boundary line coordinate and the first collision position coordinate;
and determining fourth time according to the second driving state, the second time, the second boundary line coordinate and the second collision position coordinate.
6. The signalless intersection hybrid traffic passage control method according to claim 4, wherein the optimizing of the travel speed of the first vehicle and/or the second vehicle according to the travel priority comprises:
determining vehicle types of the first vehicle and the second vehicle which are possible to generate conflict;
if the vehicle types of the first vehicle and the second vehicle which are likely to generate conflict are the intelligent networked vehicle and the manually-driven vehicle, determining that the manually-driven vehicle preferentially passes through, and performing deceleration operation on the intelligent networked vehicle;
if the types of the first vehicle and the second vehicle which are possible to generate the conflict are both intelligent networked vehicles, judging the size of the first conflict time and the second conflict time, selecting the first vehicle and/or the second vehicle with short time in the first conflict time and/or the second conflict time as a priority passing vehicle, and carrying out speed optimization on the non-priority passing vehicles.
7. The non-signalized intersection hybrid traffic control method according to claim 6, wherein optimizing a travel speed of the first vehicle and/or the second vehicle according to the travel priority, further comprises:
and controlling the non-priority passing vehicle to run according to the optimized speed.
8. An intersection hybrid traffic passage control device, comprising:
the system comprises an acquisition module, a calculation module and a display module, wherein the acquisition module is used for acquiring a first driving state of a vehicle in an initial region on a first lane and a second driving state of the vehicle in the initial region on a second lane intersecting with the first lane, and the initial region is a minimum arrangement region of a road side unit;
the conflict information determining module is used for determining the conflict position, the type of the vehicle which is possible to generate the conflict and the conflict occurrence time according to the first running state and the second running state;
the driving priority determining module is used for determining the driving priority of the first vehicle and the second vehicle which are possibly collided according to the types of the vehicles which are possibly collided;
and the speed optimization module is used for optimizing the running speed of the first vehicle and/or the second vehicle according to the running priority and the time when the conflict occurs.
9. A vehicle control system, comprising: a processor and a memory;
the memory has stored thereon a computer readable program executable by the processor;
the processor, when executing the computer readable program, implements the steps in the signalless intersection hybrid traffic passage control method according to claims 1-7.
10. A vehicle comprising an intersection hybrid traffic passage control device according to claim 8, and/or a vehicle control system according to claim 9.
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