CN115331461B - 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 control method and device for a signalless intersection, a vehicle control system and vehicles, wherein the method comprises the following steps: acquiring a first running state of a vehicle in an initial area on a first lane and a second running state of a vehicle in an initial area on a second lane intersecting the first lane, wherein the initial area is a minimum detection coverage area of a road side unit of the first lane and the second lane close to an intersection; determining a desired conflict position, a desired conflict vehicle type and a desired conflict occurrence time according to the first running state and the second running state; determining the driving priorities of the first vehicle and the second vehicle which expect to conflict according to the vehicle type 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 smooth passing of the intelligent driving and manual driving vehicles passing through the signalless intersection at the same time.
Description
Technical Field
The invention relates to the technical field of intelligent traffic, in particular to a mixed traffic passing control method and device for a signalless intersection, a vehicle control system and vehicles.
Background
With the high-speed development of society and economy in China, the consumption level of people is continuously improved, and the holding capacity of automobiles is increased more and more, so that a series of traffic problems are caused. The intersection is used as a bottleneck in the road network, and a lot of difficulties in traffic control reminding are needed to be solved. As can be seen from traffic accident data published in various regions, the proportion of intersection accidents is large. For example, according to data published by traffic departments of a certain year, the number of accidents at an intersection accounts for 30% of the total number of accidents, so that the traffic safety of the intersection is particularly important. The traditional intersection traffic scheme is to avoid the problem of vehicle collision at the intersection by adding signal lamps and performing signal timing.
In recent years, with the development of new generation wireless communication technology, high-precision manufacturing technology and artificial intelligence technology, intelligent network-connected automobiles and intelligent traffic industry in China enter a fast lane, and the technology innovation is increasingly active. Research on safe and efficient passing intersections of intelligent network-connected vehicles under no-signal lamp condition is also becoming more and more popular. The existing methods mainly comprise a method for accepting a gap model, a method for using phase-like, a heuristic optimization algorithm based on game theory and the like.
The above-mentioned methods all assume that the vehicles in the traffic environment are intelligent internet-connected vehicles with full automatic driving capability, however, the automatic driving has many difficulties in fully landing, and it is expected that the intelligent internet-connected vehicles (Connected and Automated Vehicle, CAV) and manual driving vehicles (HDV) form a scene of sharing road resources by a mixed traffic flow for a long time in the future. For the traffic of mixed traffic flows in a signalless intersection scene, no good solution exists.
Disclosure of Invention
The invention aims to overcome the technical defects and provide a mixed traffic control method and device for a signalless intersection, a vehicle control system and vehicles, and the speeds of vehicles with different priorities at the signalless intersection can be adjusted to avoid vehicle collision.
In order to achieve the technical purpose, the invention adopts the following technical scheme:
in a first aspect, the present invention provides a method for controlling traffic at a signalless intersection, comprising:
acquiring a first running state of a vehicle in an initial area on a first lane and a second running state of a vehicle in an initial area on a second lane intersecting the first lane, wherein the initial area is a minimum detection coverage area of a road side unit of the first lane and the second lane close to an intersection;
determining a desired conflict position, a desired conflict vehicle type and a desired conflict occurrence time according to the first running state and the second running state;
determining the driving priorities of the first vehicle and the second vehicle which expect to conflict according to the vehicle type 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, the determining the conflict location based on the first and second travel states includes:
dividing the conflict area into a plurality of conflict subareas, wherein the conflict area is a junction area of a first traffic lane and a second traffic lane;
according to the first running state and the second running state, a first vehicle and a second vehicle which expect collision are prejudged, and the speed of the first vehicle and the second vehicle and the collision type expected to collide are determined;
and determining a conflict subarea where the conflict position is located according to the speeds of the first vehicle and the second vehicle and the collision type.
In some embodiments, the determining the time when the collision occurs according to the first driving state and the second driving state includes:
respectively acquiring first time and second time when the first vehicle and the second vehicle reach the junction of the initial area and the conflict area from the initial area;
respectively obtaining third time and fourth time for the first vehicle and the second vehicle to reach the collision position from the junction of the initial area and the collision area;
and determining a first conflict time for the first vehicle to reach the conflict position according to the first time and the third time, and determining a second conflict time for the second vehicle to reach the conflict position according to the second time and the third time.
In some embodiments, the acquiring the first time and the second time for the first vehicle and the second vehicle to reach the junction of the initial area and the collision area from the initial area respectively includes:
respectively acquiring a first running state of a first vehicle and a second running state of a second vehicle, and a first distance from an initial area to a junction between the initial area and a conflict area and a second distance from the second vehicle and the initial area to the junction between the initial area and the conflict area;
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 acquiring the third time and the fourth time for the first vehicle and the second vehicle to reach the collision position from the intersection of the initial area and the collision area 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 mass center of the first vehicle, and a second boundary line coordinate and a second conflict position coordinate of the mass center of the second vehicle;
determining a third time according to the first driving state, the first time, the first boundary line coordinate and the first conflict position coordinate;
and determining a fourth time according to the second running state, the second time, the second boundary line coordinate and the second conflict position coordinate.
In some embodiments, optimizing the travel speed of the first vehicle and/or the second vehicle according to the travel priority includes:
judging the vehicle types of the first vehicle and the second vehicle which possibly generate conflict;
if the vehicle types of the first vehicle and the second vehicle which possibly generate conflict are the intelligent network-connected vehicle and the manual driving vehicle, determining that the manual driving vehicle passes preferentially, and performing deceleration operation on the intelligent network-connected vehicle;
if the vehicle types of the first vehicle and the second vehicle which possibly generate conflict are intelligent network-connected 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 vehicle with priority passing, and optimizing the speed of the vehicle with non-priority passing.
In some embodiments, optimizing the driving speed of the first vehicle and/or the second vehicle according to the driving priority further includes:
and controlling the non-preferential traffic vehicles to run at the optimized speed.
In a second aspect, the present invention also provides a traffic control device for a signalless intersection, including:
the system comprises an acquisition module, a control module and a control module, wherein the acquisition module is used for acquiring a first running state of a vehicle in an initial area on a first lane and a second running state of the vehicle in the initial area on a second lane intersecting the first lane, wherein the initial area is a minimum arrangement area of road side units;
the conflict information determining module is used for determining the conflict position, the type of the vehicle possibly generating the conflict and the occurrence time of the conflict according to the first running state and the second running state;
a driving priority determining module, configured to determine driving priorities of a first vehicle and a second vehicle that may collide according to the vehicle type that may generate a collision;
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 control method described above.
In a fourth aspect, the present invention also provides a vehicle comprising an intersection mixed traffic control device as described above and/or a vehicle control system as described above.
Compared with the prior art, the method, the device, the vehicle control system and the vehicle for controlling mixed traffic at the signalless intersection provided by the invention have the advantages that firstly, the first running state and the second running state of the vehicle corresponding to the initial area on the first traffic lane and the second traffic lane are respectively obtained, wherein the running 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 pre-judged by analyzing the running state of the vehicle at the initial area which is about to enter the intersection, then the running 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 vehicle with low priority is enabled to run according to the optimized speed, so that the first vehicle and the second vehicle which are likely to collide can normally pass through the intersection is ensured; according to the invention, the traffic speed track information of the vehicles in the area near the intersection is acquired in real time through the road side unit, the intersection traffic situation of the coexistence of vehicles with different priorities (such as manual driving and intelligent networking automobiles) can be solved without complex algorithms, the use restriction is avoided, and the system is efficient and safe.
Drawings
FIG. 1 is a flow chart of one embodiment of a signalless intersection hybrid traffic control method provided by the present invention;
FIG. 2 is a flowchart of an embodiment of step S102 in the method for controlling traffic mix at signalless intersections according to the present invention;
fig. 3 is a flowchart of another embodiment of step S102 in the method for controlling traffic through a signalless intersection according to the present invention;
FIG. 4 is a flowchart of an embodiment of step S301 in the method for controlling traffic mixed at signalless intersections according to the present invention;
fig. 5 is a flowchart of another embodiment of step S302 in the method for controlling traffic through a signalless intersection according to the present invention;
FIG. 6 is a flowchart of an embodiment of step S104 in the signalless intersection hybrid traffic control method provided by the present invention;
FIG. 7 is a schematic diagram of an embodiment of a signalless intersection hybrid traffic control device provided by the present invention;
fig. 8 is a schematic diagram of an embodiment of a vehicle control system provided by the present invention.
Detailed Description
The present invention will be described in further detail with reference to the drawings and examples, in order to make the objects, technical solutions and advantages of the present invention more apparent. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the scope of the invention.
The mixed traffic control method, the device, the vehicle control system and the vehicle of the signalless intersection can be used for crossroads, three-way intersections, one-way roads and the like, and are simultaneously applicable to road types such as roads, 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 nouns in the method, the device, the vehicle control system and the vehicle for controlling the mixed traffic of the signalless intersection:
the non-signalized intersection (non-signalized crossing) is a technical term of highway traffic science published in 1996, mainly a plane intersection without signal control, usually an intersection where a main road or a secondary road intersects with a branch road, and is controlled by adopting parking yielding and deceleration yielding or without any control measures;
the mixed traffic refers to the situation that the intelligent network-connected automobile and the manual driving automobile run in a mixed mode on the same highway, and under the situation of the mixed running, collision accidents of the manual driving automobile and the intelligent network-connected automobile are very easy to occur;
the intelligent network-connected automobile (Connected and Automated Vehicle, CAV) is an organic combination of the Internet of vehicles and an intelligent automobile, is a new-generation automobile which is provided with advanced devices such as an on-vehicle sensor, a controller and an actuator, integrates modern communication and network technology, realizes intelligent information exchange and sharing of the automobile, people, roads, background and the like, realizes safe, comfortable, energy-saving and efficient running, and can finally replace people to operate;
cellular internet of vehicles (Cellular-Vehicle to Everything, C-V2X), C refers to Cellular, V2X refers to Vehicle to Everything (connection of vehicles to everything), mainly comprising vehicle-to-vehicle (V2V), vehicle-to-infrastructure (V2I), vehicle-to-person (V2P) and vehicle-to-network (V2N) connection, and through the end-to-end direct connection mode, C-V2X connects vehicles and surrounding road participants with each other, so that vehicles can timely sense road participants, understand intention of other participants in the whole road, and route planning is reasonably performed, thereby avoiding accidents;
the vehicle-mounted unit OBU is key equipment for intelligent road upgrading in a C-V2X scene, is mainly used for data communication between vehicles and roads, transmits information to vehicles and cloud ends through a PC5 and Uu communication mode, and ensures timely transmission of mass information such as traffic signals, traffic signs, parking positions and vehicle states, so that applications such as speed guidance, speed limit early warning and congestion reminding in a V2I scene are realized, and services are provided for auxiliary driving and automatic driving.
The embodiment provides a mixed traffic control method for a signalless intersection, under the condition of the signalless intersection of mixed traffic of intelligent network automobiles and manual driving automobiles, the intersection is formed by connecting four bidirectional six lanes, a middle lane is set to be straight, a left lane is set to be left-turning, a right lane is set to be right-turning, two Vehicle types of intelligent network automobiles CAV and manual driving automobiles HDV are arranged in the scene, wherein the intelligent network automobiles CAV are completely unmanned and are all loaded with On Board Units (OBU) and can communicate information with Road Side units (RSU, road Side units) through a C-V2X (Cellular-to-evaluation) protocol, and the manual driving automobiles HDV are not loaded with any V2X equipment and are completely controlled by drivers; within the scope of an intersection, the speed and time allocation of intelligent networked vehicles is managed in a unified way by an intersection scheduling centre (ISC, intersection Scheduling Center) consisting of roadside units and mobile edge computing devices (MEC, mobile Edge Computing). Fig. 1 is a flowchart of a method for controlling traffic mixed at a signalless intersection according to an embodiment of the present invention, referring to fig. 1, the method for controlling traffic mixed at a signalless intersection includes:
s101, acquiring a first running state of a vehicle in an initial area on a first lane and a second running state of a vehicle in an initial area on a second lane intersecting the first lane, wherein the initial area is a minimum detection coverage area of a road side unit of the first lane and the second lane close to an intersection;
s102, determining an expected conflict position, an expected conflict vehicle type and an expected conflict occurrence time according to the first running state and the second running state;
s103, determining the running priorities of the first vehicle and the second vehicle expected to collide according to the type of the vehicle expected to collide;
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, the method, the device, the electronic device and the storage medium for controlling traffic mixed at a signalless intersection provided by the invention are characterized in that first driving states and second driving states of vehicles corresponding to initial areas on a first lane and a second lane are obtained respectively, wherein the driving states comprise vehicle speed, acceleration, lane information, front wheel steering angle and other vehicle state information, a desired conflict position, a desired conflict vehicle type and a desired conflict occurrence time are pre-determined by analyzing the vehicle driving states of the initial areas to be entered at the intersection, then driving priorities of the first vehicle and the second vehicle which are likely to collide are determined according to the desired conflict vehicle type, finally, the speed of the vehicles with the ground priority is optimized, and the vehicles with low priority are enabled to travel according to the optimized speed, so that the first vehicle and the second vehicle which are likely to collide can normally pass through the intersection; the invention collects and processes the real-time traffic speed track information of the vehicle through the intersection dispatching center integrated by the road side unit and the MEC host, can solve the intersection traffic condition of the coexistence of manual driving and intelligent networking 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 signalless intersection, real-time position, speed, track and other running information of the CAV vehicle and motion state information of other surrounding vehicles are collected and shared by an on-board unit to a road side unit, the road side unit sends data to a mobile edge computing MEC, the MEC predicts a possible collision position and a possible collision type of the vehicle in a collision area through data processing and computing, judges whether the CAV collides with the CAV or the CAV collides with the HDV, and then calculates a collision time distribution punch to highlight the traffic priority of each vehicle. In this scenario, this type of conflict is not considered, since both HDVs are not controllable when they collide. After the traffic priority is allocated, 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 allocated speed and acceleration. According to the wireless access standard of the Internet of vehicles environment, the communication between the CAV vehicle-mounted unit and the road side unit is based on the C-V2X protocol, and the speed limit of the running speed of vehicles in China at an intersection is 40km/h because the delay of packet transmission is generally in millisecond level, so that the vehicle moving distance during data transmission can be ignored.
In some embodiments, referring to fig. 2, 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 subareas, wherein the conflict area is a junction area of a first traffic lane and a second traffic lane;
s202, according to the first running state and the second running state, a first vehicle and a second vehicle which expect collision are prejudged, and the speed of the first vehicle and the second vehicle and the expected collision type are determined;
s203, determining a conflict subarea where the conflict position is located according to the speeds of the first vehicle and the second vehicle and the collision type.
In the embodiment, the intersection is divided into an initial area and a collision area, wherein the initial area is a road area which can be detected by a section of road side unit just before a vehicle enters the intersection, the initial area is positioned before a parking line, and the collision area is a road intersection and is positioned in the parking line; by dividing the collision area into a plurality of sub-areas according to the number of lanes and the driving rules of the lanes, in this embodiment, the collision area may be divided into 36 sub-areas, and the collision positions of two vehicles that may collide under the theoretical situation may be pre-determined, so as to guide the roadside unit to obtain accurate collision time, so as to guide the subsequent analysis center to perform speed optimization on the vehicles that may collide.
In some embodiments, referring to fig. 3, determining the time when the collision occurs according to the first driving state and the second driving state includes:
s301, respectively acquiring first time and second time when the first vehicle and the second vehicle reach the junction of the initial area and the conflict area from the initial area;
s302, respectively obtaining third time and fourth time for the first vehicle and the second vehicle to reach the conflict position from the junction of the initial area and the conflict area;
s303, determining first conflict time for the first vehicle to reach the conflict position according to the first time and the third time, and determining second conflict time for the second vehicle to reach the conflict position according to the second time and the third time.
In this embodiment, the driving conditions of the first vehicle and the second vehicle in the initial area and the collision area are different, and the driving conditions are specifically represented by different information such as the driving speed, the acceleration, the vehicle rotation angle and the like, so that the time from the initial position where the detection of the road side unit starts to detect to the boundary between the initial area and the collision area is different from the time from the start of the collision area to the collision position of the first vehicle and the second vehicle, and therefore, the time from the initial position to the collision position of the first vehicle and the second vehicle are calculated and calculated in two parts to obtain the sum value, so that the more accurate collision time is obtained, and the driving speed of the colliding vehicle is optimized, so that the two vehicles possibly colliding pass through the intersection smoothly.
In some embodiments, referring to fig. 4, the acquiring the first time and the second time for the first vehicle and the second vehicle to reach the intersection of the initial area and the collision area from the initial area respectively includes:
s401, respectively acquiring a first running state of a first vehicle and a second running state of a second vehicle, and a first distance from an initial area to a junction between the initial area and a collision area and a second distance from the second vehicle and the initial area to the junction between the initial area and the collision area;
s402, determining the first time according to the first driving state and a first distance; and determining the second time according to the second driving state and the second distance.
In this embodiment, a specific embodiment is used to describe that a rectangular coordinate system is established by taking the center point of the collision area as the origin, so that the vehicles of the initial area and the vehicles of the collision area on the first traffic lane and the second traffic lane are all located in the same rectangular coordinate system; specifically, taking left-turn collision as an example, assume that the initial coordinates of the centroids of the two vehicles are v i Initial velocity v i The initial front wheel angle isThe centroid coordinate after reaching the boundary is (x i ′(0),y i ' 0) at a speed v i ' the front wheel corner is +.>The coordinates of the conflicting positions are (x c ,y c ) The time for the vehicle to reach the boundary between the initial zone and the collision zone from the monitored initial position is t a,i The time for the vehicle to reach the collision position from the boundary line is t b,i The total time from the initial position to the collision position is t i The distance from the initial position to the dividing 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 respectively i And W is i The method comprises the steps of carrying out a first treatment on the surface of the Simplifying the vehicle to be S in length when calculating the collision of the vehicle i Width W i Is a rectangle. Assuming a uniform mass distribution of the body, the particle angle +.>The vertex coordinates of the vehicle are +.>Wherein Z is i,1 ,Z i,2 ,Z i,3 ,Z i,4 The left front, right front, left rear and right rear vertexes of the ith vehicle respectively; the first time and the second time at which the first vehicle and the second vehicle reach the boundary line of the initial region and the collision region from the initial position are respectively:
in some embodiments, referring to fig. 5, the acquiring the third time and the fourth time for the first vehicle and the second vehicle to reach the collision location from the intersection of the initial area and the collision area respectively includes:
s501, establishing a rectangular coordinate system with the center of an intersection as an origin, and respectively acquiring a first boundary line coordinate and a first conflict position coordinate of a centroid of a first vehicle, and a second boundary line coordinate and a second conflict position coordinate of a centroid of a second vehicle;
s502, determining a third time according to the first running state, the first time, the first boundary line coordinate and the first conflict position coordinate;
s503, determining a fourth time according to the second running state, the second time, the second boundary line coordinate and the second conflict position coordinate.
In the present embodiment, a specific embodiment is described, and the vertex coordinates of the first vehicle and the second vehicle are respectivelyAnd->The barycenter coordinates are (x) 1 ″(0),y 1 "(0)) and (x) 2 ″(0),y 2 "(0)), the front wheel rotation angles are +.>And->The vertex coordinates of the first vehicle may be expressed as follows:
simplifying and obtaining:
the same can be calculated as:
first vehicle vertex Z 12 "at edge Z of second vehicle 21 ″Z 22 "on, there are:
first vehicle vertex Z 11 "at edge Z of second vehicle 21 ″Z 23 "on, there are:
second vehicle vertex Z 21 "at side Z of first vehicle 11 ″Z 12 "on, there are:
second vehicle vertex Z 22 "at side Z of first vehicle 12 ″Z 14 "on, there are:
calculating different third time and fourth time according to different particle coordinates under different conflict conditions, wherein the third time is as follows:
the fourth time is:
wherein the first conflict time t 1 The method comprises the following steps:
second conflict time t 2 The method comprises the following steps:
in some embodiments, referring to fig. 6, 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 possibly generate conflict;
s602, if the vehicle types of the first vehicle and the second vehicle which possibly generate conflict are intelligent network-connected vehicles and manual driving vehicles, determining that the manual driving vehicles pass preferentially, and performing deceleration operation on the intelligent network-connected vehicles;
and S603, if the vehicle types of the first vehicle and the second vehicle which possibly generate conflict are intelligent network-connected 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 traffic vehicle, and optimizing the speed of the non-priority traffic vehicle.
In this embodiment, when the conflicting vehicle types are CAV and CAV conflicts, we rank the time of the CAV vehicle reaching the conflicting position of the intersection from small to large, determine the order of the vehicle reaching the conflicting position in advance, and then comprehensively consider the actual situation of the vehicle reaching the parking line, and the information of the current position, speed, front wheel rotation angle, destination position and the like, to determine the traffic priority of the vehicle; when the conflicting vehicle type is that CAV conflicts with HDV, because CAV can be controlled through MEC, but HDV is only influenced by factors such as driver, environment, etc., therefore set HDV as high priority, CAV is low priority; after determining the traffic priority of the vehicle, the CAV vehicle is speed optimized, the vehicle with high priority keeps the original speed or accelerates through the intersection, while the vehicle with low priority is properly decelerated to avoid collision.
In a specific embodiment, when considering straight-going collision, the time for the vehicle to reach the collision point after speed optimization is t j If the first vehicle and the second vehicle are CAV, if the first vehicle is a vehicle with high priority and the second vehicle is a vehicle with low priority, the accelerations of the first vehicle and the second vehicle are a respectively 1 、a 2 The length of the vehicle body is S respectively 1 、S 2 The optimized speed satisfies the following relationship:
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 low priority and the second vehicle is high priority, so that the speed of the first vehicle needs to be optimized; since a typical driver will typically slow down driving through an intersection according to surrounding conditions, the first vehicle optimized speed should meetAnd t is j <t i ，a 1 The size is larger; if the first vehicle is HDV and the second vehicle is CAV, the speed of the second vehicle after optimization should meet +.>And t is j <t i ，a 2 Larger.
In another specific embodiment, when considering the left-turn collision, if the first vehicle and the second vehicle are both CAV, and if the first vehicle CAV1 is high priority and the second vehicle is low priority, the optimized speed satisfies the following relationship:
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 speed after CAV optimization is satisfiedAnd t is j <t i ，a 1 The size is larger; if the first vehicle is HDV and the second vehicle is CAV, the speed of the CAV after optimization should meet +.>And t is j <t i ，a 2 Larger.
In some embodiments, optimizing the driving speed of the first vehicle and/or the second vehicle according to the driving priority further includes:
and controlling the non-preferential traffic vehicles to run at the optimized speed.
In the embodiment, the MEC transmits the speed optimization result to the road side unit, and the road side unit transmits the data to the CAV vehicle-mounted unit through the C-V2X protocol; in the information transmission process, although the existing C-V2X protocol has a high packet acceptance rate, the possibility of packet loss exists. The CAV vehicle-mounted unit is fed back to the road side unit in the ISC after receiving the information, and if the road side unit does not receive the feedback, the vehicle-mounted unit is required to transmit the data to the road side unit and the MEC again for calculation; and then after the CAV vehicle-mounted unit receives the information, the CAV vehicle runs at the optimized speed, the collision with other CAV and HDV vehicles is avoided, and finally, the CAV and the HDV vehicles can safely and efficiently pass through the signalless intersection.
Based on the above-mentioned method for controlling traffic mixed at a signalless intersection, the embodiment of the present invention further provides a device 700 for controlling traffic mixed at a signalless intersection, referring to fig. 7, the device 700 for controlling traffic mixed at a signalless intersection includes an acquisition module 710, a collision information determination module 720, a driving priority determination module 730 and a speed optimization module 740,
an obtaining module 710, configured to obtain a first driving state of a vehicle in an initial area on a first lane, and a second driving state of a vehicle in an initial area on a second lane intersecting the first lane, where the initial area is a minimum arrangement area of road side units;
a conflict information determining module 720, configured to determine the conflict location, a vehicle type that may generate a conflict, and a 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 the first vehicle and the second vehicle that may generate a conflict according to the vehicle type that may generate a conflict;
the speed optimization module 740 is configured to optimize the running speed of the first vehicle and/or the second vehicle according to the running priority and the time when the collision occurs.
Based on the above mixed traffic control method of the signalless intersection, the invention also correspondingly provides a vehicle control system, which comprises: 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 control method 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 braking 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 automobile body electronic system comprises an automatic adjusting seat system, an intelligent headlight 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 car navigation system, a voice recognition system, an ON STAR system (with functions of automatic calling for help, inquiring and the like), a car maintenance data transmission system, a car sound system, a real-time traffic information consultation system, a dynamic vehicle tracking and management system, an informationized service system (including a network and the like) and the like. The foregoing describes only some of the components of the vehicle control system, but it should be understood that not all of the illustrated components need be implemented and that more or fewer components may alternatively be implemented.
The invention also provides a vehicle, which comprises a mixed traffic passing control device at an intersection and/or a vehicle control system, and components such as a brake switch, a clutch switch, a transmission gear switch, an engine and the like.
Of course, those skilled in the art will appreciate that implementing all or part of the above-described methods may be implemented by a computer program for instructing relevant hardware (e.g., a processor, a controller, etc.), where the program may be stored in a computer-readable storage medium, and where the program may include the steps of the above-described method embodiments when executed. The storage medium may be a memory, a magnetic disk, an optical disk, or the like.
The above-described embodiments of the present invention do not limit the scope of the present invention. Any other corresponding changes and modifications made in accordance with the technical idea of the present invention shall be included in the scope of the claims of the present invention.
Claims (9)
1. A method for controlling traffic mixing at a signalless intersection, comprising:
acquiring a first running state of a vehicle in an initial area on a first lane and a second running state of a vehicle in an initial area on a second lane intersecting the first lane, wherein an intersection is divided into an initial area and a collision area, the collision area is a road intersection and is positioned in a parking line, and the initial area is a minimum detection coverage area of a road side unit positioned on the first lane and the second lane close to the intersection; the first running state and the second running state include a speed, an acceleration, lane information, and front wheel rotation angle information of the vehicle;
determining a desired conflict position, a desired conflict vehicle type and a desired conflict occurrence time according to the first running state and the second running state;
determining the driving priorities of a first vehicle and a second vehicle which expect collision according to the expected collision vehicle type; judging the vehicle types of the first vehicle and the second vehicle which possibly generate conflict;
if the vehicle types of the first vehicle and the second vehicle which possibly generate conflict are the intelligent network-connected vehicle and the manual driving vehicle, determining that the manual driving vehicle passes preferentially, and performing deceleration operation on the intelligent network-connected vehicle;
if the vehicle types of the first vehicle and the second vehicle which possibly generate conflict are intelligent network-connected vehicles, selecting the first vehicle or the second vehicle with short expected conflict occurrence time to pass preferentially;
respectively acquiring first time and second time when the first vehicle and the second vehicle reach the junction of the initial area and the conflict area from the initial area;
respectively obtaining third time and fourth time for the first vehicle and the second vehicle to reach the expected collision position from the junction of the initial area and the collision area;
and determining a first conflict time for the first vehicle to reach the expected conflict position according to the first time and the third time, and determining a second conflict time for the second vehicle to reach the expected conflict position according to the second time and the third time.
2. The signalless intersection mixed traffic control method of claim 1, wherein the determining the desired conflict location based on the first travel state and the second travel state includes:
dividing a conflict zone into a plurality of conflict sub-zones, wherein the conflict zone is a junction zone of a first traffic lane and a second traffic lane;
according to the first running state and the second running state, a first vehicle and a second vehicle which expect collision are prejudged, and the speed of the first vehicle and the second vehicle and the collision type expected to collide are determined;
and determining a conflict subarea where the expected conflict position is located according to the speeds of the first vehicle and the second vehicle and the collision type.
3. The signalless intersection mixed traffic control method of claim 1, wherein the acquiring first and second times, respectively, for the first and second vehicles to reach an intersection of an initial zone and a collision zone from the initial zone includes:
respectively acquiring a first running state of a first vehicle and a second running state of a second vehicle, and a first distance from an initial area to a junction between the initial area and a conflict area and a second distance from the second vehicle and the initial area to the junction between the initial area and the conflict area;
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.
4. The signalless intersection mixed traffic control method of claim 3, wherein the acquiring third and fourth times, respectively, of the first and second vehicles reaching the desired conflict location from an intersection of an initial zone and a conflict zone 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 mass center of the first vehicle, and a second boundary line coordinate and a second conflict position coordinate of the mass center of the second vehicle;
determining a third time according to the first driving state, the first time, the first boundary line coordinate and the first conflict position coordinate;
and determining a fourth time according to the second running state, the second time, the second boundary line coordinate and the second conflict position coordinate.
5. The signalless intersection mixed traffic control method according to claim 3, wherein optimizing the travel speed of the first vehicle and/or the second vehicle according to the travel priority comprises:
if the vehicle types of the first vehicle and the second vehicle which possibly generate conflict are intelligent network-connected 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 vehicle with priority passing, and optimizing the speed of the vehicle with non-priority passing.
6. The signalless intersection mixed traffic control method of claim 5, wherein the optimizing the travel speed of the first vehicle and/or the second vehicle according to the travel priority further comprises:
and controlling the non-preferential traffic vehicles to run at the optimized speed.
7. An intersection mixed traffic control device, comprising:
the system comprises an acquisition module, a control module and a control module, wherein the acquisition module is used for acquiring a first running state of a vehicle in an initial area on a first lane and a second running state of a vehicle in an initial area on a second lane intersecting the first lane, wherein an intersection is divided into an initial area and a conflict area, the conflict area is a road intersection and is positioned in a parking line, and the initial area is a minimum detection coverage area of a road side unit positioned on the first lane and the second lane close to the intersection; the first running state and the second running state include a speed, an acceleration, lane information, and front wheel rotation angle information of the vehicle;
the conflict information determining module is used for determining a desired conflict position, a desired conflict vehicle type and a desired conflict occurrence time according to the first running state and the second running state;
a driving priority determining module, configured to determine driving priorities of a first vehicle and a second vehicle that desire to collide according to the type of the vehicle that desires to collide; judging the vehicle types of the first vehicle and the second vehicle which possibly generate conflict;
the first judging module is used for determining that the manual driving automobile passes preferentially if the vehicle types of the first vehicle and the second vehicle which possibly generate conflict are the intelligent network-connected automobile and the manual driving automobile, and performing deceleration operation on the intelligent network-connected automobile;
the second judging module is used for selecting the first vehicle or the second vehicle with short conflict occurrence time to pass preferentially if the vehicle types of the first vehicle and the second vehicle which are possibly in conflict are intelligent network automobiles;
the second acquisition module is used for respectively acquiring first time and second time when the first vehicle and the second vehicle reach the junction of the initial area and the conflict area from the initial area;
a third obtaining module, configured to obtain a third time and a fourth time when the first vehicle and the second vehicle reach the expected collision position from a junction between the initial area and the collision area, respectively;
the conflict time determining module is used for determining a first conflict time for the first vehicle to reach the expected conflict position according to the first time and the third time, and determining a second conflict time for the second vehicle to reach the expected conflict position according to the second time and the third time.
8. 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 control method of claims 1-6.
9. A vehicle comprising the intersection mixed traffic control device according to claim 7 and/or the vehicle control system according to claim 8.
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