CN115346384B - Traffic intersection-oriented vehicle safe passing guiding method, device and system - Google Patents
Traffic intersection-oriented vehicle safe passing guiding method, device and system Download PDFInfo
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Abstract
The invention discloses a traffic intersection-oriented vehicle safe passing guiding method, device and system, wherein the method comprises the following steps: when the traffic light is green light, acquiring vehicle information and traffic light information of the vehicle between the sampling time and the traffic intersection, and respectively calculating the front boundary distance and the rear boundary distance of the two difficult areas at the sampling time; calculating a second residual distance between the vehicle and the traffic intersection after running at the running speed of the sampling moment for the residual time of the green light; if the second remaining distance is greater than the front boundary distance and less than the rear boundary distance, stopping the vehicle; and if the second remaining distance is smaller than or equal to the front boundary distance, accelerating and guiding the vehicle. The invention provides a reasonable guiding method for the vehicle, the optimal speed selection is finally fed back instead of the speed interval, the early warning information is very specific, the speed guiding feedback is very reasonable, and the vehicle is prevented from entering into a two-difficult area, so that the vehicle is safely stopped or safely passes through the traffic intersection before the signal lamp turns red.
Description
Technical Field
The invention relates to the technical field of automatic driving, in particular to a traffic intersection-oriented vehicle safe passing guiding method, device and system.
Background
Traffic intersections are potential accident areas in road traffic networks, and how to effectively improve the safe passage of autonomous vehicles at traffic intersections is an important and very challenging task. The two-way zone (DZ) refers to a zone at a traffic intersection, in which vehicles cannot safely stop or pass through the intersection before the yellow light stage starts, so that the vehicles in the zone are extremely prone to traffic accidents.
At present, in order to improve the traffic efficiency of traffic intersections and the driving safety of vehicles, most of research work is focused on protecting the two-way areas, and the existing protection strategy based on early warning mainly reminds the vehicles to avoid falling into the two-way areas by warning or guiding the vehicles.
However, the existing protection strategy based on early warning is not specific enough in early warning information and not reasonable in feedback of speed guidance, so that the early warning effect is poor, and the problem of vehicle traffic safety guidance at a traffic intersection cannot be well solved.
It is noted that this section is intended to provide a background or context for the embodiments of the disclosure set forth in the claims. The description herein is not admitted to be prior art by inclusion in this section.
Disclosure of Invention
The embodiment of the invention provides a traffic intersection-oriented vehicle safe passing guiding method, device and system, which are used for solving the problems that early warning information is not specific enough, feedback of speed guiding is not reasonable enough and the like in the prior art when an automatic driving vehicle is guided at a traffic intersection based on an early warning protection strategy.
In a first aspect, an embodiment of the present invention provides a method for guiding a safe traffic at a traffic intersection, including:
when the traffic light is green light, acquiring a first residual distance, a running speed, a green light residual time, a yellow light duration time and a red light duration time of the vehicle between the sampling time and the traffic intersection, and respectively calculating a front boundary distance and a rear boundary distance between the front boundary and the rear boundary of the two difficult areas at the sampling time and the traffic intersection;
calculating a second residual distance between the vehicle and a traffic intersection after running at the running speed of the sampling moment for the residual time of the green light, and judging the relation between the second residual distance and the front boundary distance and the rear boundary distance;
if the second remaining distance is greater than the front boundary distance and less than the rear boundary distance, stopping the vehicle, so that the vehicle continues to run and stops before the stop line of the traffic intersection before the traffic light changes into a red light; and if the second remaining distance is smaller than or equal to the front boundary distance, accelerating and guiding the vehicle to enable the vehicle to continue running and pass through the traffic intersection before the traffic light changes into a red light.
As a preferred mode of the first aspect of the present invention, the front boundary distance and the rear boundary distance between the front boundary and the rear boundary of the two difficult regions and the traffic intersection at the sampling time are calculated according to the following formulas, respectively:
wherein,for the distance between the front boundary of the two difficult areas and the traffic intersection at the sampling time k, v (k) is the running speed of the vehicle at the sampling time k, delta y For yellow lamp duration, delta r The duration of the red light is w is the width of the traffic intersection, and l is the length of the vehicle body;
for the distance between the rear boundary of the dilemma at sampling instant k and the traffic intersection,δ d a is the delay time of a control system of a vehicle min Minimum acceleration allowed for the vehicle.
As a preferred mode of the first aspect of the present invention, a second remaining distance between the vehicle and the traffic intersection after traveling the green light remaining time at the traveling speed of the sampling time is calculated according to the following formula:
S(k+δ gr )＝S(k)-υ(k)δ gr (k)，
wherein S (k+delta) gr ) For the second remaining distance between the vehicle and the traffic intersection after the remaining time of the green light at the driving speed of the sampling time k, S (k) is the first remaining distance between the vehicle and the traffic intersection at the sampling time k, v (k) is the driving speed of the vehicle at the sampling time k, delta gr (k) The green light remaining time for the vehicle at sample time k.
As a preferable mode of the first aspect of the present invention, the stopping guidance of the vehicle to continue the vehicle and stop before the stop line of the traffic intersection before the traffic light becomes the red light, includes:
calculating a first acceleration at which the vehicle continues to travel at the sampling moment and stops before a stop line of the traffic intersection before the traffic light changes to a red light;
and calculating a first planned running speed of the vehicle at the next sampling time according to the first acceleration, and enabling the vehicle to run at the first planned running speed at the next sampling time until the vehicle stops before the stop line of the traffic intersection before the traffic light changes into a red light.
As a preferred mode of the first aspect of the present invention, the first acceleration at which the vehicle continues to travel at the sampling timing and stops before the stop line of the traffic junction before the traffic light becomes the red light is calculated according to the following formula:
wherein a is d (k) For a first acceleration at which the vehicle continues to travel and stops before the stop line of the traffic intersection before the traffic light changes to red light, S (k) is the sampling time k andthe first remaining distance of the traffic intersection, v (k), is the running speed of the vehicle at the sampling time k, delta gr (k) For the green light remaining time, delta, of the vehicle at sampling instant k yr (k) The remaining time of the yellow lamp of the vehicle at the sampling time k is given;
calculating a first planned travel speed of the vehicle at a next sampling instant according to:
υ(k+1)＝υ(k)+a d (k)，
where v (k+1) is the running speed of the vehicle at the next sampling time k+1.
As a preferred mode of the first aspect of the present invention, the accelerating guiding of the vehicle to continue the vehicle and to pass through the traffic intersection before the traffic light changes to the red light, includes:
calculating a second acceleration of the vehicle when the vehicle continues to run at the sampling moment and passes through the traffic intersection before the traffic light changes to a red light;
and calculating a second planned running speed of the vehicle at the next sampling time according to the second acceleration, and enabling the vehicle to run at the second planned running speed at the next sampling time until the vehicle passes through the traffic intersection before the traffic light changes into a red light.
As a preferred mode of the first aspect of the present invention, the second acceleration at which the vehicle continues to travel at the sampling timing and passes through the traffic intersection before the traffic light becomes the red light is calculated according to the following formula:
wherein a is a (k) For the second acceleration of the vehicle at the sampling time k to continue to travel and to pass through the traffic intersection before the traffic light becomes red light, S (k) is the first remaining distance of the vehicle from the traffic intersection at the sampling time k, v (k) is the travel speed of the vehicle at the sampling time k, w is the width of the traffic intersection, l is the body length of the vehicle, δ gr (k) For the green light remaining time, delta, of the vehicle at sampling instant k yr (k) The remaining time of the yellow lamp of the vehicle at the sampling time k is given;
calculating a second planned travel speed of the vehicle at a next sampling instant according to:
υ(k+1)＝υ(k)+a a (k)，
where v (k+1) is the running speed of the vehicle at the next sampling time k+1.
In a second aspect, an embodiment of the present invention provides a traffic intersection-oriented vehicle safe passing guiding device, including:
the system comprises an acquisition unit, a traffic light detection unit and a traffic light detection unit, wherein the acquisition unit is used for acquiring a first residual distance, a running speed, a green light residual time, a yellow light duration time and a red light duration time between a vehicle and a traffic intersection at a sampling time when the traffic light is a green light, and respectively calculating a front boundary distance and a rear boundary distance between a front boundary and a rear boundary of a two-difficult area at the sampling time and the traffic intersection;
the calculating unit is used for calculating a second residual distance between the vehicle and the traffic intersection after running at the running speed of the sampling moment for the residual time of the green light, and judging the relation between the second residual distance and the front boundary distance and the rear boundary distance;
the guiding unit is used for stopping and guiding the vehicle if the second remaining distance is larger than the front boundary distance and smaller than the rear boundary distance, so that the vehicle continues to run and stops before the stop line of the traffic intersection before the traffic light changes into a red light; and if the second remaining distance is smaller than or equal to the front boundary distance, accelerating and guiding the vehicle to enable the vehicle to continue running and pass through the traffic intersection before the traffic light changes into a red light.
In a third aspect, an embodiment of the present invention provides a traffic intersection-oriented vehicle safe traffic guidance system, including a processor and a memory, where an execution instruction is stored in the memory, and the processor reads the execution instruction in the memory to execute the steps in the traffic intersection-oriented vehicle safe traffic guidance method according to any one of the first aspect and its preferred modes.
In a fourth aspect, an embodiment of the present invention provides a computer-readable storage medium containing computer-executable instructions for performing the steps of the traffic intersection-oriented safe-passage guiding method according to any one of the first aspect and its preferred aspects.
According to the vehicle safe passing guiding method, device and system for the traffic intersection, the front boundary and the rear boundary of the two-difficulty area at each sampling moment are calculated in real time, the position relation between the current position of the vehicle and the two-difficulty area is compared in real time, and finally a reasonable guiding method is provided for the vehicle, so that the vehicle is prevented from entering the two-difficulty area, and the vehicle is safely stopped or safely passes through the traffic intersection before a signal lamp turns red.
In addition, the situation awareness based on the bicycle two-difficulty area can be completed only by accessing the automatic driving vehicle into the network communication system without external equipment. The invention finally feeds back the optimal speed selection instead of the speed interval, the early warning information is very specific, the speed guiding feedback is very reasonable, and the traffic accidents at the traffic intersection can be effectively reduced.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required for the description of the embodiments will be briefly described below, and it is apparent that the drawings in the following description are only some embodiments of the present invention, and other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
Fig. 1 is a schematic flow chart of a vehicle safe passing guiding method facing a traffic intersection, which is provided by an embodiment of the invention;
FIG. 2 is a schematic diagram of two difficult regions in a vehicle safe passing guiding method facing traffic intersections according to an embodiment of the present invention;
FIG. 3a is a displacement diagram of a vehicle driving process obtained by a simulation platform of an avoidance guidance system according to an embodiment of the present invention;
Fig. 3b is a displacement diagram of a vehicle driving process obtained by a simulation platform according to the vehicle safe passing guiding method facing a traffic intersection provided by the embodiment of the invention;
fig. 4 is a schematic structural diagram of a vehicle safe passing guiding device facing a traffic intersection according to an embodiment of the present invention;
fig. 5 is a schematic structural diagram of a vehicle safe passing guiding method system facing a traffic intersection according to an embodiment of the present invention.
Detailed Description
In order that those skilled in the art will better understand the present invention, a technical solution in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in which it is apparent that the described embodiments are only some embodiments of the present invention, not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the present invention without making any inventive effort, shall fall within the scope of the present invention.
It should be noted that: like reference numerals and letters denote like items in the following figures, and thus once an item is defined in one figure, no further definition or explanation thereof is necessary in the following figures.
Currently, traffic intersections are potential accident areas in the road traffic network, and many studies indicate that traffic accidents associated with intersections cause millions of casualties each year. How to effectively improve traffic safety for traffic intersections is an important and very challenging task. A Dilemma Zone (DZ) refers to an area at a traffic intersection where a vehicle cannot safely stop or pass through the traffic intersection before the red light phase begins. If the vehicle approaches the traffic intersection, it is necessary to decide to stop or drive off at the traffic intersection when the traffic light changes from green to yellow, and when the vehicle is in the dilemma, everything is futile, and acceleration may cause a right angle collision, emergency braking or a rear-end collision.
In order to improve the traffic efficiency of the traffic intersection and the driving safety of the vehicle, a great deal of work is performed by a plurality of students, and most of research work is focused on designing a reliable and effective dilemma zone protection system, which mainly comprises a traffic light optimization strategy and an early warning strategy.
The warning strategy is to warn or guide the vehicle to remind the vehicle to avoid falling into the two-difficult area, and the main disadvantage is that the early warning information is not specific enough or the feedback of speed guidance is not reasonable enough, so that the guiding requirement of the current automatic driving vehicle at the traffic intersection cannot be met.
The embodiment of the invention aims to overcome the defects of the prior art, and provides a safe traffic intersection vehicle passing guiding method, which avoids vehicles entering into two difficult areas, so that the vehicles safely stop or safely pass through the traffic intersection before a traffic light turns red, traffic accidents of the traffic intersection can be effectively reduced, and meanwhile, the passing efficiency is improved.
Fig. 1 schematically shows a flow chart of a vehicle safe passing guiding method for a traffic intersection according to an embodiment of the present invention.
Referring to fig. 1, the method mainly comprises the following steps:
step 101, when a traffic light is a green light, acquiring a first residual distance, a running speed, a green light residual time, a yellow light duration time and a red light duration time of a vehicle between a sampling time and a traffic intersection, and respectively calculating a front boundary distance and a rear boundary distance between a front boundary and a rear boundary of a two-difficulty area and the traffic intersection at the sampling time;
102, calculating a second residual distance between the vehicle and a traffic intersection after running at a running speed of the sampling moment for a green light residual time, and judging the relation between the second residual distance and the front boundary distance and the rear boundary distance;
103, if the second remaining distance is greater than the front boundary distance and less than the rear boundary distance, stopping the vehicle, so that the vehicle continues to run and stops before the traffic light changes into a red light and before the stop line of the traffic intersection; and if the second remaining distance is smaller than or equal to the front boundary distance, accelerating and guiding the vehicle to enable the vehicle to continue to run and pass through the traffic intersection before the traffic light changes into a red light.
In step 101, the vehicle is an automobile with an autopilot function, on which a control system is arranged, which is capable of exchanging information with vehicles and infrastructure in the surroundings via V2V technology and V2I technology, as well as sensors, radar etc.
Referring to fig. 2, the traffic light is green when the vehicle is traveling on the current road. When the traffic light changes to a yellow light, the vehicle may be in three areas: a pass zone, a dilemma zone, and a park zone. In fact, vehicles can safely pass through the traffic intersection when in a passing area; when the vehicle is in the parking area, the vehicle can safely stop before the stop line of the traffic intersection; in the case of a vehicle in a dilemma, the vehicle cannot pass through a traffic intersection before the traffic light turns into a red light even if accelerated, and there is a risk of collision with a side vehicle, and if the vehicle is braked in an emergency, the vehicle cannot be stopped safely before a stop line, and a rear-end collision is likely to occur.
Therefore, it is necessary to guide the vehicle before the traffic light turns yellow, thereby avoiding the vehicle from entering into the dilemma.
At the moment of yellowing of the traffic light, it is possible to calculate in real time whether the vehicle enters into the dilemma. In the actual running process of the vehicle, the range of the dilemma area of the vehicle needs to be predicted in advance before the yellow lamp is lighted. Based on the predicted dilemma range and the prediction of the vehicle position, the trafficability of the vehicle can be estimated, and the vehicle can be guided in advance.
At this time, the vehicle information and traffic light information at the sampling time are obtained in real time by the control system of the vehicle, the sensors, the radar and other devices, and mainly comprise a first residual distance S (k), a running speed v (k) and a green light residual time delta between the sampling time and a traffic intersection gr (k) Residual time delta of yellow lamp yr (k) Yellow lamp duration delta y And red light duration delta r 。
The first remaining distance between the vehicle and the traffic intersection at the sampling time is the distance between the vehicle and the stop line of the traffic intersection at the sampling time, the yellow light duration is the duration after the yellow light is turned on, and the red light duration is the duration after the red light is turned on.
In addition, since the vehicle information and the traffic light information need to be acquired at each sampling time, if the traffic light is green light at the sampling time, the remaining time of the green light is the remaining time when the green light is about to be changed into yellow light, and the remaining time of the yellow light is the duration time of the yellow light; if the traffic light is yellow at the sampling time, the remaining time of the yellow light is the remaining time when the yellow light is about to be changed into red light, and the remaining time of the green light is 0.
Preferably, in a specific embodiment, the front boundary distance and the rear boundary distance between the front boundary and the rear boundary of the two difficult regions and the traffic intersection at the sampling time may be calculated according to the following equations:
wherein,for the distance between the front boundary of the two difficult areas and the traffic intersection at the sampling time k, v (k) is the running speed of the vehicle at the sampling time k, delta y For yellow lamp duration, delta r The duration of the red light is w is the width of the traffic intersection, and l is the length of the vehicle body;
for the distance delta between the rear boundary of the two difficult areas at the sampling time k and the traffic intersection d A is the delay time of a control system of a vehicle min Minimum acceleration allowed for the vehicle.
The distance between the front boundary of the two difficult regions at the sampling time and the traffic intersection is the distance between the front boundary of the two difficult regions at the sampling time and the stop line of the traffic intersection, and the distance between the rear boundary of the two difficult regions at the sampling time and the traffic intersection is the distance between the rear boundary of the two difficult regions at the sampling time and the stop line of the traffic intersection.
In the above, the width w of the traffic intersection, the length l of the vehicle body, and the delay time delta of the control system of the vehicle d Minimum acceleration a allowed by vehicle min Can be preset according to actual conditions.
In step 102, if the estimated dilemma zone boundary does not exist before the traffic light turns to yellow, it is indicated that there is an Optional Zone (OZ) in which the vehicle can pass safely either or through the signalized intersection, so there is no dilemma and the vehicle does not need to be guided. If the estimated dilemma exists, the vehicle runs the risk of entering the dilemma, and guidance of the vehicle is required. In this case, guidance of the vehicle can be divided into two cases, one is to guide the vehicle into the passing area when the traffic light turns to a yellow light and the other is to guide the vehicle into the parking area when the traffic light turns to a yellow light.
And in particular how the vehicle should be guided, it is necessary to evaluate the trafficability of the vehicle based on the predicted dilemma range and the predicted vehicle position. In the present embodiment, the vehicle is guided in advance by predicting whether the position where the vehicle is located after traveling the green light remaining time at the traveling speed of the sampling timing will be within the predicted range of the two difficult regions.
Preferably, in a specific embodiment, the second remaining distance between the vehicle and the traffic intersection after driving the green light at the driving speed of the sampling time for the remaining time is calculated according to the following formula:
S(k+δ gr )＝S(k)-υ(k)δ gr (k)，
wherein S (k+delta) gr ) For the second remaining distance between the vehicle and the traffic intersection after the remaining time of the green light at the driving speed of the sampling time k, S (k) is the first remaining distance between the vehicle and the traffic intersection at the sampling time k, v (k) is the driving speed of the vehicle at the sampling time k, delta gr (k) The green light remaining time for the vehicle at sample time k.
After the position of the vehicle after the green light residual time is driven at the driving speed of the sampling moment is predicted, whether the vehicle is in the range of the dilemma zone when the traffic light turns into the yellow light at the driving speed of the sampling moment can be determined by judging the relation between the calculated second residual distance and the front boundary distance and the rear boundary distance of the dilemma zone.
In step 103, if the second remaining distance is greater than the front boundary distance and less than the rear boundary distance of the dilemma area, the determination is made as follows:
the vehicle is in a difficult region when the traffic light turns to yellow when the vehicle runs at the running speed of the sampling time, and the vehicle needs to be stopped in advance for guiding in the stopping process, so that the vehicle continues to run and stops before the traffic light turns to red and before the stop line of the traffic intersection.
If the second remaining distance is less than or equal to the front boundary distance of the dilemma area, namely:
the vehicle is in a passing area when the traffic light turns to yellow light when the vehicle runs at the running speed of the sampling time, and the vehicle needs to be accelerated and guided in advance at the moment so that the vehicle continues to run and passes through the traffic intersection before the traffic light turns to red light.
These two cases will be described in detail below, respectively.
Preferably, in a specific embodiment, the vehicle is stopped and guided, so that the vehicle continues to run and stops before the traffic light changes to the red light and before the stop line of the traffic intersection, and the method specifically includes:
1031-1, calculating a first acceleration at which the vehicle continues to travel at the sampling time and stops before a stop line of the traffic intersection before the traffic light becomes a red light;
1031-2, calculating a first planned running speed of the vehicle at a next sampling time according to the first acceleration, and enabling the vehicle to run at the first planned running speed at the next sampling time until the vehicle stops before a stop line of the traffic intersection before the traffic light changes to a red light.
In the case of a stop guide, the vehicle needs to stop before the traffic light turns to a yellow light on the stop line of the traffic intersection, and at this time, the first acceleration of the vehicle at the sampling time is set to be a d (k) Then there is the following formula:
preferably, the first acceleration at which the vehicle continues to travel at the sampling timing and stops before the stop line of the traffic intersection before the traffic light becomes the red light is calculated according to the following formula:
wherein a is d (k) For a first acceleration at which the vehicle continues to travel and stops before the stop line of the traffic intersection before the traffic light becomes red light, S (k) is a first remaining distance of the vehicle from the traffic intersection at the sampling time k, v (k) is a travel speed of the vehicle at the sampling time k, δ gr (k) For the green light remaining time, delta, of the vehicle at sampling instant k yr (k) The remaining time for the yellow light of the vehicle at sample time k.
Further, through the first acceleration, a first planned running speed of the vehicle at the next sampling time can be calculated.
Preferably, the first planned travel speed of the vehicle at the next sampling instant is calculated according to the following formula:
υ(k+1)＝υ(k)+a d (k)，
where v (k+1) is the running speed of the vehicle at the next sampling time k+1.
After the first planned running speed of the vehicle at the next sampling time k+1 is calculated, the vehicle is made to run at the first planned running speed at the next sampling time k+1, the steps are re-executed at the next sampling time k+2, the first planned running speed of the vehicle at the next sampling time k+2 can be calculated, and the vehicle is circularly reciprocated in this way until the vehicle stops before the stop line of the traffic intersection before the traffic light becomes a red light.
Preferably, in a specific embodiment, the accelerating guiding of the vehicle to make the vehicle continue to run and pass through the traffic intersection before the traffic light changes to the red light includes:
1032-1, calculating a second acceleration of the vehicle at the sampling moment when the vehicle continues to travel and passes through the traffic intersection before the traffic light changes to a red light;
1032-2, calculating a second planned running speed of the vehicle at the next sampling time according to the second acceleration, and enabling the vehicle to run at the second planned running speed at the next sampling time until the vehicle passes through the traffic intersection before the traffic light changes to the red light.
In the case of acceleration guidance, the vehicle needs to pass through the traffic intersection before the traffic light changes to red light, at which time the second acceleration of the vehicle at the sampling time is set to be a a (k) Then there is the following formula:
preferably, the second acceleration of the vehicle at the sampling instant and through the traffic intersection before the traffic light changes to red light is calculated according to the following formula:
wherein a is a (k) For the second acceleration of the vehicle at the sampling time k to continue to travel and to pass through the traffic intersection before the traffic light becomes red light, S (k) is the first remaining distance between the vehicle at the sampling time k and the traffic intersection, v (k) is the travel speed of the vehicle at the sampling time k, w is the width of the traffic intersection, and l is the vehicle Length of body of vehicle, delta gr (k) For the green light remaining time, delta, of the vehicle at sampling instant k yr (k) The remaining time for the yellow light of the vehicle at sample time k.
Further, through the second acceleration, a second planned running speed of the vehicle at the next sampling time can be calculated.
Preferably, the second planned travel speed of the vehicle at the next sampling instant is calculated according to the following formula:
υ(k+1)＝υ(k)+a a (k)，
where v (k+1) is the running speed of the vehicle at the next sampling time k+1.
After the second planned running speed of the vehicle at the next sampling time k+1 is calculated, the vehicle is made to run at the second planned running speed at the next sampling time k+1, the steps are re-executed at the next sampling time k+2, and the second planned running speed of the vehicle at the next sampling time k+2 can be calculated, so that the vehicle can circularly reciprocate until the vehicle passes through the traffic intersection before the traffic light changes into a red light.
In addition, in order to further verify the technical effect of the vehicle safe passing guiding method facing the traffic intersection in the embodiment, a test is performed by using a simulation platform.
Referring to fig. 3a and 3b, fig. 3a is a displacement diagram of a vehicle driving process obtained by an existing avoidance guiding system provided by the embodiment of the present invention on a simulation platform, and fig. 3b is a displacement diagram of a vehicle driving process obtained by a vehicle safe passing guiding method for a traffic intersection provided by the embodiment of the present invention on a simulation platform. The avoidance guidance system (Yang D, h.jia, and m.tang. "Realization of a dilemma-zone guiding algorithm at signalized intersections," IEEE Transactions on Intelligent Transportation Systems, vol.15, no.5, pp.2333-2339, oct.2014.) may pre-guide the vehicle before the traffic lights turn yellow and provide warning information and specific driving strategies to help the driver avoid falling into the dilemma.
In fig. 3a and 3b, the dotted line is the running speed of the vehicle, the five-pointed star indicates the position of the vehicle when the traffic light changes to yellow, the circle indicates the position of the vehicle when the traffic light changes to red, the short solid line is the dilemma when the traffic light changes to yellow, the left vertical dash-dot line is the stop line of the traffic intersection, and the right vertical dash-dot line is the passing line of the traffic intersection.
As can be seen from fig. 3a and 3b, with the prior art method, the vehicle is guided to a parking area when the traffic light changes to a yellow light, and finally the vehicle stops before the stop line when the traffic light changes to a red light. By adopting the method in the embodiment of the invention, the vehicle is guided to the boundary between the two difficult areas and the passing area when the traffic light is changed into the yellow light, and finally, the vehicle just completely passes through the traffic intersection when the traffic light is changed into the red light.
Therefore, by adopting the method in the embodiment of the invention, the passing efficiency of vehicles at the traffic intersection can be effectively improved.
The traffic intersection-oriented vehicle safe passing guiding method provided by the embodiment of the invention has obvious advantages in all aspects.
In addition, the cases where the vehicle enters the dilemma area and does not enter the dilemma area when the traffic light changes to the yellow light, using the method in the prior art and the method in the embodiment of the present invention, before the traffic light changes to the yellow light, are predicted, and the time ratio of the two to enter the dilemma area when the vehicle enters the dilemma area is as follows:
As can be seen from the above table, the guiding method in this embodiment has a low time ratio of the two difficult regions, and can continuously reduce the possibility of the vehicle entering the two difficult regions.
The method in this embodiment has the following advantages over the existing guidance method:
(1) The method can well complete the protection work of the two difficult areas, and can completely pass through the traffic intersection before the traffic light is changed into the red light, so that the traffic accidents of the traffic intersection can be effectively reduced.
(2) Compared with other technical means, no external equipment is needed, and only the vehicle is connected to the network communication system, so that the real-time performance is ensured, the optimal speed selection is fed back in real time instead of the speed interval, and the possibility that the vehicle falls into two difficult areas can be continuously reduced.
(3) When the following vehicles meet the driving safety, the following vehicles adopting the method can pass through the traffic intersection as much as possible. Therefore, the method can avoid traffic jam under special conditions.
In summary, the method, the device and the system for guiding the safe passing of the vehicle facing the traffic intersection provided by the embodiment of the invention calculate the front boundary and the rear boundary of the two-difficulty zone at each sampling moment in real time, compare the current position of the vehicle with the position relationship of the two-difficulty zone in real time, and finally provide a reasonable guiding method for the vehicle to avoid the vehicle entering the two-difficulty zone, thereby ensuring that the vehicle is safely stopped or safely passes the traffic intersection before the signal lamp turns red.
In addition, the guiding method of the invention can finish situation awareness based on the bicycle two-difficulty area only by accessing the automatic driving vehicle into the network communication system without external equipment. The invention finally feeds back the optimal speed selection instead of the speed interval, the early warning information is very specific, the speed guiding feedback is very reasonable, and the traffic accidents at the traffic intersection can be effectively reduced.
Based on the same inventive concept, fig. 4 exemplarily shows a vehicle safe passing guiding device facing a traffic intersection provided by the embodiment of the present invention, and since the principle of the device for solving the technical problem is similar to that of a vehicle safe passing guiding method facing a traffic intersection, the specific implementation of the device may refer to the specific implementation of the method, and the repetition is omitted.
Referring to fig. 4, the apparatus mainly includes the following units:
an obtaining unit 401, configured to obtain a first remaining distance, a driving speed, a green light remaining time, a yellow light duration time and a red light duration time between a sampling time and a traffic intersection when a traffic light is a green light, and calculate a front boundary distance and a rear boundary distance between a front boundary and a rear boundary of a two-difficult area and the traffic intersection at the sampling time, respectively;
A calculating unit 402, configured to calculate a second remaining distance between the vehicle and the traffic intersection after running at the running speed at the sampling time for the remaining time of the green light, and determine a relationship between the second remaining distance and the front boundary distance and the rear boundary distance;
a guiding unit 403, configured to stop the vehicle if the second remaining distance is greater than the front boundary distance and less than the rear boundary distance, so that the vehicle continues to travel and stops before the stop line of the traffic intersection before the traffic light changes to a red light; and if the second remaining distance is smaller than or equal to the front boundary distance, accelerating and guiding the vehicle to enable the vehicle to continue to run and pass through the traffic intersection before the traffic light changes into a red light.
Preferably, the front boundary distance and the rear boundary distance between the front boundary and the rear boundary of the two difficult regions and the traffic intersection at the sampling time are calculated according to the following formulas:
wherein,for the distance between the front boundary of the two difficult areas and the traffic intersection at the sampling time k, v (k) is the running speed of the vehicle at the sampling time k, delta y For yellow lamp duration, delta r The duration of the red light is w is the width of the traffic intersection, and l is the length of the vehicle body;
for the distance delta between the rear boundary of the two difficult areas at the sampling time k and the traffic intersection d A is the delay time of a control system of a vehicle min Minimum acceleration allowed for the vehicle.
Preferably, a second remaining distance between the vehicle and the traffic intersection after traveling the green light for a remaining time at the traveling speed of the sampling time is calculated according to the following formula:
S(k+δ gr )＝S(k)-υ(k)δ gr (k)，
wherein S (k+delta) gr ) For the second remaining distance between the vehicle and the traffic intersection after the remaining time of the green light at the driving speed of the sampling time k, S (k) is the first remaining distance between the vehicle and the traffic intersection at the sampling time k, v (k) is the driving speed of the vehicle at the sampling time k, delta gr (k) The green light remaining time for the vehicle at sample time k.
Preferably, the guiding unit 403 is specifically configured to:
calculating a first acceleration at which the vehicle continues to travel at the sampling moment and stops before a stop line of the traffic intersection before the traffic light changes to a red light;
and calculating a first planned running speed of the vehicle at the next sampling time according to the first acceleration, and enabling the vehicle to run at the first planned running speed at the next sampling time until the vehicle stops before the stop line of the traffic intersection before the traffic light changes into the red light.
Preferably, the first acceleration at which the vehicle continues to travel at the sampling timing and stops before the stop line of the traffic intersection before the traffic light becomes the red light is calculated according to the following formula:
Wherein a is d (k) For a first acceleration at which the vehicle continues to travel and stops before the stop line of the traffic intersection before the traffic light becomes red light, S (k) is a first remaining distance of the vehicle from the traffic intersection at the sampling time k, v (k) is a travel speed of the vehicle at the sampling time k, δ gr (k) For the green light remaining time, delta, of the vehicle at sampling instant k yr (k) The remaining time of the yellow lamp of the vehicle at the sampling time k is given;
calculating a first planned travel speed of the vehicle at a next sampling instant according to:
υ(k+1)＝υ(k)+a d (k)，
where v (k+1) is the running speed of the vehicle at the next sampling time k+1.
Preferably, the guiding unit 403 is specifically configured to:
calculating a second acceleration of the vehicle when the vehicle continues to run at the sampling moment and passes through the traffic intersection before the traffic light changes to a red light;
and calculating a second planned running speed of the vehicle at the next sampling time according to the second acceleration, and enabling the vehicle to run at the second planned running speed at the next sampling time until the vehicle passes through the traffic intersection before the traffic light changes into a red light.
Preferably, the second acceleration of the vehicle at the sampling instant and through the traffic intersection before the traffic light changes to red light is calculated according to the following formula:
wherein a is a (k) For the second acceleration of the vehicle at the sampling time k to continue to travel and to pass through the traffic intersection before the traffic light becomes red light, S (k) is the first remaining distance of the vehicle from the traffic intersection at the sampling time k, v (k) is the travel speed of the vehicle at the sampling time k, w is the width of the traffic intersection, l is the body length of the vehicle, δ gr (k) For the green light remaining time, delta, of the vehicle at sampling instant k yr (k) The remaining time of the yellow lamp of the vehicle at the sampling time k is given;
calculating a second planned travel speed of the vehicle at a next sampling instant according to:
υ(k+1)＝υ(k)+a a (k)，
where v (k+1) is the running speed of the vehicle at the next sampling time k+1.
It should be understood that the above traffic intersection-oriented vehicle safety traffic guiding device includes units that are only logically divided according to functions implemented by the device, and in practical applications, the units may be overlapped or split. The functions of the traffic intersection-oriented vehicle safe passage guiding device provided by the embodiment are in one-to-one correspondence with the traffic intersection-oriented vehicle safe passage guiding method provided by the embodiment, and the more detailed processing flow of the device is described in the method embodiment, and is not described in detail here.
In summary, the vehicle safe passing guiding device for the traffic intersection provided by the embodiment of the invention calculates the front boundary and the rear boundary of the two-difficulty area at each sampling moment in real time, compares the position relationship between the current position of the vehicle and the two-difficulty area in real time, and finally provides a reasonable guiding method for the vehicle to avoid the vehicle entering the two-difficulty area, so that the vehicle is safely stopped or safely passes through the traffic intersection before the signal lamp turns red.
In addition, the situation awareness based on the bicycle two-difficulty area can be completed only by accessing the automatic driving vehicle into the network communication system without external equipment. The invention finally feeds back the optimal speed selection instead of the speed interval, the early warning information is very specific, the speed guiding feedback is very reasonable, and the traffic accidents at the traffic intersection can be effectively reduced.
Based on the same inventive concept, referring to fig. 5, an embodiment of the present invention provides an electric vehicle charging scheduling system, where the device mainly includes a processor 501 and a memory 502, where the memory 502 stores execution instructions. The processor 501 reads the execution instructions in the memory 502 to execute the steps described in any one of the embodiments of the electric vehicle charging schedule method described above. Alternatively, the processor 501 reads the execution instruction in the memory 502 to implement the functions of each unit in any embodiment of the electric vehicle charging schedule device.
The processor 501 may be a general purpose processor, including a central processing unit (Central Processing Unit, CPU), a network processor (Network Processor, NP), etc.; but also digital signal processors (Digital Signal Processing, DSP), application specific integrated circuits (Application Specific Integrated Circuit, ASIC), field programmable gate arrays (Field-Programmable Gate Array, FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components.
The memory 502 may be an internal storage unit, such as a hard disk or a memory. The memory 502 may also be an external storage device, such as a plug-in hard disk, a Smart Media Card (SMC), a Secure Digital (SD) Card, a Flash Card (Flash Card), or the like. Further, the memory 502 may also include both internal storage units and external storage devices. The memory 502 may be used to temporarily store data that has been output or is to be output.
It will be clearly understood by those skilled in the art that, for convenience and brevity of description, the specific working process of each component described above may refer to the corresponding process in the foregoing method embodiment, which is not described herein again.
In summary, the vehicle safe passing guiding system for the traffic intersection provided by the embodiment of the invention calculates the front boundary and the rear boundary of the two-difficulty area at each sampling moment in real time, compares the position relationship between the current position of the vehicle and the two-difficulty area in real time, and finally provides a reasonable guiding method for the vehicle to avoid the vehicle entering the two-difficulty area, so that the vehicle is safely stopped or safely passes through the traffic intersection before the signal lamp turns red.
In addition, the situation awareness based on the bicycle two-difficulty area can be completed only by accessing the automatic driving vehicle into the network communication system without external equipment. The invention finally feeds back the optimal speed selection instead of the speed interval, the early warning information is very specific, the speed guiding feedback is very reasonable, and the traffic accidents at the traffic intersection can be effectively reduced.
In addition, the embodiment of the invention also provides a computer readable storage medium, which contains computer execution instructions, wherein the computer execution instructions are used for executing the steps in the traffic intersection-oriented vehicle safe passing guiding method embodiment. Alternatively, the computer-executable instructions are used to perform the functions of the units of the traffic intersection-oriented vehicle safe-passage guiding device embodiment described above.
The computer storage media of embodiments of the invention may take the form of any combination of one or more computer-readable media. The computer readable medium may be a computer readable signal medium or a computer readable storage medium. The computer readable storage medium can be, for example, but not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or a combination of any of the foregoing. More specific examples (a non-exhaustive list) of the computer-readable storage medium would include the following: an electrical connection having one or more wires, a portable computer diskette, a hard disk, a random access Memory (Random Access Memory, RAM), a Read-Only Memory (ROM), an erasable programmable Read-Only Memory (Erasable Programmable Read Only Memory, EPROM), a flash Memory, an optical fiber, a portable CD-ROM, an optical storage device, a magnetic storage device, or any suitable combination of the foregoing. A computer readable storage medium may be any tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, apparatus, or device.
The computer readable signal medium may include a propagated data signal with computer readable program code embodied therein, either in baseband or as part of a carrier wave. Such a propagated data signal may take many forms, including, but not limited to: electromagnetic signals, optical signals, or any suitable combination of the preceding. A computer readable signal medium may also be any computer readable medium that is not a computer readable storage medium and that can communicate, propagate, or transport a program for use by or in connection with an instruction execution system, apparatus, or device.
Program code embodied on a computer readable medium may be transmitted using any appropriate medium, including but not limited to: wireless, wire, fiber optic cable, radio Frequency (RF), and the like, or any suitable combination of the foregoing.
In addition, computer program code for carrying out operations of the present invention may be written in one or more programming languages, including an object oriented programming language such as Java, smalltalk, C ++ and conventional procedural programming languages, such as the "C" programming language or similar programming languages. The program code may execute entirely on the user's computer, partly on the user's computer, as a stand-alone software package, partly on the user's computer and partly on a remote computer or entirely on the remote computer or server. In the case of a remote computer, the remote computer may be connected to the user's computer through any kind of network, including a Local Area Network (LAN) or a Wide Area Network (WAN), or may be connected to an external computer (for example, through the Internet using an Internet service provider).
Those of ordinary skill in the art will appreciate that the modules, units, and/or method steps of the various embodiments described in connection with the embodiments disclosed herein can be implemented as electronic hardware, or as a combination of computer software and electronic hardware. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the solution. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present invention.
In the several embodiments provided in this application, it should be understood that the disclosed apparatus, device, and method may be implemented in other manners. For example, the apparatus embodiments described above are merely illustrative, e.g., the division of the units is merely a logical function division, and there may be additional divisions when actually implemented, e.g., multiple units or components may be combined or integrated into another system, or some features may be omitted or not performed. Alternatively, the coupling or direct coupling or communication connection shown or discussed with each other may be an indirect coupling or communication connection via some interfaces, devices or units, which may be in electrical, mechanical or other form.
In addition, each functional unit in the embodiments of the present invention may be integrated in one processing unit, or each unit may exist alone physically, or two or more units may be integrated in one unit. The integrated units may be implemented in hardware or in software functional units.
In the foregoing embodiments of the present invention, the descriptions of the embodiments are emphasized, and for a portion of this disclosure that is not described in detail in this embodiment, reference is made to the related descriptions of other embodiments.
The foregoing description of the preferred embodiments of the invention is not intended to limit the invention to the precise form disclosed, and any such modifications, equivalents, and alternatives falling within the spirit and scope of the invention are intended to be included within the scope of the invention.
Claims (9)
1. The traffic intersection-oriented vehicle safe passing guiding method is characterized by comprising the following steps of:
when the traffic light is green light, acquiring a first residual distance, a running speed, a green light residual time, a yellow light duration time and a red light duration time of the vehicle between the sampling time and the traffic intersection, and respectively calculating a front boundary distance and a rear boundary distance between a front boundary and a rear boundary of the two difficult areas at the sampling time and the traffic intersection according to the following steps;
Wherein,for the distance between the front boundary of the two difficult areas and the traffic intersection at the sampling time k, v (k) is the running speed of the vehicle at the sampling time k, delta y For yellow lamp duration, delta r The duration of the red light is w is the width of the traffic intersection, and l is the length of the vehicle body;
for the distance delta between the rear boundary of the two difficult areas at the sampling time k and the traffic intersection d A is the delay time of a control system of a vehicle min Minimum acceleration allowed for the vehicle;
calculating a second residual distance between the vehicle and a traffic intersection after running at the running speed of the sampling moment for the residual time of the green light, and judging the relation between the second residual distance and the front boundary distance and the rear boundary distance;
if the second remaining distance is greater than the front boundary distance and less than the rear boundary distance, stopping the vehicle, so that the vehicle continues to run and stops before the stop line of the traffic intersection before the traffic light changes into a red light; and if the second remaining distance is smaller than or equal to the front boundary distance, accelerating and guiding the vehicle to enable the vehicle to continue running and pass through the traffic intersection before the traffic light changes into a red light.
2. The method of claim 1, wherein the second remaining distance between the vehicle and the traffic intersection after traveling the green light for the remaining time at the traveling speed at the sampling instant is calculated according to the following equation:
S(k+δ gr )＝S(k)-v(k)δ gr (k)，
Wherein S (k+delta) gr ) For the second remaining distance between the vehicle and the traffic intersection after the remaining time of the green light at the driving speed of the sampling time k, S (k) is the first remaining distance between the vehicle and the traffic intersection at the sampling time k, v (k) is the driving speed of the vehicle at the sampling time k, delta gr (k) The green light remaining time for the vehicle at sample time k.
3. A method according to claim 1 or 2, wherein said guiding the vehicle to stop, causing the vehicle to continue traveling and stopping before the stop line of the traffic intersection before the traffic light changes to a red light, comprises:
calculating a first acceleration at which the vehicle continues to travel at the sampling moment and stops before a stop line of the traffic intersection before the traffic light changes to a red light;
and calculating a first planned running speed of the vehicle at the next sampling time according to the first acceleration, and enabling the vehicle to run at the first planned running speed at the next sampling time until the vehicle stops before the stop line of the traffic intersection before the traffic light changes into a red light.
4. A method according to claim 3, characterized in that the first acceleration at which the vehicle continues to travel at the sampling instant and stops before the stop line of the traffic intersection before the traffic light changes to red light is calculated according to the following formula:
Wherein a is d (k) For a first acceleration at which the vehicle continues to travel and stops before the stop line of the traffic intersection before the traffic light becomes red light, S (k) is a first remaining distance of the vehicle from the traffic intersection at the sampling time k, v (k) is a travel speed of the vehicle at the sampling time k, δ gr (k) For the green light remaining time, delta, of the vehicle at sampling instant k yr (k) The remaining time of the yellow lamp of the vehicle at the sampling time k is given;
calculating a first planned travel speed of the vehicle at a next sampling instant according to:
v(k+1)＝v(k)+a d (k)，
where v (k+1) is the running speed of the vehicle at the next sampling time k+1.
5. A method according to claim 1 or 2, wherein said accelerating the vehicle to continue the vehicle and through the traffic intersection before the traffic light changes to a red light comprises:
calculating a second acceleration of the vehicle when the vehicle continues to run at the sampling moment and passes through the traffic intersection before the traffic light changes to a red light;
and calculating a second planned running speed of the vehicle at the next sampling time according to the second acceleration, and enabling the vehicle to run at the second planned running speed at the next sampling time until the vehicle passes through the traffic intersection before the traffic light changes into a red light.
6. The method of claim 5, wherein the second acceleration of the vehicle at the sampling instant and through the traffic intersection before the traffic light changes to red light is calculated according to the following equation:
Wherein a is a (k) For the second acceleration of the vehicle at the sampling time k to continue to travel and to pass through the traffic intersection before the traffic light becomes red light, S (k) is the first remaining distance of the vehicle from the traffic intersection at the sampling time k, v (k) is the travel speed of the vehicle at the sampling time k, w is the width of the traffic intersection, l is the body length of the vehicle, δ gr (k) For the green light remaining time, delta, of the vehicle at sampling instant k yr (k) The remaining time of the yellow lamp of the vehicle at the sampling time k is given;
calculating a second planned travel speed of the vehicle at a next sampling instant according to:
v(k+1)＝v(k)+a a (k)，
where v (k+1) is the running speed of the vehicle at the next sampling time k+1.
7. A traffic intersection-oriented vehicle safe passage guiding device, comprising:
the system comprises an acquisition unit, a traffic light detection unit and a traffic light detection unit, wherein the acquisition unit is used for acquiring a first residual distance, a running speed, a green light residual time, a yellow light duration time and a red light duration time between a sampling time and a traffic intersection when the traffic light is a green light, and respectively calculating a front boundary distance and a rear boundary distance between a front boundary and a rear boundary of a two-difficult area at the sampling time and the traffic intersection according to the following steps;
wherein,for the distance between the front boundary of the two difficult areas and the traffic intersection at the sampling time k, v (k) is the running speed of the vehicle at the sampling time k, delta y For yellow lamp duration, delta r The duration of the red light is w is the width of the traffic intersection, and l is the length of the vehicle body;
for the distance delta between the rear boundary of the two difficult areas at the sampling time k and the traffic intersection d A is the delay time of a control system of a vehicle min Minimum acceleration allowed for the vehicle;
the calculating unit is used for calculating a second residual distance between the vehicle and the traffic intersection after running at the running speed of the sampling moment for the residual time of the green light, and judging the relation between the second residual distance and the front boundary distance and the rear boundary distance;
the guiding unit is used for stopping and guiding the vehicle if the second remaining distance is larger than the front boundary distance and smaller than the rear boundary distance, so that the vehicle continues to run and stops before the stop line of the traffic intersection before the traffic light changes into a red light; and if the second remaining distance is smaller than or equal to the front boundary distance, accelerating and guiding the vehicle to enable the vehicle to continue running and pass through the traffic intersection before the traffic light changes into a red light.
8. A traffic intersection-oriented vehicle safe passage guiding system, comprising a processor and a memory, wherein execution instructions are stored in the memory, and the processor reads the execution instructions in the memory for executing the steps in the traffic intersection-oriented vehicle safe passage guiding method according to any one of claims 1 to 6.
9. A computer-readable storage medium containing computer-executable instructions for performing the steps in the traffic intersection-oriented vehicle safe-passing guidance method of any one of claims 1-6.
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