CN115376346A - Multi-mode driving vehicle collaborative intersection method for expressway confluence area under mixed-driving condition - Google Patents
Multi-mode driving vehicle collaborative intersection method for expressway confluence area under mixed-driving condition Download PDFInfo
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Abstract
The embodiment of the invention provides a multi-mode driving vehicle collaborative intersection method for an expressway confluence area under mixed-driving conditions, which belongs to the technical field of intelligent vehicle-road collaboration and comprises the steps of obtaining vehicle information of a main road outside a vehicle-road information detection system and vehicle information of a ramp; calculating a dynamic safety distance required by the ramp vehicle to merge into the main road in real time according to the vehicle information of the lane outside the main road and the ramp vehicle information, wherein the dynamic safety distance comprises an overtaking merging real-time dynamic safety distance and a decelerating merging real-time dynamic safety distance; predicting whether the vehicles on the ramp conflict with the vehicles on the outer side of the main road at a certain moment when the vehicles on the ramp converge into the main road according to the dynamic safety distance; and regulating and controlling the running state of the ramp vehicle according to the conflict prediction result to realize that the ramp vehicle is safely and efficiently converged into the main road. The invention effectively solves the problems of disorderly vehicle convergence and low efficiency of the expressway convergence area under the mixed condition of multi-mode driving of vehicles.
Description
Technical Field
The invention belongs to the technical field of intelligent vehicle-road cooperation, and particularly relates to a multi-mode driving vehicle cooperative intersection method for an expressway confluence area under a mixed-driving condition.
Background
The vehicle-road cooperative system construction is the result of the deep application fusion development of intelligent traffic, intelligent terminals, urban traffic management and service platforms and a new generation of wireless communication technology. With the continuous improvement of smart city top-level design and overall planning, the industry development of traffic informatization and even intelligent traffic, a vast development space is opened up for vehicle-road cooperation, and the speed of the vehicle-road cooperative development is further improved through the development of intelligent traffic industry states. With the advance of intelligent traffic construction and operation, the application of vehicle-road cooperation is distributed in the aspects of traffic jam control, traffic safety control, traffic information service, commercial operation service and the like, and becomes an acquisition terminal and a control node of a traffic road condition sensing network.
With the development of vehicle intellectualization and networking technologies, automatically driven vehicles gradually enter the field of vision of people and can become the leading corner in traffic flow in the future, the situation that the automatically driven vehicles and manually driven vehicles coexist can occur in a road network, the novel mixed traffic form is not feasible, and due to the fact that the density of vehicles in a highway confluence area is high, traffic jam can be caused by unreasonable avoidance, and normal traffic of the vehicles is influenced. Therefore, a technical scheme which can solve the problem that vehicles in a confluence area are mixed in disorderly and has low efficiency is urgently needed.
Disclosure of Invention
The embodiment of the invention provides a multi-mode driving vehicle cooperative intersection method for an express way confluence area under a mixed-driving condition, which is used for solving the problems that ramp vehicles converge into a main road in a disordered way and the efficiency is low under the mixed-driving condition of multi-mode driving vehicles in the express way confluence area.
The embodiment of the invention provides a multi-mode driving vehicle collaborative intersection method for an expressway confluence area under mixed-driving conditions, which comprises the following steps:
s1: obtaining the vehicle information of a main road outside lane and the vehicle information of a ramp in the range of a vehicle information detection system, wherein the vehicle information of the main road outside lane comprises the following steps: the lane information comprises vehicle distance information of a main road outside lane, vehicle speed information of a main road outside lane and a driving type of vehicles of a main road outside lane, wherein the ramp vehicle information comprises: the method comprises the steps of obtaining ramp vehicle distance information, ramp vehicle speed information and ramp vehicle driving types;
s2: calculating a dynamic safety distance required by the ramp vehicle to merge into the main road in real time according to the vehicle information of the lane outside the main road and the ramp vehicle information, wherein the dynamic safety distance comprises an overtaking merging real-time dynamic safety distance and a decelerating merging real-time dynamic safety distance;
s3: predicting whether the vehicles on the ramp conflict with the vehicles on the outer side of the main road at a certain moment when the vehicles on the ramp converge into the main road according to the dynamic safety distance;
s4: and regulating and controlling the running state of the ramp vehicle according to the conflict prediction result to realize that the ramp vehicle is safely and efficiently converged into the main road.
Preferably, the method further comprises:
and before the junction of the ramp in the confluence zone, the automatic driving vehicles and the manual driving vehicles are shunted, so that the lane outside the main road is a special lane for the automatic driving vehicles, and only the automatic driving vehicles are allowed to pass.
Preferably, the method further comprises:
the vehicle road information detection system transmits the acquired vehicle information to the ramp automatic driving vehicle in real time, and the ramp automatic driving vehicle and the automatic driving vehicle on the outer side of the main road transmit and exchange information in real time.
Preferably, in step S1, the vehicle information of the main road outer side lane further includes a vehicle acceleration of the main road outer side lane and a vehicle length of the main road outer side lane, and the ramp vehicle information includes a ramp vehicle acceleration and a ramp vehicle length.
Preferably, in the step S4, the operation state of the ramp vehicle is regulated and controlled according to the collision prediction result, so as to realize that the ramp vehicle safely and efficiently converges into the main road, including:
and when the distance information between the vehicles on the outer lane of the main road is greater than or equal to the dynamic safety distance, controlling the vehicles on the outer lane of the main road to keep running at a constant speed, and controlling the vehicles on the ramp to safely and efficiently converge into the main road at the speed of the vehicles on the outer lane of the main road.
Preferably, in the step S4, the operation state of the ramp vehicle is regulated and controlled according to the collision prediction result to realize that the ramp vehicle safely and efficiently merges into the main road, further comprising:
and when the distance information between the vehicles on the outer lane of the main road is more than or equal to N times of the dynamic safety distance, controlling the vehicles on the outer lane of the main road to keep running at a constant speed, and controlling the N ramp vehicles to be converged into the main road in a formation mode at the speed of the vehicles on the outer lane of the main road.
Preferably, in the step S4, the operation state of the ramp vehicle is regulated and controlled according to the collision prediction result to realize that the ramp vehicle safely and efficiently merges into the main road, further comprising:
when the distance information between the vehicles on the lanes outside the main road is smaller than the dynamic safety distance, the possibility that the vehicles on the ramp collide with the vehicles outside the main road when converging into the main road is predicted, and the vehicles on the ramp are safely and efficiently converged into the main road by regulating and controlling the acceleration and the deceleration of the automatically-driven vehicles on the ramp or regulating and controlling the acceleration and the deceleration of the automatically-driven vehicles on the main road.
Preferably, when the inter-vehicle distance information of the lanes outside the main road is smaller than the dynamic safety distance, it is predicted that the vehicles on the ramp converge into the main road and the vehicles outside the main road may collide with each other, and the ramp vehicles safely and efficiently converge into the main road by performing acceleration and deceleration control on the automatically-driven vehicles on the ramp or performing acceleration and deceleration control on the automatically-driven vehicles on the main road, which is classified into the following four strategies:
the first strategy is: when the automatic driving vehicles on the ramp belong to the first-ranking vehicles and the vehicles on the outer side of the main road which conflict with the automatic driving vehicles are automatic driving vehicles, the two vehicles carry out information real-time interactive transmission, and meanwhile, the vehicles on the outer side of the main road are properly accelerated or decelerated in cooperation with the vehicles on the ramp, so that the vehicles on the ramp can converge into the main road;
the second strategy is: when the ramp automatic driving vehicle belongs to a head-up vehicle and the vehicle outside the main road which conflicts with the ramp automatic driving vehicle is a manual driving vehicle, the ramp vehicle predicts whether the vehicle can accelerate or decelerate to safely merge into the main road according to the received real-time vehicle information, and if the vehicle cannot accelerate or decelerate, the ramp vehicle continues to advance to the end of the merge-in or ramp buffer zone, and stops for waiting for a moment;
the third strategy is as follows: when the ramp automatic driving vehicle does not belong to the first-ranking vehicle and the vehicle on the outer side of the main road which conflicts with the ramp automatic driving vehicle is the automatic driving vehicle, the two vehicles carry out real-time information transmission and exchange, the ramp automatic driving vehicle is coordinated with the vehicle on the outer side of the main road under the condition that the ramp automatic driving vehicle keeps a safe distance with the front vehicle, and the vehicle is properly accelerated or decelerated to ensure that the ramp automatic driving vehicle safely converges into the main road, and meanwhile, if the safe distance in front is larger, the vehicle speed can be properly reduced to ensure that the vehicle in front of the ramp automatically converges into the main road;
the fourth strategy is as follows: when the ramp automatic driving vehicle does not belong to the first-ranking vehicle and the outside of the main road in conflict with the ramp automatic driving vehicle is a manual driving vehicle, the ramp automatic driving vehicle judges whether to properly accelerate and decelerate and safely converge into the main road according to real-time manual driving vehicle information and the condition of ensuring the safe distance with a front vehicle, and meanwhile, if the ramp automatic driving vehicle has a larger safe distance after converging into the main road, the vehicle speed can be properly reduced, so that the front vehicle of the ramp converges into the main road, otherwise, the ramp automatic driving vehicle continuously advances to wait for next judgment.
The embodiment of the invention provides a multi-mode driving vehicle collaborative intersection system of an express way confluence area under mixed-traveling conditions, which comprises:
the vehicle information acquisition module is used for acquiring the vehicle information of a main road outside lane and the vehicle information of a ramp in the range of the vehicle information detection system, wherein the vehicle information of the main road outside lane comprises: the lane information comprises main road outside lane vehicle distance information, main road outside lane vehicle speed information and main road outside lane vehicle driving types, and the ramp vehicle information comprises: the method comprises the steps of obtaining ramp vehicle distance information, ramp vehicle speed information and ramp vehicle driving types;
the information processing module is used for calculating the dynamic safety distance required by the ramp vehicle to converge into the main road in real time according to the vehicle information of the lane outside the main road and the ramp vehicle information, and the dynamic safety distance comprises the real-time dynamic safety distance for overtaking convergence and the real-time dynamic safety distance for decelerating convergence;
a prediction module: the system is used for predicting whether the vehicles on the ramp conflict with the vehicles outside the main road at a certain moment when the vehicles on the ramp converge into the main road according to the dynamic safety distance;
and the vehicle regulation and control module is used for regulating and controlling the running state of the ramp vehicle according to the conflict prediction result so as to realize that the ramp vehicle is safely and efficiently converged into the main road.
The embodiment of the invention provides a computer storage medium, wherein a computer software product is stored in the computer storage medium, and the computer software product comprises a plurality of instructions used for enabling one computer device to realize the multi-mode driving vehicle collaborative intersection method of an express way confluence area under any one mixed-driving condition.
According to the technical scheme, the method has the following advantages that:
the embodiment of the invention fully combines the actual situation, provides an effective scheme for the cooperative intersection of the automatic driving vehicle and the manual driving vehicle, fully utilizes the buffer area, and can realize the simultaneous coordinated convergence of a plurality of vehicles when certain conditions are met; by arranging the special lane for the automatic driving vehicle in advance, more reliable guarantee is provided for the entry regulation and control of the ramp junction; meanwhile, each automatic driving vehicle decides the self condition, does not set up the position of a specific decision point, and can make an import decision as long as the condition is met, so that the efficiency is improved, and the method is closer to the actual condition; the method is beneficial to orderly and stable running of vehicles in the confluence area, can ensure that the acceleration lane of the confluence area is fully utilized, avoids queuing and overflowing of ramps, and improves the vehicle confluence efficiency.
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In order to illustrate embodiments of the present invention or technical solutions in the prior art more clearly, the following brief description of the drawings which are required in the embodiments will be made, and features and advantages of the present invention will be understood more clearly by referring to the drawings, which are schematic and should not be understood as limiting the present invention in any way, and for those skilled in the art, other drawings can be obtained from these drawings without creative effort. Wherein:
fig. 1 is a flowchart of a method for collaborative intersection of vehicles driven by multiple modes in an express way confluence area under mixed traffic conditions according to an embodiment;
FIG. 2 is a schematic view of a flow-joining zone of an express way;
FIG. 3 is a graph of vehicle time versus speed at a merge area of an express way;
FIG. 4 is a graph of vehicle time versus position for a merge area of an express way;
fig. 5 is a block diagram of a collaborative intersection system of vehicles driven by multiple modes in a confluence area of an express way under mixed-traveling conditions according to an embodiment.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Example one
The embodiment of the invention provides a collaborative intersection method for multimode driving vehicles in an expressway confluence area under mixed-driving conditions, which comprises the following steps of:
s101: obtaining the vehicle information of a main road outside lane and the vehicle information of a ramp in the range of a vehicle road information detection system, wherein the vehicle information of the main road outside lane comprises: the lane information comprises main road outside lane vehicle distance information, main road outside lane vehicle speed information and main road outside lane vehicle driving types, and the ramp vehicle information comprises: the method comprises the following steps of 1, obtaining ramp vehicle distance information, ramp vehicle speed information and ramp vehicle driving types;
s102: calculating a dynamic safety distance required by the ramp vehicle to merge into the main road in real time according to the vehicle information of the lane outside the main road and the ramp vehicle information, wherein the dynamic safety distance comprises an overtaking merging real-time dynamic safety distance and a decelerating merging real-time dynamic safety distance;
s103: predicting whether the vehicles on the ramp conflict with the vehicles outside the main road at a certain moment when converging into the main road according to the dynamic safety distance;
s104: and regulating and controlling the running state of the ramp vehicle according to the conflict prediction result to realize that the ramp vehicle is safely and efficiently converged into the main road.
The method of the embodiment solves the problem of traffic jam of the expressway junction area under the mixed condition of multi-mode driving vehicles. By fully utilizing the buffer area, when a certain condition is met, a plurality of vehicles can be simultaneously coordinated and converged; by arranging the special lane for the automatic driving vehicle in advance, more reliable guarantee is provided for the entry regulation and control of the ramp junction; meanwhile, each automatic driving vehicle makes a decision on the self condition, does not set the position of a specific decision point, and can make an import decision as long as conditions are met, so that the efficiency is improved, and the method is closer to the actual condition; the method is beneficial to orderly and stable running of vehicles in the confluence area, can ensure that the acceleration lane of the confluence area is fully utilized, avoids queuing and overflowing of ramps, and improves the vehicle confluence efficiency.
And before the ramp of the confluence area converges into the entrance, the automatic driving vehicles and the manual driving vehicles are shunted, so that the lane outside the main road is a special lane for the automatic driving vehicles, and only the automatic driving vehicles are allowed to pass.
Automatic driving and non-automatic driving are separated through road control in the early stage, and more reliable guarantee is provided for the entry regulation and control of the ramp junction through setting a CAV special lane in advance.
Further, the vehicle information of the outside lane of the main road and the vehicle information of the ramp within the range of the vehicle information detection system are acquired in step S101.
When the vehicle enters a detection range, the vehicle route information detection system detects vehicle information in real time, wherein the vehicle information comprises vehicle distance information, vehicle speed information, vehicle acceleration information, vehicle length information, vehicle driving mode information and the like; and updating and transmitting to the automatic driving vehicle on the ramp in real time. The information of each vehicle can be summarized as N = [ v = [) i ；a i ；x i1 ；x i2 ]Wherein v is i Is the running speed of the vehicle; a is a i Is the acceleration of the vehicle; x is the number of i1 The distance between the head of the vehicle and the tail of the vehicle in front; x is the number of i2 The distance between the vehicle tail and the vehicle head of the rear vehicle.
Further, in step S102, a dynamic safety distance required by the ramp vehicle to merge into the main road is calculated in real time according to the vehicle information of the lane outside the main road and the vehicle information of the ramp.
The whole process that the vehicles on the ramp converge into the main road can be simplified into the process that the speed is changed until the vehicles reach a safe distance with the auxiliary vehicle, the vehicles converge into the main road and then change the speed immediately, and the vehicles and the traffic flow are kept stable in following. The safe distance required for the immission of all vehicles is calculated on the basis of:
first, d An For safe distances, the traditional model is used as follows:
wherein v is f For the current vehicle speed, v r Is the front speed, v rel Relative speed of two vehicles, t s For brake delay time, a max Is the acceleration or deceleration of the vehicle, d 0 The safety distance is the safety distance of the two vehicles after stopping.
At the same time, d An May be less than d 0 Even negative values, so we get the safe distance expression as:
meanwhile, the dynamic safety distance can be mainly divided into two following situations, namely CAV (automatic driving vehicle) and CAV, and CAV and HAV (manual driving vehicle). The CAV vehicle can be regarded as almost having no delay time due to real-time communication maintenance, and the CAV vehicle is considered independently because the CAV special lane is arranged in the embodiment of the invention, which is common. The safety distance is therefore as follows:
further, in step S104, the control is performed according to the prediction result, and the control is mainly performed on the automatic driving vehicle on the ramp, and the automatic driving vehicle on the main road is used as an auxiliary vehicle, so as to realize that the ramp vehicle safely and efficiently converges into the main road, which includes the following three conditions:
1. when the distance information between the vehicles on the outer lane of the main road is greater than or equal to the safety distance, controlling the vehicles on the outer lane of the main road to keep running at a constant speed, and controlling the vehicles on the ramp to converge into the main road at the speed of the vehicles on the outer lane of the main road;
2. when the distance information between the vehicles on the outer lane of the main road is more than or equal to N times of the dynamic safety distance, controlling the vehicles on the outer lane of the main road to keep running at a constant speed, and controlling N ramp vehicles to be converged into the main road in a formation mode at the speed of the vehicles on the outer lane of the main road;
3. when the distance information between the vehicles on the lanes outside the main road is smaller than the dynamic safety distance, the vehicles on the ramps possibly collide with the vehicles on the outer side of the main road when converging into the main road, and the vehicles on the ramps are regulated to accelerate and decelerate or the vehicles on the main road are regulated to accelerate and decelerate so that the vehicles on the ramps can safely and efficiently converge into the main road.
The following specifically explains a regulation principle of collision with vehicles outside the main road when the ramp vehicles merge into the main road.
(1) When the ramp vehicle accelerates beyond the auxiliary vehicle merge:
M zi -M mi ≥L * +d an *
Wherein v is zi Is the initial speed of the ramp vehicle, a z1 、a z2 Acceleration and deceleration of the ramp vehicle, t 1 、t 2 Time corresponding to the speed change process of the ramp vehicle, M zi 、M mi Respectively, the distance traveled during the merging of the ramp vehicle and the auxiliary vehicle, v mi For main road auxiliary car initial speed, L * The distance of the vehicles on the main road is required for changing the speed of the vehicles on the ramp.
When the auxiliary vehicle needs to be decelerated:
d m(i+1) -d mi +M (mi,m(i+1)) ≤L c +2*d an *
Wherein d is mi 、d m(i+1) Respectively the driving distance, M, of the auxiliary vehicle and the front vehicle in the whole process (mi，m(i+1)) Is the initial distance between two cars, L c Is the length of the ramp vehicle.
Meanwhile, the overtaking is limited by the front vehicle of the ramp before merging:
wherein d is zi 、d z(i+1) Respectively the running distance, M, of the ramp vehicle and the front vehicle in the whole process (zi，z(i+1)) The initial distance between the two vehicles; l is c Is the length of the ramp vehicle.
Or limited by the distance ahead:
wherein L is pt When the ramp vehicle is a front-end vehicle, the distance in front is larger.
After the vehicle is converged, the vehicle is restricted by the front vehicle of the auxiliary vehicle:
wherein,
the initial distance between the ramp vehicle and the front vehicle of the auxiliary vehicle after the ramp vehicle is converged,
to assist the vehicle in front of the vehicle for the distance traveled for the time period.
(2) When the vehicle is accelerated and decelerated more slowly than the auxiliary vehicle enters:
M mi -M zi ≥L ** +d an *
Wherein, a z3 、a z4 Respectively the deceleration and acceleration of the ramp vehicle, t 3 、t 4 For the time corresponding to the change of speed of the vehicle on the ramp, M zi 、M mi Respectively, the distance traveled during the merging of the ramp vehicle and the auxiliary vehicle, L ** The speed change for the ramp vehicle needs to be behind the distance of the vehicle on the main road.
When the auxiliary vehicle needs to accelerate:
d mi -d m(i-1) +M (mi，m(i-1)) ≤L c +2*d an *
Wherein d is mi 、d m(i-1) Respectively the driving distance of the auxiliary vehicle and the rear vehicle in the whole process, M (mi，m(i-1)) Is the initial spacing between the two carts.
Meanwhile, the acceleration of the auxiliary vehicle is restricted by the front vehicle:
d m(i+1) +M (mi，m(i+1)) -d mi ≥d an *
Wherein, M (mi,m(i+1)) Is the initial distance between the auxiliary vehicle and the front vehicle.
Further, according to the principle, when the inter-vehicle distance information of the lanes outside the main road is smaller than the safety distance, the vehicles on the ramp may collide with the vehicles outside the main road when merging into the main road, and the vehicles on the ramp merge into the main road by performing acceleration and deceleration control on the automatically-driven vehicles on the ramp or performing acceleration and deceleration control on the automatically-driven vehicles on the main road, which is divided into the following four strategies:
the first strategy is: when the automatic driving vehicles on the ramp belong to the first-ranking vehicles and the vehicles on the outer side of the main road which conflict with the automatic driving vehicles are automatic driving vehicles, the two vehicles carry out information real-time interactive transmission, and meanwhile, the vehicles on the outer side of the main road are properly accelerated or decelerated in cooperation with the vehicles on the ramp, so that the vehicles on the ramp can converge into the main road;
the second strategy is: when the ramp automatic driving vehicle belongs to a head-up vehicle and the vehicle outside the main road which conflicts with the ramp automatic driving vehicle is a manual driving vehicle, the ramp vehicle predicts whether the vehicle can accelerate or decelerate to safely merge into the main road according to the received real-time vehicle information, and if the vehicle cannot accelerate or decelerate, the ramp vehicle continues to advance to the end of the merge-in or ramp buffer zone, and stops for waiting for a moment;
the third strategy is as follows: when the ramp automatic driving vehicle does not belong to the first-ranking vehicle and the vehicle on the outer side of the main road which conflicts with the ramp automatic driving vehicle is the automatic driving vehicle, the two vehicles carry out real-time information transmission and exchange, the ramp automatic driving vehicle is coordinated with the vehicle on the outer side of the main road under the condition that the ramp automatic driving vehicle keeps a safe distance with the front vehicle, and the vehicle is properly accelerated or decelerated to ensure that the ramp automatic driving vehicle safely converges into the main road, and meanwhile, if the safe distance in front is larger, the vehicle speed can be properly reduced to ensure that the vehicle in front of the ramp automatically converges into the main road;
the fourth strategy is: when the ramp automatic driving vehicle does not belong to the first-ranking vehicle and the outside of the main road in conflict with the ramp automatic driving vehicle is a manual driving vehicle, the ramp automatic driving vehicle judges whether to properly accelerate and decelerate and safely converge into the main road according to real-time manual driving vehicle information and the condition of ensuring the safe distance with a front vehicle, and meanwhile, if the ramp automatic driving vehicle has a larger safe distance after converging into the main road, the vehicle speed can be properly reduced, so that the front vehicle of the ramp converges into the main road, otherwise, the ramp automatic driving vehicle continuously advances to wait for next judgment.
In order to make the solution better understood, the following technical solution is further explained with reference to specific practical situations.
FIG. 2 is a schematic diagram of the merging area of the express way, and initial data are set as shown in the diagram, wherein the main road speed limit is 80km/h, and the ramp speed limit is 40km/h. In this case, the ideal speed of the main road is 40km/h, the ideal speed of the ramp is 35km/h, and the acceleration of the vehicle is-3]m/s 2 Taking A, B, C, D, E as an example, according to the algorithm of the patent, the vehicle A establishes a connection with the adjacent vehicle CAV in the main road, and the main road isThe speed of the road vehicles is reduced, and the two vehicles on the ramp A, B accelerate, so that the road is converged; C. the E vehicle is accelerated to merge into the main road. The vehicle D is a manually driven vehicle, and converges into the main road under the condition of meeting. Velocity versus time, position graph before reaching decision point T. Fig. 3 and 4 show that: the decision-making convergence connection is good, so that the orderly and stable running of vehicles in the confluence area is facilitated, the acceleration lane of the confluence area can be fully utilized, the queuing overflow of ramps is avoided, and the vehicle convergence efficiency is improved.
Based on the same inventive concept, an embodiment of the present invention further provides a collaborative intersection system for vehicles driven in multiple modes in a converging area of an express way under a mixed-traveling condition, as shown in fig. 5, the system includes:
the vehicle information obtaining module 501 is configured to obtain vehicle information of a lane outside a main road and vehicle information of a ramp within a range of a vehicle information detecting system, where the vehicle information of the lane outside the main road includes: the lane information comprises main road outside lane vehicle distance information, main road outside lane vehicle speed information and main road outside lane vehicle driving types, and the ramp vehicle information comprises: the method comprises the steps of obtaining ramp vehicle distance information, ramp vehicle speed information and ramp vehicle driving types;
the information processing module 502 is configured to calculate, in real time, a dynamic safety distance required by a ramp vehicle to merge into a main road according to the vehicle information of the lane outside the main road and the vehicle information of the ramp, where the dynamic safety distance includes a real-time dynamic safety distance for overtaking and a real-time dynamic safety distance for decelerating and merging;
the prediction module 503: the system is used for predicting whether the vehicles on the ramp conflict with the vehicles on the outer side of the main road at a certain moment when the vehicles on the ramp converge into the main road according to the dynamic safety distance;
and the vehicle regulation and control module 504 is used for regulating and controlling the running state of the ramp vehicle according to the conflict prediction result so as to realize that the ramp vehicle is safely and efficiently converged into the main road.
The system of the embodiment shunts the driving vehicles in different modes before the ramp junction; acquiring the vehicle information of a main road outside the range of a vehicle information detection system and the vehicle information of a ramp; and based on the vehicle information of the lane outside the main road and the vehicle information of the ramp, the vehicle automatically driving on the ramp is regulated and controlled as a main part, and the vehicle automatically driving on the main road is assisted to realize that the vehicle on the ramp converges into the main road. The problem of traffic jam in the expressway confluence area under the mixed traffic condition of multi-mode driving vehicles is solved, and the traffic efficiency of the vehicles is improved.
The embodiment of the invention also provides a computer storage medium, wherein a computer software product is stored in the computer storage medium, and the computer software product comprises a plurality of instructions used for enabling one computer device to realize the cooperative intersection method of the express way confluence area and the multimode driving vehicles under the mixed running condition. To avoid redundancy, it is not described in detail herein.
It is to be noted that the foregoing description is only exemplary of the invention and that the principles of the technology may be employed. It will be understood by those skilled in the art that the present invention is not limited to the particular embodiments described herein, but is capable of various obvious changes, rearrangements and substitutions as will now become apparent to those skilled in the art without departing from the scope of the invention. Therefore, although the present invention has been described in some detail by the above embodiments, the invention is not limited to the above embodiments, and may include other equivalent embodiments without departing from the spirit of the invention, and the scope of the invention is determined by the scope of the appended claims.
Those skilled in the art will appreciate that embodiments of the present application may be provided as a method, system, or computer program product. Accordingly, the present application may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present application may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.
The present application is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the application. It will be understood that each flow and/or block of the flowchart illustrations and/or block diagrams, and combinations of flows and/or blocks in the flowchart illustrations and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks. These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
It should be understood that the above examples are only for clarity of illustration and are not intended to limit the embodiments. Other variations and modifications will be apparent to persons skilled in the art in light of the above description. This need not be, nor should it be exhaustive of all embodiments. And obvious variations or modifications of the invention may be made without departing from the spirit or scope of the invention.
Claims (10)
1. A collaborative intersection method for multimode driving vehicles in an expressway confluence area under mixed-driving conditions is characterized by comprising the following steps:
s1: obtaining the vehicle information of a main road outside lane and the vehicle information of a ramp in the range of a vehicle road information detection system, wherein the vehicle information of the main road outside lane comprises: the lane information comprises main road outside lane vehicle distance information, main road outside lane vehicle speed information and main road outside lane vehicle driving types, and the ramp vehicle information comprises: the method comprises the steps of obtaining ramp vehicle distance information, ramp vehicle speed information and ramp vehicle driving types;
s2: calculating a dynamic safety distance required by the ramp vehicle to merge into the main road in real time according to the vehicle information of the lane outside the main road and the ramp vehicle information, wherein the dynamic safety distance comprises an overtaking merging real-time dynamic safety distance and a decelerating merging real-time dynamic safety distance;
s3: predicting whether the vehicles on the ramp conflict with the vehicles on the outer side of the main road at a certain moment when the vehicles on the ramp converge into the main road according to the dynamic safety distance;
s4: and regulating and controlling the running state of the ramp vehicle according to the conflict prediction result to realize that the ramp vehicle is safely and efficiently converged into the main road.
2. The method for collaborative intersection of vehicles driven by multiple modes in an express way confluence region under mixed-traveling conditions as claimed in claim 1, further comprising:
and before the junction of the ramp in the confluence zone, the automatic driving vehicles and the manual driving vehicles are shunted, so that the lane outside the main road is a special lane for the automatic driving vehicles, and only the automatic driving vehicles are allowed to pass.
3. The method for collaborative intersection of vehicles driven by multiple modes in an express way confluence region under mixed-traveling conditions as claimed in claim 1, further comprising:
the vehicle road information detection system transmits the acquired vehicle information to the ramp automatic driving vehicle in real time, and the ramp automatic driving vehicle and the automatic driving vehicle on the outer side of the main road perform information real-time transmission and exchange.
4. The method according to claim 1, wherein the vehicle information of the main outside lane in step S1 further includes vehicle acceleration of the main outside lane and vehicle length of the main outside lane, and the ramp vehicle information includes vehicle acceleration of a ramp and vehicle length of a ramp.
5. The method according to claim 1, wherein the step S4 of performing control of the operation state of the ramp vehicles according to the result of the collision prediction to realize that the ramp vehicles safely and efficiently merge into the main road comprises:
and when the distance information between the vehicles on the outer lane of the main road is greater than or equal to the dynamic safety distance, controlling the vehicles on the outer lane of the main road to keep running at a constant speed, and controlling the vehicles on the ramp to safely and efficiently converge into the main road at the speed of the vehicles on the outer lane of the main road.
6. The method for multi-mode driving vehicle cooperative intersection in an express way confluence area under mixed conditions as claimed in claim 1, wherein the step S4 is performed to regulate and control the operation state of ramp vehicles according to the result of conflict prediction to realize safe and efficient merging of ramp vehicles into the main road, and further comprising:
and when the distance information between the vehicles on the outer lane of the main road is more than or equal to N times of the dynamic safety distance, controlling the vehicles on the outer lane of the main road to keep running at a constant speed, and controlling the N ramp vehicles to be converged into the main road in a formation mode at the speed of the vehicles on the outer lane of the main road.
7. The method according to claim 1, wherein in step S4, the operation state of the vehicles on the ramp is controlled according to the result of the conflict prediction to safely and efficiently merge the vehicles on the ramp into the main road, and further comprising:
when the distance information between the vehicles on the lanes outside the main road is smaller than the dynamic safety distance, the possibility that the vehicles on the ramp collide with the vehicles outside the main road when converging into the main road is predicted, and the vehicles on the ramp are safely and efficiently converged into the main road by performing acceleration and deceleration control on the automatically-driven vehicles on the ramp or performing acceleration and deceleration control on the automatically-driven vehicles on the main road.
8. The method according to claim 7, wherein when the inter-vehicle distance information of the lanes outside the main road is smaller than the dynamic safety distance, it is predicted that the vehicles on the ramp merge into the main road may collide with the vehicles outside the main road, and the following four strategies are adopted to safely and efficiently merge the vehicles on the ramp into the main road by performing acceleration and deceleration control on the autonomous vehicles on the ramp or performing acceleration and deceleration control on the autonomous vehicles on the main road:
the first strategy is: when the automatic driving vehicles on the ramp belong to the first-ranking vehicles and the vehicles on the outer side of the main road which conflict with the automatic driving vehicles are automatic driving vehicles, the two vehicles carry out information real-time interactive transmission, and meanwhile, the vehicles on the outer side of the main road are properly accelerated or decelerated in cooperation with the vehicles on the ramp, so that the vehicles on the ramp can converge into the main road;
the second strategy is: when the ramp automatic driving vehicle belongs to a head-up vehicle and the vehicle outside the main road which conflicts with the ramp automatic driving vehicle is a manual driving vehicle, the ramp vehicle predicts whether the vehicle can accelerate or decelerate to safely merge into the main road according to the received real-time vehicle information, and if the vehicle cannot accelerate or decelerate, the ramp vehicle continues to advance to the end of the merge-in or ramp buffer zone, and stops for waiting for a moment;
the third strategy is as follows: when the ramp automatic driving vehicle does not belong to the first-ranking vehicle and the vehicle outside the main road which conflicts with the ramp automatic driving vehicle is the automatic driving vehicle, the two vehicles transmit and exchange information in real time, and the ramp automatic driving vehicle is coordinated with the vehicle outside the main road under the condition that the ramp automatic driving vehicle keeps a safe distance with the front vehicle, and is accelerated or decelerated properly to ensure that the ramp automatic driving vehicle is safely converged into the main road;
the fourth strategy is: when the automatic ramp driving vehicle does not belong to the first-row vehicle and the outside of the main road which conflicts with the automatic ramp driving vehicle is a manually driven vehicle, the automatic ramp driving vehicle judges whether to appropriately accelerate and decelerate and safely converge into the main road according to real-time information of the manually driven vehicle and the condition of ensuring the safe distance with a front vehicle, and meanwhile, if the automatic ramp driving vehicle has a larger safe distance after converging into the main road, the speed of the vehicle can be appropriately reduced, so that the front vehicle of the ramp converges into the main road, otherwise, the automatic ramp driving vehicle continues to advance to wait for the next judgment.
9. The utility model provides a system that intersects is in coordination driven vehicle in express way confluence district under thoughtlessly going the condition which characterized in that includes:
the vehicle information acquisition module is used for acquiring vehicle information of a main road outside lane and vehicle information of a ramp in the range of the vehicle information detection system, wherein the vehicle information of the main road outside lane comprises: the lane information comprises main road outside lane vehicle distance information, main road outside lane vehicle speed information and main road outside lane vehicle driving types, and the ramp vehicle information comprises: the method comprises the steps of obtaining ramp vehicle distance information, ramp vehicle speed information and ramp vehicle driving types;
the information processing module is used for calculating the dynamic safety distance required by the ramp vehicle to merge into the main road in real time according to the vehicle information of the lane outside the main road and the ramp vehicle information, and the dynamic safety distance comprises the real-time dynamic safety distance for overtaking and the real-time dynamic safety distance for decelerating and merging;
a prediction module: the system is used for predicting whether the vehicles on the ramp conflict with the vehicles on the outer side of the main road at a certain moment when the vehicles on the ramp converge into the main road according to the dynamic safety distance;
and the vehicle regulation and control module is used for regulating and controlling the running state of the ramp vehicle according to the conflict prediction result so as to realize that the ramp vehicle is safely and efficiently converged into the main road.
10. A computer storage medium, characterized in that it stores a computer software product comprising instructions for causing a computer device to implement the method of any one of claims 1 to 8.
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