CN116246466A - Hybrid traffic flow management method and system considering autopilot multimode characteristics - Google Patents
Hybrid traffic flow management method and system considering autopilot multimode characteristics Download PDFInfo
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Abstract
A mixed traffic flow management method and system considering the multi-mode characteristic of automatic driving, the method includes in the scene of the concrete lane, carry on CAV permeability monitoring to CAV and HDV mixed traffic flow in the current road network; and setting threshold step of CAV permeability according to the total number of lanes in the current road network, controlling PD type lanes according to whether the CAV permeability value reaches the threshold point of the CAV permeability, and adjusting whether the CAV automatic driving mode of the PD lanes is limited. After the lane type is determined, lane type switching between different types of lanes is prohibited. And finally judging a threshold interval in which the CAV permeability in the current road network is positioned, and re-defining the attribute and controlling the mode of the lane according to different threshold intervals. The invention fully considers the influence of CAV with more heterogeneity on the whole mixed traffic flow, and reduces the negative influence of the heterogeneity generated by CAV for distinguishing the automatic driving mode on the traffic flow.
Description
Technical Field
The invention belongs to the technical field of intelligent vehicle road systems, and particularly relates to a hybrid traffic flow management method and system considering the characteristics of automatic driving multiple modes.
Background
Along with the continuous development and popularization of intelligent automatic driving automobiles, various car manufacturers gradually start to provide different automatic driving modes for users to select according to the traveling needs of the users taking the intelligent automatic driving automobiles. Different automatic driving modes may have different driving characteristics, such as higher fuel consumption, shorter following distance, etc. Thus, each automobile manufacturer will construct different autopilot patterns using different autopilot patterns, but when multiple patterns of autopilot patterns are injected into the traffic flow, it may have different effects on the traffic flow than a single autopilot pattern.
Through researches, the heterogeneity generated by the multimode automatic driving can have negative effects on the mixed traffic flow, but the current main flow research lacks effective management and control research on the mixed traffic environment of multiple automatic driving modes or multimode parameters, and ignores the influence on the whole traffic flow caused by the heterogeneity generated by the behaviors of the multiple automatic driving modes.
Disclosure of Invention
The present invention aims to solve the above-mentioned problems in the prior art, and provides a method and a system for managing mixed traffic flow, which consider the characteristics of multiple modes of automatic driving, fully consider the influence of CAV generating more heterogeneity on the whole mixed traffic flow under the mixed traffic flow of networked automatic driving vehicles (Connected and Autonomous Vehicle, CAV) and HDV (Human-driven vehicle) for distinguishing the automatic driving modes, reduce the negative influence of heterogeneity generated by CAV distinguishing the automatic driving modes on the traffic flow, improve the road traffic capacity of the mixed traffic flow and reduce the average fuel consumption of traffic.
In order to achieve the above purpose, the present invention has the following technical scheme:
a hybrid traffic management method that accounts for autopilot multimode characteristics, comprising:
in a specific lane scene, monitoring CAV permeability of a CAV and HDV mixed traffic flow in a current road network;
according to the total lane number n in the current road network s Setting threshold step PTS of CAV permeabilityWherein
Acquiring the number n of CAV special lanes set in the control area according to the current CAV permeability value P and the threshold step PTS of the CAV permeability c Wherein
The current CAV permeability value P is subjected to surplus calculation on a threshold step PTS of the CAV permeability, whether the CAV permeability value P reaches a threshold point of the CAV permeability is judged, if the CAV permeability value P reaches the threshold point of the CAV permeability, a PD type lane is not increased when a lane is managed and controlled, and the rest lane is defined as an HDV special lane; if the threshold value point of the CAV permeability is not reached, increasing the PD type lane when controlling the lane;
judging whether CAV in the current road network only runs in the PD lane or not, if the CAV runs in the PD lane, according to the liberation principle, not limiting the CAV automatic driving mode of the PD lane; if the CAV runs on the PD lane, the CAV of the PD lane is controlled through an active mode according to a single principle, and is uniformly limited to be in the same automatic driving mode;
after the lane types are determined, lane types are forbidden to be changed among different types of lanes according to independent principles;
judging a threshold interval in which the CAV permeability in the current road network is located, and re-defining the attribute and controlling the mode of the lane according to different threshold intervals.
As a preferred option, the specific lane scene is selected from the current highway or national road network.
As a preferable scheme, when judging the threshold interval where the CAV permeability in the current road network is located and re-defining the attribute and controlling the mode of the lane according to the different threshold intervals, if the current road network is two-vehicle road network and the CAV permeability is less than 50%, changing one lane attribute into a PD lane, allowing CAV and HDV to mix, and not limiting the automatic driving mode of the CAV in the road network, and the other lane attribute is an HDV special lane.
As a preferable scheme, when determining the threshold interval where the CAV permeability in the current road network is located and performing attribute definition and mode control on the lanes again according to the different threshold intervals, if the current road network is two-vehicle road network and the CAV permeability is greater than or equal to 50%, one of the lane attributes is changed into a PD lane, the CAV and the HDV are allowed to be mixed, the automatic driving mode of the CAV therein is limited to a normal mode, and the other lane attribute is changed into a CAV special lane, but the automatic driving mode of the CAV therein is not limited.
As a preferable scheme, when judging the threshold interval where the CAV permeability in the current road network is located and carrying out attribute definition and mode control on the lanes again according to different threshold intervals, if the current road network is a four-vehicle road network and the CAV permeability is less than 25%, changing one lane attribute into a PD lane, allowing CAV and HDV to be mixed, and not limiting the automatic driving mode of the CAV in the current road network, wherein the other three lane attributes are HDV special lanes.
As a preferable scheme, when judging the threshold interval where the CAV permeability in the current road network is located and carrying out attribute definition and mode control on the lanes again according to different threshold intervals, if the current road network is four-vehicle road network, the CAV permeability is more than or equal to 25% and less than 50%, one of the lane attributes is changed into a PD lane, the CAV and the HDV are allowed to be mixed, the automatic driving mode of the CAV is limited to be a normal mode, one of the lane attributes is changed into a CAV special lane, the automatic driving mode of the CAV is not limited, and the other two lane attributes are HDV special lanes.
As a preferable scheme, when judging the threshold interval where the CAV permeability in the current road network is located and carrying out attribute definition and mode control on the lanes again according to different threshold intervals, if the current road network is four-vehicle road network, the CAV permeability is more than or equal to 50% and less than 75%, one of the lane attributes is changed into a PD lane, the CAV and the HDV are allowed to be mixed, the automatic driving mode of the CAV is limited to be a normal mode, the two lane attributes are changed into a CAV special lane, the automatic driving mode of the CAV is not limited, and the other lane attribute is the HDV special lane.
As a preferable scheme, when determining the threshold interval where the CAV permeability in the current road network is located and performing attribute definition and mode control on the lanes again according to the different threshold intervals, if the CAV permeability is greater than or equal to 75% in the current four-vehicle road network, one of the lane attributes is changed into a PD lane, the CAV and the HDV are allowed to be mixed, the automatic driving mode of the CAV therein is limited to a normal mode, the other three lane attributes are changed into a CAV dedicated lane, and the automatic driving mode of the CAV therein is not limited.
As a preferable scheme, the V2I technology is utilized to enable the road infrastructure to continuously exchange real-time information with the vehicle, the intelligent road monitoring facility is used for monitoring the permeability of CAV in the current road, and the collected data information is sent to the traffic management center for judging and deciding the management and control strategy.
A hybrid traffic management system that accounts for autopilot multimode characteristics, comprising:
the permeability monitoring module is used for monitoring CAV permeability of the CAV and HDV mixed traffic flow in the current road network in a specific lane scene;
the threshold step calculation module of the CAV permeability is used for calculating the threshold step according to the total number n of lanes in the current road network s Setting a threshold step PTS of CAV permeability, wherein
The CAV special lane number calculation module is used for acquiring the CAV special lane number n set in the control area according to the current CAV permeability value P and the threshold step PTS of the CAV permeability c Wherein
The PD type lane management and control module is used for carrying out residual calculation on the current CAV permeability value P and the threshold step PTS of the CAV permeability, judging whether the CAV permeability value P reaches the threshold point of the CAV permeability, if so, not adding the PD type lane when managing and controlling the lane, and prescribing that the remaining lane is an HDV special lane; if the threshold value point of the CAV permeability is not reached, increasing the PD type lane when controlling the lane;
the CAV automatic driving mode limiting module is used for judging whether CAV in the current road network only runs in the PD lane or not, and if the CAV runs in the PD lane, the CAV automatic driving mode of the PD lane is not limited any more according to the liberation principle; if the CAV runs on the PD lane, the CAV of the PD lane is controlled through an active mode according to a single principle, and is uniformly limited to be in the same automatic driving mode;
the lane change prohibiting module is used for prohibiting lane types from being changed among different types of lanes according to an independent principle after the lane types are determined;
the lane attribute redefinition and mode control module is used for judging a threshold interval in which the CAV permeability in the current road network is located, and redefining the attribute and controlling the mode of the lane according to different threshold intervals.
Compared with the prior art, the invention has at least the following beneficial effects:
the invention dynamically defines the lane attribute according to the permeability of the CAV in the current real-time mixed traffic flow and controls the automatic driving mode of the CAV. When the permeability of the whole road network is lower, the automatic driving mode of the PD lane is not limited any more by taking the personalized travel requirement of the user into consideration through the control of the liberation principle. Along with the improvement of the permeability, CAV passing through a PD lane is controlled through an active mode through a single principle and is uniformly limited to the same automatic driving mode, so that the heterogeneity existing in a road network is reduced. Finally, in order to reduce disturbance of lane change conditions between different types of lanes, lane change between different types of lanes is forbidden according to independent principles. Meanwhile, in order to ensure that the traffic of each lane reaches an equilibrium state, the invention sets specific lane types and number by calculating the threshold step PTS of CAV permeability. The mixed traffic flow management method considering the automatic driving multi-mode characteristics realizes the high utilization rate of the lanes under different CAV permeability and reduces the probability of heterogeneity generated by various driving behaviors. The test result shows that the method can improve the traffic efficiency by 12.3% and reduce the average fuel consumption by 17.9% at the highest, thereby effectively reducing the negative influence of heterogeneity of interaction between the multimode CAV and the HDV.
Drawings
FIG. 1 is a flow chart of a hybrid traffic management method that considers the multi-modal nature of autopilot in accordance with an embodiment of the present invention;
FIG. 2 is a flow chart of the embodiment of the invention for re-attribute definition and mode control of lanes according to the threshold interval in which CAV permeability is located;
FIG. 3 is a schematic diagram of a hybrid traffic flow management method that considers the multi-modal nature of autopilot as applied to a specific lane scenario in accordance with an embodiment of the present invention;
FIG. 4 is a graph showing travel time under two-lane control according to an embodiment of the present invention;
FIG. 5 is a graph showing fuel consumption under two-lane control according to an embodiment of the present invention;
FIG. 6 is a graph showing travel time under four lane control according to an embodiment of the present invention;
fig. 7 is a graph showing fuel consumption under four-lane control according to an embodiment of the present invention.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. Based on the embodiments of the present invention, one of ordinary skill in the art may also obtain other embodiments without undue burden.
Referring to fig. 1, the method for managing mixed traffic flow according to the present invention, which considers the characteristics of multiple modes of autopilot, includes:
s1, selecting a specific lane scene in a current expressway or national road network;
s2, monitoring the permeability of the current network-connected automatic driving automobile and the HDV mixed traffic flow;
s3, according to the specific total lane number n of the road network s To set the threshold step size (Permeability threshold step size, PTS) of CAV permeability correspondingly:
s4, acquiring the number of CAV special lanes to be set in the control area according to the current permeability value and the PTS obtained by calculation in the previous step:
s5, calculating, namely taking the current permeability value P for the PTS, and judging whether the permeability value reaches a permeability threshold point or not: p% PTS;
s5-1, if the permeability threshold point is reached, a PD (Pseudo dedicated lane) type lane is not increased when the lane is controlled, and the rest lane is defined as an HDV special lane;
s5-2, if the permeability threshold point is not reached, adding a PD type lane when controlling the lane;
s6, judging the middle-network-connected automatic driving automobile of the road network, and judging whether the automobile runs in the PD lane or not;
s6-1, if the network-connected automatic driving automobiles all run on the PD lane, the fact that the permeability in the whole road network is lower at the moment is indicated, the personalized travel demands of users are considered according to the liberation principle, and the automatic driving mode of the network-connected automatic driving automobiles on the PD lane is not limited any more;
s6-2, if the network-connected automatic driving automobile runs on the PD lane, the CAV of the PD lane is controlled through an active mode according to a single principle and is uniformly limited to the same automatic driving mode, so that the heterogeneity existing in the road network is reduced;
s7, in order to reduce disturbance of the previous lane change condition of different types of lanes, random lane change among different types of lanes is forbidden according to an independent principle.
S8, carrying out attribute definition and mode control on the lanes again according to different threshold intervals in the threshold interval where the permeability judgment of the network-connected automatic driving automobile in the current road network is located, taking two-lane and four-vehicle road networks as a scheme, for example, as shown in FIG. 2, and specifically comprising the following steps:
s8-1, if the road network is currently a two-car road network, the permeability of the network automatic driving automobile is smaller than 50%, one lane attribute is defined to be changed into a PD lane, the network automatic driving automobile and the HDV are allowed to be mixed, the automatic driving mode of the network automatic driving automobile is not limited, and the other lane attribute is a HDV special lane.
S8-2, if the road network is currently a two-car road network, the permeability of the network automatic driving automobile is greater than or equal to 50%, one lane attribute is specified to be changed into a PD lane, the network automatic driving automobile and the HDV are allowed to mix, the automatic driving mode of the network automatic driving automobile is limited to be a normal mode, and the other lane attribute is changed into a special lane of the network automatic driving automobile, but the automatic driving mode of the network automatic driving automobile is not limited.
S8-3, if the road network is a four-vehicle road network at present, the permeability of the network-connected automatic driving automobile is less than 25%, one lane attribute is specified to be changed into a PD lane, the network-connected automatic driving automobile and the HDV are allowed to be mixed, the automatic driving mode of the network-connected automatic driving automobile is not limited, and the other three lane attributes are HDV special lanes.
S8-4, if the road network is a four-vehicle road network at present, the permeability of the network-connected automatic driving automobile is more than or equal to 25% and less than 50%, one lane attribute is defined to be changed into a PD lane, the network-connected automatic driving automobile and the HDV are allowed to be mixed, the automatic driving mode of the network-connected automatic driving automobile is limited to be a normal mode, one lane attribute is changed into a special lane of the network-connected automatic driving automobile, the automatic driving mode of the network-connected automatic driving automobile is not limited, and the other two lane attributes are the special HDV lanes.
S8-5, if the road network is a four-vehicle road network at present, the permeability of the network-connected automatic driving automobile is more than or equal to 50% and less than 75%, one lane attribute is defined to be changed into a PD lane, the network-connected automatic driving automobile and the HDV are allowed to be mixed, the automatic driving mode of the network-connected automatic driving automobile is limited to be a normal mode, two lane attributes are changed into a special lane of the network-connected automatic driving automobile, the automatic driving mode of the network-connected automatic driving automobile is not limited, and the other lane attribute is the special HDV lane.
S8-6, if the road network is currently a four-vehicle road network, the permeability of the network automatic driving automobile is greater than or equal to 75%, one lane attribute is defined to be changed into a PD lane, the network automatic driving automobile and the HDV are allowed to be mixed, the automatic driving mode of the network automatic driving automobile is limited to be a normal mode, three lanes are changed into a special lane of the network automatic driving automobile, and the automatic driving mode of the network automatic driving automobile is not limited.
The invention combines the traffic control method of the automatic driving mode to mainly utilize V2I (Vehicle-to-information) technology, make the road Infrastructure continuously exchange real-time information with Vehicle, monitor the permeability of CAV in the current road through the intelligent road monitoring facility, send the data information gathered to the traffic management center to judge and make decision of the control strategy. Finally, the practice is applied in current roads, so that different roads have different road properties and limitations. Four roads are divided according to the decision situation of the management and control strategy: HDV dedicated lanes, restricted mode PD lanes, unrestricted mode PD lanes, CAV dedicated lanes. Application of the method of the present invention to a specific lane scenario is shown in fig. 3.
The road network management control of the invention mainly aims at two road network types: firstly, a highway; secondly, national trails.
It can be observed from fig. 4 and 5 that the travel time and average fuel consumption of the traffic stream of the multi-mode CAV mixed with the HDV as a whole is improved for the two lanes after being equipped with the control strategy in combination with the automatic driving mode. Prior to 50% permeability, the vehicle was confined within the PD lane due to CAV. Therefore, as the CAV duty cycle increases, the probability of forming a CAV queue increases, and the benefit of the CAV queue is greater than the negative effect of the heterogeneity of multi-mode CAV and HDV interactions, so that the travel efficiency is gradually improved and the average fuel consumption is gradually reduced. However, after the 50% permeability is reached, the travel time and fuel consumption are increased sharply, because the management and control strategy is one PD lane and one CAV special lane, at this time, the PD lane starts to rush into a small amount of CAV, and the current main stream research considers that the traffic deterioration is caused at the initial stage of the mixed traffic flow injected by the CAV. And then the permeability of 60% is followed by gradually improving the traffic efficiency and the average fuel consumption. However, when the CAV in the road network approaches saturation, the PD lane in the double lanes becomes a CAV special lane according to the setting of the management and control scheme, and the modes are not limited any more, so that the heterogeneity of interaction among the multi-mode CAVs brings certain negative effects on the travelling efficiency and the oil consumption.
Fig. 6 and fig. 7 are graphs comparing traffic efficiency and average fuel consumption of a four-lane implementation control strategy, and it can be obviously observed that the control strategy still has an improved effect on traffic in a four-lane network. Before the CAV permeability reaches the critical threshold point (such as 25%, 50% and 75%) of the control strategy, the CAV permeability gradually optimizes the traffic efficiency and the average fuel consumption along with the increase of the CAV permeability. However, when the permeability reaches the critical threshold point, a new PD lane is introduced and the automatic driving mode is limited according to the requirement of the management and control strategy, and certain disturbance and negative influence are brought to the traffic flow when the new PD lane is injected in the early stage of CAV, so that the travel time and average fuel consumption at the critical threshold point of the permeability can be increased abruptly.
Another embodiment of the present invention also proposes a hybrid traffic management system considering an autopilot multimode characteristic, comprising:
the permeability monitoring module is used for monitoring CAV permeability of the CAV and HDV mixed traffic flow in the current road network in a specific lane scene;
the threshold step calculation module of the CAV permeability is used for setting a threshold step PTS of the CAV permeability according to the total number of lanes n_s in the current road network, wherein PTS=1/n_s;
a CAV dedicated lane number calculation module for acquiring the CAV dedicated lane number n_c set in the control region according to the current CAV permeability value P and the threshold step PTS of CAV permeability, wherein
The PD type lane management and control module is used for carrying out residual calculation on the current CAV permeability value P and the threshold step PTS of the CAV permeability, judging whether the CAV permeability value P reaches the threshold point of the CAV permeability, if so, not adding the PD type lane when managing and controlling the lane, and prescribing that the remaining lane is an HDV special lane; if the threshold value point of the CAV permeability is not reached, increasing the PD type lane when controlling the lane;
the CAV automatic driving mode limiting module is used for judging whether CAV in the current road network only runs in the PD lane or not, and if the CAV runs in the PD lane, the CAV automatic driving mode of the PD lane is not limited any more according to the liberation principle; if the CAV runs on the PD lane, the CAV of the PD lane is controlled through an active mode according to a single principle, and is uniformly limited to be in the same automatic driving mode;
the lane change prohibiting module is used for prohibiting lane types from being changed among different types of lanes according to an independent principle after the lane types are determined;
the lane attribute redefinition and mode control module is used for judging a threshold interval in which the CAV permeability in the current road network is located, and redefining the attribute and controlling the mode of the lane according to different threshold intervals.
The embodiment of the invention also provides electronic equipment, which comprises:
a memory storing at least one instruction;
and a processor executing instructions stored in the memory to implement the hybrid traffic management method that takes into account the autopilot multimode characteristics.
The embodiment of the invention also provides a computer readable storage medium, wherein the computer readable storage medium stores a computer program, and the computer program realizes the hybrid traffic management method considering the automatic driving multi-mode characteristic when being executed by a processor.
The instructions stored in the memory may be partitioned into one or more modules/units, which are stored in a computer-readable storage medium and executed by the processor to perform the hybrid traffic management method of the present invention that takes into account the multimode nature of autopilot. The one or more modules/units may be a series of computer readable instruction segments capable of performing a specified function, which describes the execution of the computer program in a server.
The electronic equipment can be a smart phone, a notebook computer, a palm computer, a cloud server and other computing equipment. The electronic device may include, but is not limited to, a processor, a memory. Those skilled in the art will appreciate that the electronic device may also include more or fewer components, or may combine certain components, or different components, e.g., the electronic device may also include input and output devices, network access devices, buses, etc.
The processor may be a central processing unit (Central Processing Unit, CPU), but may also be other general purpose processors, digital signal processors (Digital Signal Processor, DSP), application specific integrated circuits (Application Specific Integrated Circuit, ASIC), off-the-shelf programmable gate arrays (Field-Programmable Gate Array, FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, or the like. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like.
The memory may be an internal storage unit of the server, such as a hard disk or a memory of the server. The memory may also be an external storage device of the server, 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, which are provided on the server. Further, the memory may also include both an internal storage unit and an external storage device of the server. The memory is used to store the computer readable instructions and other programs and data required by the server. The memory may also be used to temporarily store data that has been output or is to be output.
It should be noted that, because the content of information interaction and execution process between the above module units is based on the same concept as the method embodiment, specific functions and technical effects thereof may be referred to in the method embodiment section, and details thereof are not repeated herein.
It will be apparent to those skilled in the art that, for convenience and brevity of description, only the above-described division of the functional units and modules is illustrated, and in practical application, the above-described functional distribution may be performed by different functional units and modules according to needs, i.e. the internal structure of the apparatus is divided into different functional units or modules to perform all or part of the above-described functions. The functional units and modules in the embodiment 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, where the integrated units may be implemented in a form of hardware or a form of a software functional unit. In addition, specific names of the functional units and modules are only for convenience of distinguishing from each other, and are not used for limiting the protection scope of the present application. The specific working process of the units and modules in the above system may refer to the corresponding process in the foregoing method embodiment, which is not described herein again.
The integrated units, if implemented in the form of software functional units and sold or used as stand-alone products, may be stored in a computer readable storage medium. Based on such understanding, the present application implements all or part of the flow of the method of the above embodiments, and may be implemented by a computer program to instruct related hardware, where the computer program may be stored in a computer readable storage medium, where the computer program, when executed by a processor, may implement the steps of each of the method embodiments described above. Wherein the computer program comprises computer program code which may be in source code form, object code form, executable file or some intermediate form etc. The computer readable medium may include at least: any entity or device capable of carrying computer program code to a photographing device/terminal apparatus, recording medium, computer Memory, read-Only Memory (ROM), random access Memory (RAM, random Access Memory), electrical carrier signals, telecommunications signals, and software distribution media. Such as a U-disk, removable hard disk, magnetic or optical disk, etc.
In the foregoing embodiments, the descriptions of the embodiments are emphasized, and in part, not described or illustrated in any particular embodiment, reference is made to the related descriptions of other embodiments.
The above embodiments are only for illustrating the technical solution of the present application, and are not limiting; although the present application has been described in detail with reference to the foregoing embodiments, it should be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit and scope of the technical solutions of the embodiments of the present application, and are intended to be included in the scope of the present application.
Claims (10)
1. A method of hybrid traffic management that considers autopilot multimode characteristics, comprising:
in a specific lane scene, monitoring CAV permeability of a CAV and HDV mixed traffic flow in a current road network;
according to the total lane number n in the current road network s Setting a threshold step PTS of CAV permeability, wherein
Acquiring the number n of CAV special lanes set in the control area according to the current CAV permeability value P and the threshold step PTS of the CAV permeability c Wherein
The current CAV permeability value P is subjected to surplus calculation on a threshold step PTS of the CAV permeability, whether the CAV permeability value P reaches a threshold point of the CAV permeability is judged, if the CAV permeability value P reaches the threshold point of the CAV permeability, a PD type lane is not increased when a lane is managed and controlled, and the rest lane is defined as an HDV special lane; if the threshold value point of the CAV permeability is not reached, increasing the PD type lane when controlling the lane;
judging whether CAV in the current road network only runs in the PD lane or not, if the CAV runs in the PD lane, according to the liberation principle, not limiting the CAV automatic driving mode of the PD lane; if the CAV runs on the PD lane, the CAV of the PD lane is controlled through an active mode according to a single principle, and is uniformly limited to be in the same automatic driving mode;
after the lane types are determined, lane types are forbidden to be changed among different types of lanes according to independent principles;
judging a threshold interval in which the CAV permeability in the current road network is located, and re-defining the attribute and controlling the mode of the lane according to different threshold intervals.
2. The method for mixed traffic management considering multimode characteristics of autopilot according to claim 1, wherein said specific lane scenario is selected from current expressways or national road networks.
3. The method for managing mixed traffic flow taking into account multi-mode characteristics of automatic driving according to claim 1, wherein when the threshold interval where the CAV permeability in the current road network is determined and the lanes are re-defined and mode-controlled according to the different threshold intervals, if the current CAV permeability is less than 50%, one of the lanes is changed into a PD lane, the CAV and the HDV are allowed to be mixed, the automatic driving mode of the CAV is not limited, and the other lane is a dedicated HDV lane.
4. The method according to claim 1, wherein when determining a threshold interval in which the CAV permeability in the current road network is located and performing attribute definition and mode control on the lanes again according to the different threshold intervals, if the current CAV permeability is greater than or equal to 50%, one of the lane attributes is changed to a PD lane, the CAV and the HDV are allowed to be mixed, the automatic driving mode of the CAV therein is limited to a normal mode, and the other lane attribute is changed to a CAV-specific lane, but the automatic driving mode of the CAV therein is not limited.
5. The method for managing mixed traffic flow taking into account multi-mode characteristics of automatic driving according to claim 1, wherein when the threshold interval where the CAV permeability in the current road network is determined and the lanes are re-defined and mode-controlled according to the different threshold intervals, if the current road network is four-vehicle road network and the CAV permeability is less than 25%, one of the lane attributes is changed into a PD lane, the CAV and the HDV are allowed to be mixed, and the automatic driving mode of the CAV therein is not limited, and the other three lane attributes are HDV-dedicated lanes.
6. The method according to claim 1, wherein when determining the threshold interval in which the CAV permeability in the current road network is located and performing attribute definition and mode control on the lanes again according to the different threshold intervals, if the CAV permeability is greater than or equal to 25% and less than 50% in the current four-lane road network, one of the lane attributes is changed to a PD lane, the CAV and the HDV are allowed to mix, the automatic driving mode of the CAV therein is limited to a normal mode, one of the lane attributes is changed to a CAV-specific lane, and the automatic driving mode of the CAV therein is not limited, and the other two lane attributes are HDV-specific lanes.
7. The method according to claim 1, wherein when determining the threshold interval in which the CAV permeability in the current road network is located and performing attribute definition and mode control on the lanes again according to the different threshold intervals, if the CAV permeability is greater than or equal to 50% and less than 75% in the current four-lane road network, one of the lane attributes is changed to a PD lane, the CAV and the HDV are allowed to mix, the automatic driving mode of the CAV is limited to a normal mode, two of the lane attributes are changed to a CAV lane, and the automatic driving mode of the CAV is not limited, and the other lane attribute is a HDV lane.
8. The method for managing mixed traffic flow taking into account multi-mode characteristics of automatic driving according to claim 1, wherein when the threshold interval in which the CAV permeability in the current road network is determined and the lanes are re-attribute defined and mode controlled according to the different threshold intervals, if the CAV permeability is greater than or equal to 75% in the current four-vehicle road network, one of the lanes is changed to a PD lane, the CAV and the HDV are allowed to mix, the automatic driving mode of the CAV is limited to a normal mode, the other three lanes are changed to a CAV dedicated lane, and the automatic driving mode of the CAV is not limited.
9. The hybrid traffic management method considering the characteristics of the multiple modes of automatic driving according to claim 1, wherein the V2I technology is utilized to enable the road infrastructure to continuously exchange real-time information with the vehicle, the permeability of CAV in the current road is monitored through the intelligent road monitoring facility, and the collected data information is sent to the traffic management center for judging and deciding the management strategy.
10. A hybrid traffic management system that accounts for autopilot multimode characteristics, comprising:
the permeability monitoring module is used for monitoring CAV permeability of the CAV and HDV mixed traffic flow in the current road network in a specific lane scene;
the threshold step calculation module of the CAV permeability is used for calculating the threshold step according to the total number n of lanes in the current road network s Setting a threshold step PTS of CAV permeability, wherein
The CAV special lane number calculation module is used for acquiring the CAV special lane number n set in the control area according to the current CAV permeability value P and the threshold step PTS of the CAV permeability c Wherein
The PD type lane management and control module is used for carrying out residual calculation on the current CAV permeability value P and the threshold step PTS of the CAV permeability, judging whether the CAV permeability value P reaches the threshold point of the CAV permeability, if so, not adding the PD type lane when managing and controlling the lane, and prescribing that the remaining lane is an HDV special lane; if the threshold value point of the CAV permeability is not reached, increasing the PD type lane when controlling the lane;
the CAV automatic driving mode limiting module is used for judging whether CAV in the current road network only runs in the PD lane or not, and if the CAV runs in the PD lane, the CAV automatic driving mode of the PD lane is not limited any more according to the liberation principle; if the CAV runs on the PD lane, the CAV of the PD lane is controlled through an active mode according to a single principle, and is uniformly limited to be in the same automatic driving mode;
the lane change prohibiting module is used for prohibiting lane types from being changed among different types of lanes according to an independent principle after the lane types are determined;
the lane attribute redefinition and mode control module is used for judging a threshold interval in which the CAV permeability in the current road network is located, and redefining the attribute and controlling the mode of the lane according to different threshold intervals.
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