CN116605247A - Automatic driving vehicle ramp confluence control method and device, electronic equipment and medium - Google Patents

Automatic driving vehicle ramp confluence control method and device, electronic equipment and medium Download PDF

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Publication number
CN116605247A
CN116605247A CN202310425865.1A CN202310425865A CN116605247A CN 116605247 A CN116605247 A CN 116605247A CN 202310425865 A CN202310425865 A CN 202310425865A CN 116605247 A CN116605247 A CN 116605247A
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China
Prior art keywords
vehicle
ramp
junction
speed
point
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CN202310425865.1A
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Inventor
赵欣
刘中源
酆磊
刘宝珍
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Wuhan University of Technology WUT
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Wuhan University of Technology WUT
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Priority to CN202310425865.1A priority Critical patent/CN116605247A/en
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W60/00—Drive control systems specially adapted for autonomous road vehicles
    • B60W60/001—Planning or execution of driving tasks
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
    • B60W40/10—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to vehicle motion
    • B60W40/105—Speed
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2520/00—Input parameters relating to overall vehicle dynamics
    • B60W2520/10—Longitudinal speed
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2720/00—Output or target parameters relating to overall vehicle dynamics
    • B60W2720/10—Longitudinal speed

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  • Engineering & Computer Science (AREA)
  • Automation & Control Theory (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Physics & Mathematics (AREA)
  • Mathematical Physics (AREA)
  • Human Computer Interaction (AREA)
  • Control Of Driving Devices And Active Controlling Of Vehicle (AREA)

Abstract

The invention relates to a ramp confluence control method, a ramp confluence control device, electronic equipment and a ramp confluence control medium for an automatic driving vehicle, wherein the ramp confluence control method comprises the following steps: judging whether the vehicle passes through the junction point at the current moment according to the distance and the speed between the vehicle and the junction point at the previous moment and the time step, and determining the junction speed at the current moment according to the initial junction speed and the speed of the vehicle reaching the junction point at the highest moment under the condition that the vehicles on the main line lane and the ramp at the current moment do not reach the junction point of the ramp in the control area; under the condition that the current moment of the main line lane and the part of the vehicle on the ramp reach the ramp junction point in the control area, the speed of the vehicle which does not reach the ramp junction point and the distance between the vehicle and the ramp junction point are determined according to the speed of the vehicle which reaches the ramp junction point at the highest moment according to the junction speed at the current moment. The invention determines the speed of the vehicle based on the dynamically varying merging speed.

Description

Automatic driving vehicle ramp confluence control method and device, electronic equipment and medium
Technical Field
The invention relates to the technical field of intelligent traffic vehicle motion control, in particular to an automatic driving vehicle ramp confluence control method, an automatic driving vehicle ramp confluence control device, electronic equipment and medium.
Background
The ramp converging region is always a region with low traffic efficiency and high delay, and in the traditional manual driving vehicle system, the position, speed, acceleration and the like of each vehicle cannot be shared in real time due to the fact that the vehicles cannot communicate in real time, so that traffic bottlenecks are generated in the converging region.
With the rapid development of the Internet, the Internet-connected automatic driving vehicle (Connected Autonomous Vehicle, CAV) is a new-generation automobile which is provided with advanced devices such as a vehicle-mounted sensor, a controller and an actuator, integrates modern communication and network technology, realizes intelligent information exchange and sharing among vehicles, people, vehicles, roads, cloud and the like, has the functions of complex environment perception, intelligent decision, cooperative control and the like, and can finally replace people to operate. The CAV provides a new scene for solving the ramp converging, namely, the converging problem becomes relatively simple by ignoring human uncontrollable factors under the state of information intercommunication of each vehicle.
In the prior art, the research on ramp confluence control in a networked environment mainly comprises ramp speed limit control and single vehicle path planning, wherein the ramp speed limit control only controls the vehicle speed in a confluence area, and the single vehicle path planning realizes ramp limitation by controlling the track of the vehicle, so that a method for controlling the running speed of the vehicle and the distance between the vehicle and a confluence point by dynamically controlling the confluence speed and further controlling the confluence speed is lacked in the prior art.
Disclosure of Invention
In view of the foregoing, it is desirable to provide a method, an apparatus, an electronic device, and a medium for controlling a ramp joining of an autonomous vehicle, for the purpose of controlling the speed of the vehicle according to a dynamically varying joining speed.
In order to achieve the above object, the present invention provides a ramp merging control method for an automatic driving vehicle, comprising:
setting a point at the intersection of the central line along the main line lane and the central line along the ramp as a ramp junction point, setting detection lines on the main line lane and the ramp, and taking the detection lines and the ramp junction point as a control area;
judging whether the main line lane and the vehicles on the ramp pass through the ramp junction at the current moment according to the distance and the speed of the junction between the main line lane and the vehicles on the ramp and the ramp at the previous moment and the time step;
under the condition that vehicles on a main line lane and a ramp at the current moment do not reach a ramp junction point, acquiring an initial junction speed, and determining the junction speed at the current moment according to the initial junction speed and the speed of the vehicle reaching the junction point at the highest speed at the last moment;
under the condition that the current moment that the main line lane and the vehicle part on the ramp reach the ramp junction point is determined, determining the junction speed at the current moment according to the speed of the vehicle which reaches the ramp junction point at the highest speed at the last moment;
Determining the shortest time for the vehicle which does not reach the ramp junction to reach the ramp junction based on the junction speed at the current moment;
and determining the running speed of the vehicle which does not reach the ramp junction at the current moment and the distance between the vehicle and the ramp junction according to the shortest time, and sending the running speed to the corresponding vehicle so as to control the corresponding vehicle to run according to the running speed.
In some possible implementations, the vehicles on the main line lane and the ramp satisfy the following conditions:
the speed of the vehicle on the main line lane is not greater than a preset main line limit;
the speed of the vehicle on the ramp is not greater than the preset ramp speed limit;
the acceleration of the vehicles on the main line lane and the ramp is not more than a preset acceleration;
the deceleration of the vehicle on the main line lane and the ramp is not less than a preset deceleration.
In some possible implementations, the determining, according to the shortest time, the running speed of the vehicle that does not reach the ramp junction at the current moment and the distance between the running speed and the ramp junction include:
the vehicle acquisition system randomly selects a first vehicle and a second vehicle which are adjacent to each other on a main road, the vehicle acquisition system randomly selects a third vehicle and a fourth vehicle which are adjacent to each other on a ramp, the first vehicle is arranged to reach a ramp junction before the second vehicle, and the third vehicle is arranged to reach the ramp junction before the fourth vehicle;
Acquiring the confluence speed at the current moment;
determining the time when the first vehicle, the second vehicle, the third vehicle and the fourth vehicle reach the ramp junction at the fastest speed according to the current moment junction speed;
mapping the third vehicle and the fourth vehicle onto the main line lane by taking the central line of the main line lane as a virtual shaft to obtain a virtual third vehicle and a virtual fourth vehicle;
and determining the distances between the first vehicle, the second vehicle, the virtual third vehicle and the virtual fourth vehicle and the ramp junction according to the time of reaching the ramp junction at the fastest speed.
In some possible implementations, the determining the distances between the first vehicle, the second vehicle, the virtual third vehicle, and the virtual fourth vehicle and the ramp junction according to the time when the first vehicle reaches the ramp junction at the fastest speed is smaller than the time when the third vehicle reaches the ramp junction at the fastest speed, and the time sequence of the first vehicle, the second vehicle, the virtual third vehicle, and the virtual fourth vehicle reaching the ramp junction includes:
The first vehicle, the second vehicle, the third vehicle, and the fourth vehicle, or the first vehicle, the third vehicle, the second vehicle, and the fourth vehicle, or the first vehicle, the third vehicle, the fourth vehicle, and the second vehicle.
In some possible implementations, the determining the distances between the first vehicle, the second vehicle, the virtual third vehicle, and the virtual fourth vehicle and the ramp junction according to the time when the first vehicle reaches the ramp junction at the fastest speed is greater than the time when the third vehicle reaches the ramp junction at the fastest speed, and the time sequence of the first vehicle, the second vehicle, the virtual third vehicle, and the virtual fourth vehicle reaching the ramp junction includes:
the third vehicle, the fourth vehicle, the first vehicle, and the second vehicle, or the third vehicle, the first vehicle, the fourth vehicle, and the second vehicle, or the third vehicle, the first vehicle, the second vehicle, and the fourth vehicle.
In some possible implementations, when the first vehicle, the second vehicle, the virtual third vehicle, and the virtual fourth vehicle reach the ramp junction in chronological order, the distances from the first vehicle, the second vehicle, the third vehicle, and the fourth vehicle to the ramp junction respectively satisfy the following conditions:
the distance between the second vehicle and the ramp junction is as follows:
the distance between the third vehicle and the ramp junction is as follows:
the distance between the fourth vehicle and the ramp junction is as follows:
in the method, in the process of the invention,x i+1 representing the distance from the second vehicle to the ramp current point at the moment k; x is x j Representing the distance from the third vehicle to the ramp current point at the moment k; x is x j+1 The distance from the fourth vehicle to the ramp current point at the moment k is represented; l (L) 0 Representing a safe distance between vehicles; x is x 0 Representing the additional required reaction distance when vehicles on the ramp are converged; sigma (sigma) i＝a l i Representing the length of the vehicle a; sigma (sigma) i＝a，b l i Representing a sum of lengths of the second vehicle and the first vehicle; sigma (sigma) i＝a，b，c l i Representing a sum of the first, second, and third vehicle lengths; Indicating pass->The distance between the second vehicle and the ramp junction is time; />Indicating pass->The distance between the third vehicle and the ramp junction is time; />Indicating pass->And the distance between the fourth vehicle and the ramp junction is time.
In some possible implementations, under the condition that it is determined that the vehicles on the main lane and the ramp at the current moment do not reach the ramp junction point, an initial junction speed is obtained, and according to the initial junction speed and the speed of the vehicle reaching the junction point at the last moment at the highest speed, the junction speed at the current moment is determined, where a calculation formula of the junction speed at the current moment is as follows:
V a (t k )＝(1-α(t k ))V a (t 0 )+α(t k )V p (t k-1 )t 0 ≤t k ≤t 1
wherein V is a (t k ) The confluence speed at the time k is shown; v (V) a (t 0 ) Representing an initial confluence speed; v (V) p (t k-1 ) The speed of the ramp current point which is the fastest at the moment k-1 is represented; alpha (t) k ) Representing the virtual queuing parameter(s),wherein->Vehicle which is from s time to k time and reaches the ramp current point at the highest speed, wherein Deltat represents time step and l 0 Representing the safety distance of the vehicle after the main line lane and the ramp are converged; t is t 0 Representing an initial time; t is t 1 And representing the moment of the vehicle which finally passes through the ramp junction.
On the other hand, the invention also provides a ramp confluence control device of the automatic driving vehicle, which comprises the following steps:
The control area acquisition unit is used for setting a point at the intersection of the central line along the main line lane and the central line along the ramp as a ramp junction point, setting detection lines on the main line lane and the ramp, and taking the detection lines and the ramp junction point as a control area;
the vehicle is up to the junction point judging unit, is used for judging whether the vehicle passes the junction point of the ramp on the main line lane and the ramp at the present moment according to the distance and speed of the junction point of the vehicle and the ramp on the main line lane and the ramp at the previous moment and the time step;
the vehicle does not reach the junction point and the junction speed obtaining unit is used for obtaining the initial junction speed under the condition that the vehicles on the main line lane and the ramp at the current moment do not reach the junction point of the ramp, and determining the junction speed at the current moment according to the initial junction speed and the speed of the vehicle reaching the junction point at the highest moment;
the vehicle part reaches a junction and confluence speed acquisition unit is used for determining the confluence speed at the current moment according to the speed of the vehicle which reaches the junction at the ramp at the highest moment under the condition that the current moment the main line lane and the vehicle part on the ramp reach the junction of the ramp;
The shortest time obtaining unit reaching the junction point is used for determining the shortest time for the vehicle which does not reach the junction point of the ramp to reach the junction point of the ramp based on the junction speed at the current moment;
and the vehicle information control unit is used for determining the running speed of the vehicle which does not reach the ramp junction at the current moment and the distance between the vehicle and the ramp junction according to the shortest time, and sending the running speed to the corresponding vehicle so as to control the corresponding vehicle to run according to the running speed.
In another aspect, the invention also provides an electronic device comprising a memory and a processor, wherein,
the memory is used for storing programs;
the processor is coupled to the memory, and is configured to execute the program stored in the memory, so as to implement a step in the ramp merge control method for an autonomous vehicle in any one of the foregoing implementations.
In another aspect, the present invention further provides a computer readable storage medium, configured to store a computer readable program or instructions, where the program or instructions, when executed by a processor, implement the steps in a ramp merge control method for an autonomous vehicle according to any one of the above implementations.
The beneficial effects of adopting the embodiment are as follows: the invention provides an automatic driving vehicle ramp converging control method, which comprises the steps of firstly setting a point at the intersection of a central line along a main line lane and a central line along a ramp as a ramp converging point, setting detection lines on the main line lane and the ramp, taking the detection lines and the ramp converging point as control areas, judging whether a vehicle passes through the converging point at the current moment according to the distance and the speed of the vehicle at the last moment and the time step, determining the converging speed at the current moment according to the initial converging speed and the speed of the vehicle at the last moment when all the vehicles do not reach the converging point, determining the converging speed at the current moment according to the speed of the vehicle at the last moment when part of the vehicles reach the converging point, finally obtaining the shortest time when the vehicle which does not reach the ramp converging point reaches the ramp converging point according to the converging speed, determining the running speed of the vehicle and the distance between the vehicle and the ramp converging point according to the shortest time, and transmitting the running speed to the corresponding vehicle to the vehicle, and controlling the running of the vehicle. The invention determines the speed of the vehicle and the distance between the vehicle and the ramp junction according to the dynamically-changed junction speed.
Drawings
FIG. 1 is a flow chart of an embodiment of a method for controlling ramp confluence of an autonomous vehicle according to the present application;
FIG. 2 is a lane type schematic;
FIG. 3 is a schematic structural diagram of an embodiment of a ramp merge control device for an autonomous vehicle according to the present application;
fig. 4 is a schematic structural diagram of an embodiment of an electronic device according to the present application.
Detailed Description
The following detailed description of preferred embodiments of the application is made in connection with the accompanying drawings, which form a part hereof, and together with the description of the embodiments of the application, are used to explain the principles of the application and are not intended to limit the scope of the application.
Fig. 1 is a schematic flow chart of an embodiment of a ramp merging control method for an automatic driving vehicle, as shown in fig. 1, and the ramp merging control method for an automatic driving vehicle includes:
s101, setting a point at the intersection of a central line along a main line lane and a central line along a ramp as a ramp junction point, setting detection lines on the main line lane and the ramp, and taking the detection lines and the ramp junction point as a control area;
s102, judging whether the main line lane and the vehicles on the ramp pass through the ramp junction at the current moment according to the distance and the speed between the main line lane and the vehicles on the ramp and the ramp junction at the previous moment and the time step;
S103, under the condition that the vehicles on the main line lane and the ramp at the current moment do not reach the ramp junction point, acquiring an initial junction speed, and determining the junction speed at the current moment according to the initial junction speed and the speed of the vehicle reaching the junction point at the highest moment;
s104, under the condition that the current moment that the main line lane and the vehicle part on the ramp reach the ramp junction point is determined, determining the junction speed at the current moment according to the speed of the vehicle which reaches the ramp junction point at the highest speed at the last moment;
s105, determining the shortest time for the vehicle which does not reach the ramp junction to reach the ramp junction based on the junction speed at the current moment;
s106, determining the running speed of the vehicle which does not reach the ramp junction at the current moment and the distance between the vehicle and the ramp junction according to the shortest time, and sending the running speed to the corresponding vehicle so as to control the corresponding vehicle to run according to the running speed.
Compared with the prior art, the method for controlling the ramp confluence of the automatic driving vehicle is characterized in that a point at which a central line along a main line lane and a central line along a ramp meet is set as a ramp confluence point, detection lines are arranged on the main line lane and the ramp, the detection lines and the ramp confluence point are used as control areas, whether the vehicle at the current moment passes through the confluence point is judged according to the distance and the speed of the vehicle at the last moment and the time step, when all the vehicles do not reach the confluence point, the confluence speed at the current moment is determined according to the initial confluence speed and the speed of the vehicle at the last moment and the speed of the vehicle at the ramp confluence point is determined according to the speed of the current moment and the speed of the vehicle at the ramp confluence point, and the running speed of the vehicle is sent to the corresponding vehicle according to the shortest time and the distance between the vehicle and the ramp confluence point, and the running speed of the vehicle is controlled. The invention determines the speed of the vehicle and the distance between the vehicle and the ramp junction according to the dynamically-changed junction speed.
The vehicles in the invention are all networked automatic driving vehicles, the controller can receive the driving information of each vehicle in real time and feed back the information to each vehicle after processing, the main line traffic flow and the ramp traffic flow are both medium density, and the arrival of the vehicles is random. Fig. 2 shows a schematic view of lane types.
For further explanation of the technical content of the present invention, the following steps may also be understood:
step one: in the set control area, initial t 0 At the moment, presetting a confluence speed, namely the initial confluence speed, taking deltat as a time step, and initializing t 0 Determining the shortest time for the vehicles on the main line lane and the ramp to reach the ramp junction according to the initial junction speed at the moment;
step two: controlling the running speed of the main line lane and the ramp and the distance between the main line lane and the ramp junction according to the shortest time for the vehicle to reach the ramp junction;
step three: at the next moment, t 0 From time to t 0 At +Deltat, determine t 0 From time to t 0 The method comprises the following steps that (1) a main line lane and a vehicle on a ramp between +delta t moments pass through the ramp junction, the vehicle passing through the ramp junction is not in control of the running speed and the distance from the ramp junction, and the vehicle not passing through the ramp junction enters the step four:
Step four: according to the current time t 0 And (3) determining the speed of the confluence point at the moment +delta t again, namely determining the time when the vehicle which does not reach the ramp confluence point reaches the confluence point at the highest speed, further controlling the speed of the vehicle which does not reach the ramp confluence point and the distance between the vehicle which does not reach the ramp confluence point and the ramp confluence point, namely repeating the logic of the step I, the logic of the step II and the logic of the step III until all the vehicles which do not reach the ramp confluence point.
In some embodiments of the invention, the vehicles on the main line lane and the ramp satisfy the following condition:
the speed of the vehicle on the main line lane is not greater than a preset main line limit;
the speed of the vehicle on the ramp is not greater than the preset ramp speed limit;
the acceleration of the vehicles on the main line lane and the ramp is not more than a preset acceleration;
the deceleration of the vehicle on the main line lane and the ramp is not less than a preset deceleration.
In some embodiments of the present invention, the determining, according to the shortest time, the running speed of the vehicle that does not reach the ramp junction at the current time and the distance between the running speed and the ramp junction includes:
the vehicle acquisition system randomly selects a first vehicle and a second vehicle which are adjacent to each other on a main road, the vehicle acquisition system randomly selects a third vehicle and a fourth vehicle which are adjacent to each other on a ramp, the first vehicle is arranged to reach a ramp junction before the second vehicle, and the third vehicle is arranged to reach the ramp junction before the fourth vehicle;
Acquiring the confluence speed at the current moment;
determining the time when the first vehicle, the second vehicle, the third vehicle and the fourth vehicle reach the ramp junction at the fastest speed according to the current moment junction speed;
mapping the third vehicle and the fourth vehicle onto the main line lane by taking the central line of the main line lane as a virtual shaft to obtain a virtual third vehicle and a virtual fourth vehicle;
and determining the distances between the first vehicle, the second vehicle, the virtual third vehicle and the virtual fourth vehicle and the ramp junction according to the time of reaching the ramp junction at the fastest speed.
It should be noted that the speed of the vehicle and the distance between the vehicle and the ramp junction are controlled by the speed of the ramp junction. In the specific embodiment of the inventionThe vehicle acquisition system randomly selects adjacent first vehicles and second vehicles on a main road, the vehicle acquisition system randomly selects adjacent third vehicles and fourth vehicles on a ramp, the first vehicles reach a ramp junction before the second vehicles, and the third vehicles reach the junction before the fourth vehicles. The confluence speed at the current moment is V a (t k ) The time expressions for the first vehicle, the second vehicle, the third vehicle and the fourth vehicle to reach the junction point at the fastest speed are respectively:
at this time, to prevent the overtaking behavior of the vehicle, the following constraints are added:
V mi ≤V M ，V m(i+1) ≤V M ，V rj ≤V R ，V r(j+1) ≤V R
in the method, in the process of the invention,representing the time when the first vehicle reaches the ramp current point at the fastest speed; />Representing the time when the second vehicle reaches the ramp current point at the fastest speed; />The time that the third vehicle reaches the ramp current point fastest is represented; />The time of the fourth vehicle reaching the ramp current point at the fastest speed is represented; v (V) M Representing a maximum speed of travel of the vehicle on the main line lane; v (V) R Representing the maximum speed of the vehicle running on the ramp; v (V) mi Representing a first vehicle initial speed; v (V) m(i+1) Representing a second vehicle initial speed; v (V) rj Representing a second vehicle initial speed; v (V) r(j+1) Representing a fourth vehicle initial speed; x is x i Representing the distance from the first vehicle to the ramp current point at the current moment; x is x i+1 Representing the distance from the second vehicle to the ramp current point at the current moment; x is x j Representing the distance from the third vehicle to the ramp current point at the current moment; x is x j+1 Representing the distance from the fourth vehicle to the ramp current point at the current moment; a represents the maximum acceleration of the traffic lane of the main line and the ramp, and the traffic of the flower girl vehicle.
When the first vehicle reaches the ramp junction at the fastest speed, the ramp vehicles are mapped to the central line of the main line lane according to the running time, and the vehicles are arranged according to the sequence of reaching the ramp junction, and the following three conditions exist. In some embodiments of the present invention, the determining the distances between the first vehicle, the second vehicle, the virtual third vehicle, and the virtual fourth vehicle and the ramp junction according to the time when the first vehicle reaches the ramp junction at the fastest speed is smaller than the time when the third vehicle reaches the ramp junction at the fastest speed, and the time sequence of the first vehicle, the second vehicle, the virtual third vehicle, and the virtual fourth vehicle reaching the ramp junction includes:
The first vehicle, the second vehicle, the third vehicle, and the fourth vehicle, or the first vehicle, the third vehicle, the second vehicle, and the fourth vehicle, or the first vehicle, the third vehicle, the fourth vehicle, and the second vehicle.
When the third vehicle reaches the ramp junction at the fastest speed, the ramp vehicles are mapped to the central line of the main line lane according to the running time, and the vehicles are arranged according to the sequence of reaching the ramp junction, and the following three conditions exist. In some embodiments of the present invention, the determining the distances between the first vehicle, the second vehicle, the virtual third vehicle, and the virtual fourth vehicle and the ramp junction according to the time when the first vehicle reaches the ramp junction at the fastest speed is greater than the time when the third vehicle reaches the ramp junction at the fastest speed, and the time sequence of the first vehicle, the second vehicle, the virtual third vehicle, and the virtual fourth vehicle reaching the ramp junction includes:
the third vehicle, the fourth vehicle, the first vehicle, and the second vehicle, or the third vehicle, the first vehicle, the fourth vehicle, and the second vehicle, or the third vehicle, the first vehicle, the second vehicle, and the fourth vehicle.
In some embodiments of the present invention, in the first case, when the first vehicle, the second vehicle, the virtual third vehicle, and the virtual fourth vehicle reach the ramp junction in chronological order, the distances from the second vehicle, the third vehicle, and the fourth vehicle to the ramp junction respectively satisfy the following conditions:
the distance between the second vehicle and the ramp junction is as follows:
the distance between the third vehicle and the ramp junction is as follows:
the distance between the fourth vehicle and the ramp junction is as follows:
wherein x is i+1 Representing the distance from the second vehicle to the ramp current point at the moment k; x is x j Representing the distance from the third vehicle to the ramp current point at the moment k; x is x j+1 The distance from the fourth vehicle to the ramp current point at the moment k is represented; l (L) 0 Representing a safe distance between vehicles; x is x 0 Representing the additional required reaction distance when vehicles on the ramp are converged; sigma (sigma) i＝a l i Representing the length of the vehicle a; sigma (sigma) i＝a，b l i Representing a sum of lengths of the second vehicle and the first vehicle; sigma (sigma) i＝a，b，c l i Representing a sum of the first, second, and third vehicle lengths;indicating pass->The distance between the second vehicle and the ramp junction is time; />Indicating pass->The distance between the third vehicle and the ramp junction is time; />Indicating pass->And the distance between the fourth vehicle and the ramp junction is time.
In a second case, when the time sequence of the first vehicle, the second vehicle, the virtual third vehicle and the virtual fourth vehicle reaching the ramp junction is that the first vehicle, the third vehicle, the second vehicle and the fourth vehicle, the distances between the second vehicle, the third vehicle and the fourth vehicle and the ramp junction respectively satisfy the following conditions:
the distance between the third vehicle and the ramp junction is as follows:
the distance between the second vehicle and the ramp junction is as follows:
the distance between the fourth vehicle and the ramp junction is as follows:
in a third case, when the time sequence of the first vehicle, the second vehicle, the virtual third vehicle and the virtual fourth vehicle reaching the ramp junction is that the first vehicle, the third vehicle, the fourth vehicle and the second vehicle, the distances between the second vehicle, the third vehicle and the fourth vehicle and the ramp junction respectively satisfy the following conditions:
The distance between the third vehicle and the ramp junction is as follows:
the distance between the fourth vehicle and the ramp junction is as follows:
the distance between the second vehicle and the ramp junction is as follows:
in a fourth aspect of the specific embodiment of the present invention, when the time sequence of the first vehicle, the second vehicle, the virtual third vehicle, and the virtual fourth vehicle reaching the ramp junction is the third vehicle, the fourth vehicle, the first vehicle, and the second vehicle, the distances between the second vehicle, the first vehicle, and the fourth vehicle and the ramp junction satisfy the following conditions:
the distance between the fourth vehicle and the ramp junction is as follows:
the distance between the first vehicle and the ramp junction is as follows:
the distance between the second vehicle and the ramp junction is as follows:
in a fifth aspect of the specific embodiment of the present invention, when the time sequence of the first vehicle, the second vehicle, the virtual third vehicle, and the virtual fourth vehicle reaching the ramp junction is the time sequence of the third vehicle, the first vehicle, the fourth vehicle, and the second vehicle, the distances between the second vehicle, the first vehicle, and the fourth vehicle and the ramp junction satisfy the following conditions:
The distance between the first vehicle and the ramp junction is as follows:
the distance between the fourth vehicle and the ramp junction is as follows:
the distance between the second vehicle and the ramp junction is as follows:
in a sixth aspect of the specific embodiment of the present invention, when the time sequence of the first vehicle, the second vehicle, the virtual third vehicle, and the virtual fourth vehicle reaching the ramp junction is the third vehicle, the first vehicle, the second vehicle, and the fourth vehicle, the distances between the second vehicle, the first vehicle, and the fourth vehicle and the ramp junction satisfy the following conditions:
the distance between the first vehicle and the ramp junction is as follows:
the distance between the second vehicle and the ramp junction is as follows:
the distance between the fourth vehicle and the ramp junction is as follows:
in some embodiments of the present invention, whether the vehicles on the main line lane and the ramp pass through the ramp junction at the current time is determined according to the distance and the speed of the vehicle on the main line lane and the ramp junction at the previous time and the time step, and when it is determined that the vehicles on the main line lane and the ramp at the current time do not reach the ramp junction, the initial junction speed is obtained, and the junction speed at the current time is determined according to the initial junction speed and the speed of the vehicle which reaches the junction at the highest time, wherein the junction speed at the current time is calculated according to the calculation formula:
V a (t k )＝(1-α(t k ))V a (t 0 )+α(t k )V p (t k-1 )t 0 ≤t k ≤t 1
Wherein V is a (t k ) The confluence speed at the time k is shown; v (V) a (t 0 ) Representing an initial confluence speed; v (V) p (t k-1 ) The speed of the ramp current point which is the fastest at the moment k-1 is represented; alpha (t) k ) Representing the virtual queuing parameter(s),wherein->Vehicle which is from s time to k time and reaches the ramp current point at the highest speed, wherein Deltat represents time step and l 0 Representing the safety distance of the vehicle after the main line lane and the ramp are converged; t is t 0 Representing the initialTime; t is t 1 And representing the moment of the vehicle which finally passes through the ramp junction.
In a specific embodiment of the present invention, whether the current time of the main line lane and the vehicle on the ramp pass through the ramp junction is determined according to the distance and the speed of the vehicle on the main line lane and the ramp junction at the previous time, and when the current time of the main line lane and the ramp is determined that the vehicle part reaches the ramp junction, the current time of the confluence speed is determined according to the speed of the vehicle which reaches the ramp junction at the highest time, wherein the current time of the confluence speed is calculated according to the calculation formula:
V a (t k )＝V p (t k-1 ),t 1 ≤t k ≤t 2
wherein V is a (t k ) The confluence speed at the time k is shown; t is t 1 Representing the moment of the vehicle passing through the ramp junction at last; v (V) p (t k-1 ) And the speed of the ramp current point which is the fastest at the moment k-1 is represented.
In order to better implement the ramp merging control method for an automatic driving vehicle according to the embodiment of the present invention, correspondingly, as shown in fig. 3, on the basis of the ramp merging control method for an automatic driving vehicle, the embodiment of the present invention further provides an ramp merging control device for an automatic driving vehicle, where an ramp merging control device 300 for an automatic driving vehicle includes:
a control area acquisition unit 301, configured to set a point at which a center line along a main line lane and a center line along a ramp meet as a ramp junction point, set detection lines on the main line lane and the ramp, and set the detection lines and the ramp junction point as a control area;
a vehicle reaching a junction point judging unit 302, configured to judge whether a vehicle on a main line lane and a ramp passes through a junction point of the ramp at a current moment according to a distance and a speed between the vehicle and the junction point of the ramp at the previous moment and a time step;
a vehicle non-reaching junction and junction speed obtaining unit 303, configured to obtain an initial junction speed when it is determined that the vehicles on the main lane and the ramp at the current moment do not reach the junction of the ramp, and determine the junction speed at the current moment according to the initial junction speed and the speed of the vehicle that reaches the junction at the highest moment;
A vehicle part reaching a junction and converging speed obtaining unit 304, configured to determine, when determining that the main line lane and the vehicle part on the ramp reach the junction of the ramp at the current moment, a converging speed at the current moment according to a speed of a vehicle reaching the junction of the ramp at the fastest moment;
a shortest time to approach a junction acquisition unit 305, configured to determine, based on the junction speed at the current time, a shortest time for the vehicle that does not reach a junction to reach the junction;
and the vehicle information control unit 306 is configured to determine, according to the shortest time, a running speed of the vehicle that does not reach the ramp junction at the current time and a distance between the vehicle and the ramp junction, and send the running speed to a corresponding vehicle, so as to control the corresponding vehicle to run at the running speed.
The technical solution described in the foregoing embodiment of the ramp merging control method for an automatic driving vehicle can be implemented by the ramp merging control device 300 for an automatic driving vehicle according to the foregoing embodiment, and the specific implementation principle of each module or unit can be referred to the corresponding content in the foregoing embodiment of the ramp merging control method for an automatic driving vehicle, which is not described herein again.
As shown in fig. 4, the present invention further provides an electronic device 400 accordingly. The electronic device 400 comprises a processor 401, a memory 402 and a display 403. Fig. 4 shows only some of the components of the electronic device 400, but it should be understood that not all of the illustrated components are required to be implemented and that more or fewer components may be implemented instead.
The processor 401 may in some embodiments be a central processing unit (Central Processing Unit, CPU), microprocessor or other data processing chip for executing program code or processing data stored in the memory 402, such as an autonomous vehicle ramp merge control method of the present invention.
In some embodiments, the processor 401 may be a single server or a group of servers. The server farm may be centralized or distributed. In some embodiments, the processor 401 may be local or remote. In some embodiments, the processor 401 may be implemented in a cloud platform. In an embodiment, the cloud platform may include a private cloud, a public cloud, a hybrid cloud, a community cloud, a distributed cloud, an inter-internal, multiple clouds, or the like, or any combination thereof.
The memory 402 may be an internal storage unit of the electronic device 400 in some embodiments, such as a hard disk or memory of the electronic device 400. The memory 402 may also be an external storage device of the electronic device 400 in other embodiments, 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 electronic device 400.
Further, the memory 403 may also include both internal storage units and external storage devices of the electronic device 400. The memory 402 is used for storing application software and various types of data for installing the electronic device 400.
The display 403 may be an LED display, a liquid crystal display, a touch-sensitive liquid crystal display, an OLED (Organic Light-Emitting Diode) touch, or the like in some embodiments. The display 403 is used for displaying information at the electronic device 400 and for displaying a visual user interface. The components 401-403 of the electronic device 400 communicate with each other via a system bus.
In one embodiment, when the processor 401 executes an autonomous vehicle ramp merge control program in the memory 402, the following steps may be implemented:
setting a point at the intersection of the central line along the main line lane and the central line along the ramp as a ramp junction point, setting detection lines on the main line lane and the ramp, and taking the detection lines and the ramp junction point as a control area;
judging whether the main line lane and the vehicles on the ramp pass through the ramp junction at the current moment according to the distance and the speed of the junction between the main line lane and the vehicles on the ramp and the ramp at the previous moment and the time step;
Under the condition that vehicles on a main line lane and a ramp at the current moment do not reach a ramp junction point, acquiring an initial junction speed, and determining the junction speed at the current moment according to the initial junction speed and the speed of the vehicle reaching the junction point at the highest speed at the last moment;
under the condition that the current moment that the main line lane and the vehicle part on the ramp reach the ramp junction point is determined, determining the junction speed at the current moment according to the speed of the vehicle which reaches the ramp junction point at the highest speed at the last moment;
determining the shortest time for the vehicle which does not reach the ramp junction to reach the ramp junction based on the junction speed at the current moment;
and determining the running speed of the vehicle which does not reach the ramp junction at the current moment and the distance between the vehicle and the ramp junction according to the shortest time, and sending the running speed to the corresponding vehicle so as to control the corresponding vehicle to run according to the running speed.
It should be understood that: the processor 401 may also perform other functions in addition to the above functions when executing an autonomous vehicle ramp merge control routine in the memory 402, see in particular the description of the corresponding method embodiments above.
Further, the type of the electronic device 400 is not particularly limited, and the electronic device 400 may be a mobile phone, a tablet computer, a personal digital assistant (personal digitalassistant, PDA), a wearable device, a laptop (laptop), or other portable electronic devices. Exemplary embodiments of portable electronic devices include, but are not limited to, portable electronic devices that carry IOS, android, microsoft or other operating systems. The portable electronic device described above may also be other portable electronic devices, such as a laptop computer (laptop) or the like having a touch-sensitive surface, e.g. a touch panel. It should also be appreciated that in other embodiments of the invention, electronic device 400 may not be a portable electronic device, but rather a desktop computer having a touch-sensitive surface (e.g., a touch panel).
Those skilled in the art will appreciate that all or part of the flow of the methods of the embodiments described above may be accomplished by way of a computer program to instruct associated hardware, where the program may be stored on a computer readable storage medium. Wherein the computer readable storage medium is a magnetic disk, an optical disk, a read-only memory or a random access memory, etc.
The present invention is not limited to the above-mentioned embodiments, and any changes or substitutions that can be easily understood by those skilled in the art within the technical scope of the present invention are intended to be included in the scope of the present invention.

Claims (10)

1. An automatic driving vehicle ramp confluence control method is characterized by comprising the following steps:
setting a point at the intersection of the central line along the main line lane and the central line along the ramp as a ramp junction point, setting detection lines on the main line lane and the ramp, and taking the detection lines and the ramp junction point as a control area;
judging whether the main line lane and the vehicles on the ramp pass through the ramp junction at the current moment according to the distance and the speed of the junction between the main line lane and the vehicles on the ramp and the ramp at the previous moment and the time step;
under the condition that vehicles on a main line lane and a ramp at the current moment do not reach a ramp junction point, acquiring an initial junction speed, and determining the junction speed at the current moment according to the initial junction speed and the speed of the vehicle reaching the junction point at the highest speed at the last moment;
under the condition that the current moment that the main line lane and the vehicle part on the ramp reach the ramp junction point is determined, determining the junction speed at the current moment according to the speed of the vehicle which reaches the ramp junction point at the highest speed at the last moment;
Determining the shortest time for the vehicle which does not reach the ramp junction to reach the ramp junction based on the junction speed at the current moment;
and determining the running speed of the vehicle which does not reach the ramp junction at the current moment and the distance between the vehicle and the ramp junction according to the shortest time, and sending the running speed to the corresponding vehicle so as to control the corresponding vehicle to run according to the running speed.
2. The automated driving vehicle ramp merge control method as defined in claim 1, wherein the vehicles on the main line lane and the ramp satisfy the following conditions:
the speed of the vehicle on the main line lane is not greater than a preset main line limit;
the speed of the vehicle on the ramp is not greater than the preset ramp speed limit;
the acceleration of the vehicles on the main line lane and the ramp is not more than a preset acceleration;
the deceleration of the vehicle on the main line lane and the ramp is not less than a preset deceleration.
3. The method for controlling a ramp merge of an autonomous vehicle according to claim 1, wherein said determining a traveling speed of the vehicle not reaching a ramp merge point at the present time and a distance from the ramp merge point according to the shortest time includes:
The vehicle acquisition system randomly selects a first vehicle and a second vehicle which are adjacent to each other on a main road, the vehicle acquisition system randomly selects a third vehicle and a fourth vehicle which are adjacent to each other on a ramp, the first vehicle is arranged to reach a ramp junction before the second vehicle, and the third vehicle is arranged to reach the ramp junction before the fourth vehicle;
acquiring the confluence speed at the current moment;
determining the time when the first vehicle, the second vehicle, the third vehicle and the fourth vehicle reach the ramp junction at the fastest speed according to the current moment junction speed;
mapping the third vehicle and the fourth vehicle onto the main line lane by taking the central line of the main line lane as a virtual shaft to obtain a virtual third vehicle and a virtual fourth vehicle;
and determining the distances between the first vehicle, the second vehicle, the virtual third vehicle and the virtual fourth vehicle and the ramp junction according to the time of reaching the ramp junction at the fastest speed.
4. The method for controlling a ramp merge of an autonomous vehicle according to claim 3, wherein determining the distances between the first vehicle, the second vehicle, the virtual third vehicle, and the virtual fourth vehicle and the ramp merge point according to the time when the first vehicle reaches the ramp merge point at the fastest speed is smaller than the time when the third vehicle reaches the ramp merge point at the fastest speed, and the time sequence of the first vehicle, the second vehicle, the virtual third vehicle, and the virtual fourth vehicle reach the ramp merge point includes:
The first vehicle, the second vehicle, the third vehicle, and the fourth vehicle, or the first vehicle, the third vehicle, the second vehicle, and the fourth vehicle, or the first vehicle, the third vehicle, the fourth vehicle, and the second vehicle.
5. The method for controlling a ramp merge of an autonomous vehicle according to claim 3, wherein determining the distances between the first vehicle, the second vehicle, the virtual third vehicle, and the virtual fourth vehicle and the ramp merge point according to the time when the first vehicle reaches the ramp merge point at the fastest speed is greater than the time when the third vehicle reaches the ramp merge point at the fastest speed, and the time sequence of the first vehicle, the second vehicle, the virtual third vehicle, and the virtual fourth vehicle reach the ramp merge point includes:
the third vehicle, the fourth vehicle, the first vehicle, and the second vehicle, or the third vehicle, the first vehicle, the fourth vehicle, and the second vehicle, or the third vehicle, the first vehicle, the second vehicle, and the fourth vehicle.
6. The method according to claim 4, wherein when the first vehicle, the second vehicle, the virtual third vehicle, and the virtual fourth vehicle reach the ramp junction in chronological order, the distances from the first vehicle, the second vehicle, the third vehicle, and the fourth vehicle, respectively, to the ramp junction satisfy the following conditions:
the distance between the second vehicle and the ramp junction is as follows:
the distance between the third vehicle and the ramp junction is as follows:
the distance between the fourth vehicle and the ramp junction is as follows:
in the method, in the process of the invention,representing the distance from the second vehicle to the ramp current point at the moment k; />Representing the distance from the third vehicle to the ramp current point at the moment k; />The distance from the fourth vehicle to the ramp current point at the moment k is represented; />Representing a safe distance between vehicles; />Representing the additional required reaction distance when vehicles on the ramp are converged; />Representing the length of the vehicle a; />Representing a sum of lengths of the second vehicle and the first vehicle; / >Representing a sum of the first, second, and third vehicle lengths;indicating pass->The distance between the second vehicle and the ramp junction is time;indicating pass->The distance between the third vehicle and the ramp junction is time;indicating pass->And the distance between the fourth vehicle and the ramp junction is time.
7. The method for controlling the ramp confluence of an automatic driving vehicle according to claim 1, wherein the initial confluence speed is obtained when it is determined that the vehicles on the main line lane and the ramp at the current moment do not reach the ramp confluence point, and the confluence speed at the current moment is determined according to the initial confluence speed and the speed of the vehicle which reaches the confluence point at the highest moment, and the calculation formula of the confluence speed at the current moment is as follows:
V a (t k )＝(1-α(t k ))V a (t 0 )+α(t k )V p (t k-1 )t 0 ≤t k ≤t 1
wherein V is a (t k ) The confluence speed at the time k is shown; v (V) a (t 0 ) Representing an initial confluence speed; v (V) p (t k-1 ) The speed of the ramp current point which is the fastest at the moment k-1 is represented; alpha (t) k ) Representing the virtual queuing parameter(s),wherein the method comprises the steps ofVehicle which is from s time to k time and reaches the ramp current point at the highest speed, wherein Deltat represents time step and l 0 Representing the safety distance of the vehicle after the main line lane and the ramp are converged; t is t 0 Representing an initial time; t is t 1 And representing the moment of the vehicle which finally passes through the ramp junction.
8. An automated driving vehicle ramp merge control device, comprising:
the control area acquisition unit is used for setting a point at the intersection of the central line along the main line lane and the central line along the ramp as a ramp junction point, setting detection lines on the main line lane and the ramp, and taking the detection lines and the ramp junction point as a control area;
the vehicle is up to the junction point judging unit, is used for judging whether the vehicle passes the junction point of the ramp on the main line lane and the ramp at the present moment according to the distance and speed of the junction point of the vehicle and the ramp on the main line lane and the ramp at the previous moment and the time step;
the vehicle does not reach the junction point and the junction speed obtaining unit is used for obtaining the initial junction speed under the condition that the vehicles on the main line lane and the ramp at the current moment do not reach the junction point of the ramp, and determining the junction speed at the current moment according to the initial junction speed and the speed of the vehicle reaching the junction point at the highest moment;
the vehicle part reaches a junction and confluence speed acquisition unit is used for determining the confluence speed at the current moment according to the speed of the vehicle which reaches the junction at the ramp at the highest moment under the condition that the current moment the main line lane and the vehicle part on the ramp reach the junction of the ramp;
The shortest time obtaining unit reaching the junction point is used for determining the shortest time for the vehicle which does not reach the junction point of the ramp to reach the junction point of the ramp based on the junction speed at the current moment;
and the vehicle information control unit is used for determining the running speed of the vehicle which does not reach the ramp junction at the current moment and the distance between the vehicle and the ramp junction according to the shortest time, and sending the running speed to the corresponding vehicle so as to control the corresponding vehicle to run according to the running speed.
9. An electronic device comprising a memory and a processor, wherein,
the memory is used for storing programs;
the processor, coupled to the memory, is configured to execute the program stored in the memory to implement the steps in the autonomous vehicle ramp merge control method as recited in any one of the preceding claims 1-7.
10. A computer-readable storage medium storing a computer-readable program or instructions that, when executed by a processor, is capable of implementing the steps in an autonomous vehicle ramp merge control method as claimed in any one of the preceding claims 1 to 7.
CN202310425865.1A 2023-04-19 2023-04-19 Automatic driving vehicle ramp confluence control method and device, electronic equipment and medium Pending CN116605247A (en)

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CN202310425865.1A CN116605247A (en) 2023-04-19 2023-04-19 Automatic driving vehicle ramp confluence control method and device, electronic equipment and medium

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CN202310425865.1A CN116605247A (en) 2023-04-19 2023-04-19 Automatic driving vehicle ramp confluence control method and device, electronic equipment and medium

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