KR20200071406A - Intersection traffic control system of autonomous vehicle and intersection traffic control method using it - Google Patents

Abstract

The present invention relates to an intersection traffic control system of an autonomous vehicle and an intersection traffic control method using the same. The intersection traffic control system of the autonomous vehicle comprises: a monitoring module which collects vehicle information from a large number of autonomous vehicles having stopped at an access road connected to an intersection to enter the intersection; a sequence setting module which sets the entry sequence into the intersection of each of the autonomous vehicles in accordance with the positions of the autonomous vehicles based on the information collected by the monitoring module; a signal information collection module which receives information on a traffic signal from a traffic light arranged on the intersection so as to display traffic signals for allowing or prohibiting vehicles to enter or from entering the intersection; and a starting control module which, when a signal for allowing the vehicles to enter the intersection is displayed by the traffic light based on the information provided by the signal information collection module, transmits the information on the starting time to each of the autonomous vehicles so that the vehicles successively enter the intersection in accordance with the entry sequence. The intersection traffic control system of an autonomous vehicle and the intersection traffic control method using the same can allow autonomous vehicles to start in the sequence of being closer to an intersection.

Description

Intersection traffic control system of autonomous vehicle and intersection traffic control method using it

The present invention relates to an intersection traffic control system of an autonomous vehicle and an intersection traffic control method using the same, and an intersection traffic control system of an autonomous vehicle that can control a vehicle to start an autonomous vehicle in an order close to the intersection and using the same It's about how to control intersection traffic.

An autonomous vehicle is a vehicle equipped with a technology for recognizing lanes and performing automatic steering using a camera or a front object detection sensor. Autonomous driving vehicles measure the lane width, the lateral position of the vehicle on the lane, the distance to both lanes and the shape of the lane, and the curvature radius of the road based on the image processing or front object detection sensing of the camera. The vehicle's driving trajectory is estimated using the location and road information, and the lane is changed according to the estimated driving trajectory.

In addition, an intelligent autonomous vehicle performs appropriate acceleration/deceleration by automatically controlling the throttle valve, brake, and transmission of the vehicle through the position and distance of the preceding vehicle detected by the camera mounted on the front of the vehicle or the front object detection sensor. By doing so, it is possible to maintain a proper distance from the preceding vehicle.

Such an autonomous vehicle (Intelligent Autonomous Vehicle) is an important vehicle control technology in the field of Intelligent Transportation System (ITS) and is currently in commercialization. An autonomous vehicle can be thought of as an extension of the function of the cruise control system. Like the constant speed control system, the steering of the engine is handled by the driver or the throttle valve and brake of the engine controlled by a pedal By automatically operating the actuator by the actuator according to the command of the electronic control unit, the convenience of the driver (driver only operates the steering wheel) and stability (prevention of accident due to driver's carelessness) and the efficiency of road use (the narrowing of the vehicle distance in the city center) Gives

The above-mentioned autonomous vehicle adopts a distance/speed measurement sensor between vehicles to control the vehicle to be driven while maintaining the distance between the preceding vehicle and the vehicle, for example, within 100 meters in a high-speed driving environment such as a highway. You can also do

In addition, an intelligent autonomous vehicle (TJA: Traffic Jam Assist, hereinafter referred to as'TJA') is used to maintain a narrow gap between a preceding vehicle and a vehicle when the vehicle driving speed is slow as in the city center. It can reduce driver's fatigue by interlocking with the system to automatically accelerate and decelerate when traffic is congested. The TJA system may also control the vehicle to be driven while maintaining an appropriate distance to the preceding vehicle, for example, about 50 meters when driving in a city center or a traffic jam.

However, in the case where such an autonomous vehicle passes through an intersection, it stops according to traffic signals such as traffic lights, detects the movement of the preceding vehicle and then departs. Can occur.

Patent Publication No. 10-2018-0115986: Autonomous driving control device and method, and vehicle system

The present invention was devised to improve the above problems, and the intersection traffic control system of the autonomous vehicle providing information about the departure time to each autonomous vehicle so that the autonomous vehicle can start in an order close to the intersection, and The purpose is to provide a traffic control method for an intersection using this.

An intersection traffic control system of an autonomous vehicle according to the present invention for achieving the above object includes a monitoring module for collecting vehicle information from a plurality of autonomous vehicles stopped at an access road connected to the intersection to enter the intersection, and the monitoring module Based on the information collected from the self-driving vehicle according to the location of the order setting module for setting the entry order for the intersection of each autonomous vehicle, and display the traffic signal for the entry or prohibition of entry into the vehicle at the intersection In order to do so, when the signal information collection module receives information about the traffic signal from the traffic lights provided at the intersection and the information provided by the signal information collection module, the vehicle can enter the signal at the traffic lights. It has a departure control module for transmitting information about the departure time to each of the autonomous vehicles to sequentially enter the intersection in accordance with the entry order.

It is preferable that the order setting module sets an entry order for the intersections of the autonomous vehicles to enter the intersection first as it gets closer to the intersection.

The sequencing module is based on the road storage unit that stores road information for a node indicating a point at which the link property is changed, a link that linearly indicates the intersection and an access road, and the road information. And an order determining unit for setting an entry order for the intersections of the autonomous vehicles in an order close to a node.

It is preferable that the departure control module sets the departure time of the autonomous vehicles at a predetermined time interval according to an entry order for the intersection of the autonomous vehicles.

여기서, ST는 상기 자율주행 차량의 출발시간이고, BST는 기설정된 기본시간이고, N은 상기 자율주행 차량의 상기 교차로에 대한 진입순서이고, α는 기설정된 튜닝변수 값이며, 상기 신호등에서 차량의 진입 가능 신호가 표시되면 산출된 상기 차량주행 차량의 출발시간에 대한 정보를 해당 자율주행 차량으로 전송한다. The departure control module calculates the departure time of each autonomous vehicle by substituting the following equation for the order of entry into the intersection of the autonomous vehicle,

Here, ST is the departure time of the autonomous vehicle, BST is a preset basic time, N is an entry order for the intersection of the autonomous vehicle, α is a preset tuning variable value, and the vehicle When the entry possibility signal is displayed, the calculated information on the departure time of the vehicle driving vehicle is transmitted to the corresponding autonomous vehicle.

여기서, ST는 상기 자율주행 차량의 출발시간이고, N은 상기 자율주행 차량의 상기 교차로에 대한 진입순서이고, β는 기설정된 튜닝변수 값이며, 상기 신호등에서 차량의 진입 가능 신호가 표시되면 산출된 상기 자율주행 차량의 출발시간에 대한 정보를 해당 자율주행 차량으로 전송할 수도 있다. The departure control module calculates the departure time of each autonomous vehicle by substituting the following equation for the order of entry into the intersection of the autonomous vehicle,

Here, ST is the departure time of the autonomous vehicle, N is the entry order for the intersection of the autonomous vehicle, β is a preset tuning variable value, and is calculated when the vehicle's entry signal is displayed at the traffic light. Information about the departure time of the autonomous vehicle may be transmitted to the autonomous vehicle.

It is preferable that the autonomous driving vehicle departs after the departure time received by the departure control module has elapsed from the time when the signal for entering the vehicle is displayed at the traffic light.

On the other hand, the intersection traffic control method according to the present invention includes a monitoring step of collecting vehicle information from a plurality of autonomous vehicles stopped at the intersection of the intersection to enter the intersection, and the autonomous driving based on the information collected in the monitoring step. The order setting step of setting the entry order for the intersection of each autonomous vehicle according to the position of the vehicle, and from the traffic light provided at the intersection to display a traffic signal for the entry or prohibition of entry of the vehicle at the intersection The autonomous driving vehicles sequentially turn to the intersection according to the order of entry, when the signal information receiving step of receiving information on the traffic signal and the signal for entering the vehicle from the traffic light are displayed based on the information received in the signal information receiving step. It includes a departure control step for transmitting information about the departure time to each of the autonomous vehicles to enter the.

In the order setting step, it is preferable to set an entry order for the intersections of the autonomous vehicles to enter the intersection first as vehicles move closer or closer to the intersection crossing each other.

In the order setting step, the intersection of the autonomous vehicles in the order close to the node based on the road information on the link indicating the intersection and the node indicating the point where the property of the link is changed. Set the entry order for.

여기서, ST는 상기 자율주행 차량의 출발시간이고, BST는 기설정된 기본시간이고, N은 상기 자율주행 차량의 상기 교차로에 대한 진입순서이고, α는 기설정된 튜닝변수 값이며, 상기 신호등에서 차량의 진입 가능 신호가 표시되면 산출된 상기 차량주행 차량의 출발시간에 대한 정보를 해당 자율주행 차량으로 전송한다. In the departure control step, the departure time of each autonomous vehicle is calculated by substituting the following equation for the order of entry into the intersection of the autonomous vehicle,

Here, ST is the departure time of the autonomous vehicle, BST is a preset basic time, N is an entry order for the intersection of the autonomous vehicle, α is a preset tuning variable value, and the vehicle When the entry possibility signal is displayed, the calculated information on the departure time of the vehicle driving vehicle is transmitted to the corresponding autonomous vehicle.

여기서, ST는 상기 자율주행 차량의 출발시간이고, N은 상기 자율주행 차량의 상기 교차로에 대한 진입순서이고, β는 기설정된 튜닝변수 값이며, 상기 신호등에서 차량의 진입 가능 신호가 표시되면 산출된 상기 자율주행 차량의 출발시간에 대한 정보를 해당 자율주행 차량으로 전송할 수도 있다. In the departure control step, the departure time of each autonomous vehicle is calculated by substituting the following order for the entry of the autonomous vehicle into the intersection.

Here, ST is the departure time of the autonomous vehicle, N is the entry order for the intersection of the autonomous vehicle, β is a preset tuning variable value, and is calculated when the vehicle's entry signal is displayed at the traffic light. Information about the departure time of the autonomous vehicle may be transmitted to the autonomous vehicle.

The intersection traffic control system of the autonomous vehicle according to the present invention and the intersection traffic control method using the same provide information on the departure time to each autonomous vehicle so that the autonomous vehicle can start in an order close to the intersection, so traffic at the intersection The flow is smoother, and the contaminants emitted from the vehicle are reduced by the congestion resolution, so there is an advantage that it is possible to environmentally control the traffic condition of the intersection.

1 is a conceptual diagram for an intersection traffic control system of an autonomous vehicle according to the present invention,
2 is a block diagram of an intersection traffic control system for an autonomous vehicle according to the present invention,
3 is a flowchart for a method for controlling an intersection traffic according to the present invention.

Hereinafter, an intersection traffic control system of an autonomous vehicle according to an embodiment of the present invention and an intersection traffic control method using the same will be described in detail with reference to the accompanying drawings. The present invention can be applied to various changes and may have various forms, and specific embodiments will be illustrated in the drawings and described in detail in the text. However, this is not intended to limit the present invention to a specific disclosure form, and it should be understood as including all modifications, equivalents, and substitutes included in the spirit and scope of the present invention. In describing each drawing, similar reference numerals are used for similar components. In the accompanying drawings, the dimensions of the structures are shown to be enlarged than the actual for clarity of the present invention.

Terms such as first and second may be used to describe various components, but the components should not be limited by the terms. The terms are used only for the purpose of distinguishing one component from other components. For example, the first component may be referred to as a second component without departing from the scope of the present invention, and similarly, the second component may be referred to as a first component.

Terms used in the present application are only used to describe specific embodiments, and are not intended to limit the present invention. Singular expressions include plural expressions unless the context clearly indicates otherwise. In this application, terms such as “include” or “have” are intended to indicate the presence of features, numbers, steps, actions, elements, parts or combinations thereof described in the specification, but one or more other features. It should be understood that the existence or addition possibilities of fields or numbers, steps, actions, components, parts or combinations thereof are not excluded in advance.

Unless otherwise defined, all terms used herein, including technical or scientific terms, have the same meaning as commonly understood by a person skilled in the art to which the present invention pertains. Terms, such as those defined in a commonly used dictionary, should be interpreted as having meanings consistent with meanings in the context of related technologies, and should not be interpreted as ideal or excessively formal meanings unless explicitly defined in the present application. Does not.

1 and 2 show an intersection traffic control system of an autonomous vehicle according to the present invention.

Referring to the drawings, the intersection traffic control system of the autonomous vehicle collects vehicle information from a plurality of autonomous vehicles 15 that have stopped at the driveway 11 of the intersection 10 to enter the intersection 10. Based on the information collected from the monitoring module 110 and the monitoring module 110, an entry order for the intersection 10 of each autonomous vehicle 15 is set according to the positions of the autonomous vehicles 15 The order setting module 120 and signal information for receiving information on the traffic signal from the traffic lights provided at the intersection 10 to display a traffic signal for a vehicle to enter or prohibit entry into the intersection 10 Based on the information provided by the collection module 130 and the signal information collection module 130, the autonomous driving vehicles 15 may enter the intersection 10 according to the entry order when the vehicle traffic signal is displayed at the traffic light. It is provided with a departure control module 140 for transmitting information about the departure time to each of the self-driving vehicle (15) to be sequentially entered into.

Here, in the intersection 10, a plurality of ramps 11 are connected in order for a plurality of vehicles to enter the intersection 10, and a plurality of ramps 12 for vehicles passing through the intersection 10 to advance. Is connected.

In addition, the autonomous driving vehicle 15 is a vehicle equipped with a technology for recognizing lanes and performing automatic steering using a camera or a front object detection sensor, which can transmit vehicle information for driving or receive traffic information from the outside. So that a communication module (not shown) is provided. Here, the communication module is for performing V2X (Vehicle-to-Everything) communication, and performs communication on a WLAN or cellular basis. Meanwhile, the autonomous vehicle 15 may further include a GPS receiving module capable of receiving GPS signals from satellites and generating location information of the vehicle.

The monitoring module 110 communicates with the autonomous vehicle 15 stopped in the driveway 11 in order to enter the intersection 10 so as to receive vehicle information of each autonomous vehicle 15 (not shown) City). Here, the vehicle information of the autonomous vehicle 15 includes information on the identification ID, location, and direction of travel at the intersection 10 of the autonomous vehicle 15.

The monitoring module 110 collects vehicle information by communicating with the autonomous vehicle 15 that has stopped on the driveway 11 within a predetermined unit distance range based on the intersection 10. At this time, the monitoring module 110 may be installed in the autonomous vehicle 15 stopped in the driveway 11 or installed in an infrastructure facility installed in the intersection 10.

The order setting module 120 among the autonomous vehicles 15 stopped in the driveway 11 is the intersection of the autonomous vehicles 15 to enter the intersection 10 from the vehicle closest to the intersection 10 first. Set the entry order for (10). At this time, the order setting module 120 includes a road storage unit 121 and a sequence determination unit 122 for setting the entry order based on the information of the road storage unit 121.

The road storage unit 121 stores road information for a link that linearly indicates the corresponding intersection 10 and the access road 11 and a node indicating a point at which the property of the link is changed. Here, the end of the link, the branch point, and the like are applied to the node. In addition, the road information includes the identification ID of the link and the identification ID of the node.

The order determination unit 122 is based on the vehicle information of the autonomous vehicles 15 stopped on the access road 11 provided from the monitoring module 110 and the road information stored in the road storage unit 121 in the order close to the node. The entry order for the intersection 10 of the autonomous vehicles 15 is set. That is, the entry order of the autonomous vehicle 15 stopped at the position closest to the node is set to the first priority, and the entry order of the vehicle following the first priority autonomous vehicle 15 is set to the second priority.

The signal information collecting module 130 is provided with a communication means to communicate with traffic lights installed on the access road 11 of the intersection 10 and receives information on traffic signals from the traffic lights. Here, the traffic light is a traffic signal for entry or prohibition of entry to vehicles intending to enter the intersection 10 through the access road 11, and thus detailed description thereof will be omitted. The signal information collection module 130 collects information on the traffic signal indicated by the traffic light, that is, the time of the change of the traffic signal, the type of traffic signal currently displayed, and transmits it to the departure control module 140. Here, the signal information collection module 130 may be installed in the autonomous vehicle 15 stopped in the driveway 11 or installed in an infrastructure facility installed in the intersection 10.

The departure control module 140 sets the departure time of the autonomous vehicles 15 at a predetermined time interval according to the entry sequence of the autonomous vehicle 15 to the intersection 10, and sets the departure The time is transmitted to the corresponding autonomous vehicle 15. Here, the departure control module may be installed in the autonomous vehicle 15 stopped at the access road 11 or installed in an infrastructure facility installed at the intersection 10.

On the other hand, when the departure control module 140 is installed in the infrastructure facility provided at the intersection 10, the departure control module 140 is described below in order to enter the intersection 10 of the autonomous vehicle 15 Substituting in Equation 1, the departure time of each autonomous vehicle 15 is calculated.

Here, ST is a departure time of the autonomous vehicle 15, BST is a preset basic time, N is an entry order for the intersection 10 of the autonomous vehicle 15, and α is a preset tuning. It is a variable value. The basic time is 1 second to 3 seconds, and the tuning variable value is preferably applied to 2 seconds to 4 seconds.

The departure control module 140 transmits information on the departure time of the vehicle driving vehicle calculated to the corresponding autonomous vehicle 15 when the signal to enter the vehicle is displayed at a traffic light, and the autonomous vehicle 15 is After the departure time received from the departure control module 140 has elapsed from the time when the signal to enter the vehicle is displayed at the traffic light, the vehicle starts.

In addition, when the departure control module 140 is installed in each autonomous vehicle 15, the entry order for the intersection 10 of the autonomous vehicle 15 is substituted into Equation 2 below to enter each autonomous vehicle. The departure time of the driving vehicle 15 is calculated.

Here, ST is a departure time of the autonomous vehicle 15, N is an entry order for the intersection 10 of the autonomous vehicle 15, and β is a preset tuning variable value. The basic time is 1 second to 3 seconds, and the tuning variable value is preferably applied to 2 seconds to 4 seconds.

The departure control module 140 transmits information on the departure time of the vehicle driving vehicle calculated to the corresponding autonomous vehicle 15 when the signal to enter the vehicle is displayed at a traffic light, and the autonomous vehicle 15 is After the departure time received from the departure control module 140 has elapsed from the time when the signal to enter the vehicle is displayed at the traffic light, the vehicle starts.

Meanwhile, FIG. 3 is a flowchart illustrating a method for controlling an intersection traffic using an intersection traffic control system of an autonomous vehicle according to the present invention.

Referring to the drawings, the intersection traffic control method includes a monitoring step (S101), a sequence setting step (S102), signal information receiving step (S103) and departure control step (S104).

The monitoring step (S101) is a step of collecting vehicle information from a plurality of autonomous vehicles 15 that have stopped at the driveway 11 of the intersection 10 to enter the intersection 10. The monitoring module 110 installed on the autonomous vehicle 15 or the infrastructure facility provided at the intersection 10 includes an autonomous vehicle 15 stopped on the driveway 11 within a predetermined unit distance range based on the intersection 10. Conduct communication to collect vehicle information.

The order setting step (S102) is a step of setting an entry order for the intersection 10 of each autonomous vehicle according to the positions of the autonomous vehicles 15 based on the information collected in the monitoring step S101. . Here, the order determination unit 122 of the order setting module 120, the vehicle to switch the direction of travel or the closer to the intersection 10 crossing each other, the autonomous vehicle 15 to enter the intersection 10 first In order to set the entry order for the intersection 10, the vehicle information of the autonomous vehicles 15 stopped on the entryway 11 provided from the monitoring module 110 and the road information stored in the road storage unit 121 are set. Based on this, the order of entry to the intersection 10 of the autonomous vehicles 15 is set in the order close to the node.

Signal information receiving step (S103) is a step of receiving information about the traffic signal from the traffic light provided at the intersection 10 to display a traffic signal for the entry or prohibition of entry of the vehicle to the intersection 10. Here, the signal information collection module 130 collects information on the traffic signal indicated by the traffic light, that is, the time of change of the traffic signal, the type of traffic signal currently displayed, and transmits it to the departure control module 140.

Departure control step is based on the information received in the signal information receiving step (S103), when the signal that the vehicle can enter at the traffic light is displayed, the autonomous driving vehicles (15) sequentially to the intersection (10) according to the entry order It is a step of transmitting information on the departure time to each of the autonomous vehicles 15 to enter. Here, the departure control module 140 sets the departure time of the autonomous vehicles 15 at a predetermined time interval according to the order of entry into the intersection 10 of the autonomous vehicles 15, and is set The departure time is transmitted to the corresponding autonomous vehicle 15.

At this time, when the departure control module 140 is installed in the infrastructure facility installed at the intersection 10 as described above, the departure time is calculated using Equation 1, and when installed in the autonomous vehicle 15, the math Calculate the departure time using Equation 2. The departure control module 140 transmits information on the departure time of the vehicle driving vehicle calculated to the corresponding autonomous vehicle 15 when the signal to enter the vehicle is displayed at a traffic light, and the autonomous vehicle 15 is After the departure time received from the departure control module 140 has elapsed from the time when the signal to enter the vehicle is displayed at the traffic light, the vehicle starts.

The intersection traffic control system of the autonomous vehicle according to the present invention configured as described above and the intersection traffic control method using the same provide information about the departure time to each autonomous vehicle so that the autonomous vehicle can start in an order close to the intersection. Therefore, the traffic flow at the intersection is smoother, and contaminants emitted from the vehicle are reduced due to congestion resolution, so that the traffic conditions at the intersection can be environmentally controlled.

The description of the presented embodiments is provided to enable any person of ordinary skill in the art to use or practice the present invention. Various modifications to these embodiments will be apparent to those skilled in the art of the present invention, and the general principles defined herein can be applied to other embodiments without departing from the scope of the present invention. Thus, the present invention should not be limited to the embodiments presented herein, but should be interpreted in the broadest scope consistent with the principles and novel features presented herein.

100: traffic control system
110: monitoring module
120: order setting module
121: road storage
122: order determining unit
130: signal information collection module
140: departure control module

Claims (12)

A monitoring module that collects vehicle information from a plurality of autonomous vehicles stopped at an access road connected to the intersection to enter an intersection;
An order setting module for setting an entry order for the intersection of each autonomous vehicle according to the location of the autonomous vehicle based on the information collected from the monitoring module;
A signal information collection module that receives information on the traffic signal from traffic lights provided at the intersection to display a traffic signal for entry or prohibition of entry of vehicles at the intersection; And
Based on the information provided by the signal information collection module, when the signal to enable entry of the vehicle from the traffic light is displayed, the autonomous vehicles are sequentially entered into the intersections according to the entry order, with respect to the departure time for each autonomous vehicle. Equipped with; departure control module for transmitting information,
Intersection traffic control system for autonomous vehicles.
According to claim 1,
The order setting module sets the order of entry for the intersection of the autonomous vehicles to enter the intersection first as it gets closer to the intersection.
Intersection traffic control system for autonomous vehicles.
According to claim 2,
The order setting module
A road storage unit in which road information for a link indicating the intersection and the access road is linear and a node indicating a point at which the property of the link is changed; And
Having an order determining unit for setting the entry order for the intersection of the autonomous vehicles in the order close to the node based on the road information;
Intersection traffic control system for autonomous vehicles.
According to claim 1,
The departure control module sets the departure time of the autonomous vehicles at a predetermined time interval according to the order of entry of the autonomous vehicles into the intersection,
Intersection traffic control system for autonomous vehicles.
According to claim 1,
The departure control module
Substituting the entry sequence for the intersection of the autonomous vehicle into the following equation to calculate the departure time of each autonomous vehicle,

Here, ST is the departure time of the autonomous vehicle, BST is a preset basic time, N is an entry order for the intersection of the autonomous vehicle, and α is a preset tuning variable value,
When the signal to enter the vehicle is displayed at the traffic light, the calculated information on the departure time of the vehicle driving vehicle is transmitted to the corresponding autonomous vehicle.
Intersection traffic control system for autonomous vehicles.
According to claim 1,
The departure control module
Substituting the entry sequence for the intersection of the autonomous vehicle into the following equation to calculate the departure time of each autonomous vehicle,

Here, ST is the departure time of the autonomous vehicle, N is the entry order for the intersection of the autonomous vehicle, β is a preset tuning variable value,
When the signal to enter the vehicle is displayed on the traffic light, the calculated information on the departure time of the autonomous vehicle is transmitted to the autonomous vehicle.
Intersection traffic control system for autonomous vehicles.
The method of claim 5 or 6,
The autonomous driving vehicle departs after elapsed by the departure time received by the departure control module from the time when the signal for entry of the vehicle is displayed at the traffic light,
Intersection traffic control system for autonomous vehicles.
A monitoring step of collecting vehicle information from a plurality of autonomous vehicles stopped at the intersection of the intersection to enter the intersection;
An order setting step of setting an entry order for the intersection of each autonomous vehicle according to the positions of the autonomous vehicles based on the information collected in the monitoring step;
A signal information receiving step of receiving information on the traffic signal from the traffic lights provided at the intersection to display a traffic signal for entry or prohibition of entry of the vehicle at the intersection; And
On the basis of the information received in the signal information receiving step, when the signal to enable entry of the vehicle from the traffic light is displayed, the autonomous vehicles are sequentially entered into the intersections according to the entry order, for the departure time for each autonomous vehicle. Starting control step of transmitting the information; including,
Intersection traffic control method.
The method of claim 8,
In the order setting step, an order of entry for the intersections of the autonomous vehicles is set such that vehicles move first or enter the intersection first as they get closer to the intersection that crosses each other.
Intersection traffic control method.
The method of claim 9,
In the order setting step, the intersection of the autonomous vehicles in the order close to the node based on the road information on the link indicating the intersection and the node indicating the point where the property of the link is changed. To set the order of entry for,
Intersection traffic control method.
The method of claim 8,
In the departure control step, the departure time of each autonomous vehicle is calculated by substituting the following equation for the order of entry into the intersection of the autonomous vehicle,

Here, ST is the departure time of the autonomous vehicle, BST is a preset basic time, N is an entry order for the intersection of the autonomous vehicle, and α is a preset tuning variable value,
When the signal to enter the vehicle is displayed at the traffic light, the calculated information on the departure time of the vehicle driving vehicle is transmitted to the corresponding autonomous vehicle.
Intersection traffic control method.
The method of claim 8,
In the departure control step, the departure time of each autonomous vehicle is calculated by substituting the following order for the entry of the autonomous vehicle into the intersection.

Here, ST is the departure time of the autonomous vehicle, N is the entry order for the intersection of the autonomous vehicle, β is a preset tuning variable value,
When the signal to enter the vehicle is displayed on the traffic light, the calculated information on the departure time of the autonomous vehicle is transmitted to the autonomous vehicle.
Intersection traffic control method.

Images