Pan-vehicle-road collaboration method and system based on roadside perception and visual guidance

Abstract

The present invention relates to a pan-vehicle-road collaboration method and system based on roadside perception and visual guidance, and relates to the field of intelligent transportation technology. The method includes: a roadside holographic perception device obtains the current position data information and current speed information of the target vehicle; the current position data information and current speed information are imported into a constructed vehicle formation driving model, and a dynamic vehicle distance parameter database to obtain the ideal speed information; based on the ideal speed information and current speed information of the target vehicle, visual guidance information is sent to the target vehicle to guide the target vehicle to adjust the speed to the ideal speed. The above-mentioned use of the acquired vehicle current speed, position, distance and other information, with the formation driving model as the core control logic, guides the vehicle to travel in an orderly manner by transmitting optical information, realizes the refinement of key channel scenes and the adaptive controllable characteristics, and improves the stability and safety of road traffic.

Description

Technical Field

[0001] The present invention relates to the field of intelligent transportation technology, and in particular to a pan-vehicle-road collaboration method and system based on roadside perception and visual guidance. Background Art

[0002] In modern highway scenarios, key traffic channels need to be finely controlled through the three steps of "perception-judgment-control". In the entire control closed loop, the shortcomings often lie in the control step: traditional traffic information release mainly relies on variable information boards, which has been proven to have the disadvantages of "newcomers can't understand and veterans can't read", and there is a certain delay in information transmission, which makes it difficult to ensure the timeliness of the above information transmission; similarly, FM traffic radio is also difficult to meet the requirements of timeliness and personalization of information release;

[0003] As a new type of traffic guidance medium, traditional vehicle-road cooperative communication has the advantages of low latency and targeted release, but it requires the user's vehicle to pre-install the client. Before the vehicle-road cooperative service becomes attractive enough to users, it is not realistic to assume that all users on the road can receive control information. Due to the lack of effective and accurate means of reaching users, the situation of "sensing but not controlling, controlling but not reaching" is everywhere in reality.

[0004] In the face of the above-mentioned control challenges, the current main idea is to introduce or improve the existing user contact media and improve the control closed loop. Among them, the visual guidance system composed of active light-emitting studs or lamps has attracted attention due to its high information transmission rate (close to the speed of light). In recent years, the industry has begun to explore the practice of integrating traffic guidance information into the flashing mode of lights.

[0005] However, the current visual guidance system uses the current speed limit of the road section to transmit information to the vehicle to recommend the speed, making it unable to become a technical solution for refined control of key scenarios. Therefore, the control granularity and adaptability of the current visual guidance system are far from meeting the requirements of refined control of highways. Summary of the invention

[0006] Based on this, it is necessary to provide a pan-vehicle-road collaborative method and system based on roadside perception and visual guidance to address the problems of insufficient control refinement and insufficient adaptability of the current visual guidance system.

[0007] A pan-vehicle-road collaboration method based on roadside perception and visual guidance mainly uses light color and flashing rhythm to guide the driving behavior of all vehicles. The guidance method is hereinafter referred to as the PACC (Pacemaking Adaptive Cruise Control) system. Its control method includes:

[0008] Obtain the current location data and speed information of the target vehicle;

[0009] Importing the current position data information and the current vehicle speed information into the constructed vehicle formation driving model to obtain the ideal vehicle speed information;

[0010] Based on the ideal vehicle speed information and the current vehicle speed information of the target vehicle, visual guidance information is sent to the target vehicle to guide the target vehicle to adjust the vehicle speed to the ideal vehicle speed.

[0011] In one preferred embodiment, the step of importing the current position data information and vehicle speed information into the constructed vehicle platoon driving model to obtain the ideal vehicle speed information includes:

[0012] Get the distance information between the target vehicle and the vehicle in front of the target vehicle ;

[0013] Get the preset safety distance of the current road section , and based on the vehicle distance information And preset safety distance , get the ideal distance difference of the target vehicle ,

[0014] Based on the ideal distance difference , obtain the ideal speed information of the target vehicle .

[0015] In one preferred embodiment, the ideal distance difference satisfy:

[0016]

[0017] Said is the current speed of the target vehicle, is the preset headway time.

[0018] In one preferred embodiment, the distance information between the target vehicle and the vehicle ahead of the target vehicle is obtained. , by obtaining the current position of the target vehicle , and obtain the position information of the vehicle in front of the target vehicle , the vehicle distance information satisfy:

[0019]

[0020] In one preferred embodiment, the preset safety distance The way to obtain is:

[0021] Based on the current speed information of the target vehicle, the preset safety distance is obtained from the dynamic vehicle distance parameter database .

[0022] In one preferred embodiment, the ideal speed information of the target vehicle satisfy:

[0023]

[0024] Said is the speed of the target vehicle during the last sensing cycle of the sensing device, is the maximum speed limit of the road section where the target vehicle is located, and They are the calibrated PD filter parameters respectively.

[0025] In one preferred embodiment, the sending of visual guidance information to the target vehicle based on the ideal speed information and the current speed information of the target vehicle to guide the target vehicle to adjust the speed to the ideal speed includes:

[0026] Visual guidance information is sent to the target vehicle by means of a guide light or a variable luminous sign arranged on the road, wherein the visual guidance information includes changing the light color and / or changing the light flashing frequency.

[0027] In one preferred embodiment, when the visual guidance information includes changing the light flashing frequency, the light flashing frequency satisfy:

[0028]

[0029] In one preferred embodiment, when the visual guidance information includes changing the light color, sending the visual guidance information to the target vehicle based on the ideal speed information and the current speed information of the target vehicle to guide the target vehicle to adjust the speed to the ideal speed includes:

[0030] When the current speed information of the target vehicle is less than the ideal speed information, a green flashing visual guidance information is sent to the target vehicle;

[0031] When the current speed information of the target vehicle is close to the ideal speed information, a yellow flashing visual guidance message is sent to the target vehicle;

[0032] When the current speed information of the target vehicle is greater than the ideal speed information, a red flashing visual guidance information is sent to the target vehicle;

[0033] When the current speed information of the target vehicle is greater than the ideal speed information and exceeds the threshold range, a red visual guidance message is sent to the target vehicle.

[0034] In one preferred embodiment, the guide lights arranged on the road are road stud indicator lights, and at least one road stud indicator light located in front of the target vehicle sends visual guidance information to the target vehicle.

[0035] In one preferred embodiment, the method further comprises:

[0036] Monitor whether the lane in which the target vehicle is located merges with the adjacent lane in the direction of travel ahead;

[0037] If combined, the vehicle information of the target vehicle and the vehicle information within the preset range of the target vehicle and located in the adjacent lane are obtained, wherein the vehicle information includes vehicle speed information and current position data information;

[0038] Importing the current position data information and current speed information of the target vehicle and the vehicles located in the adjacent lanes into the constructed vehicle formation driving model to obtain the ideal speed information of the target vehicle;

[0039] Based on the ideal speed information and current speed information of the target vehicle, visual guidance information is sent to the target vehicle to guide the target vehicle to adjust its speed to the ideal speed so that the target vehicle and vehicles in adjacent lanes merge into the lane at the merged ramp or lane.

[0040] In one preferred embodiment, the current position data information and current speed information of the target vehicle and the vehicles located in the adjacent lanes are imported into the constructed vehicle formation driving model to obtain the ideal speed information of the target vehicle, including:

[0041] Obtain the distance information between the target vehicle and the vehicles within a preset range on the adjacent lane in the travel direction ;

[0042] Get the preset safety distance of the current road section , and based on the vehicle distance information And preset safety distance Safety Car Distance , get the ideal distance difference of the target vehicle In this embodiment, the above ideal distance difference When it is a negative number, the following distance of the target vehicle needs to be increased. When it is a positive number, the following distance of the target vehicle needs to be reduced. If it is 0, there is no need to adjust the following distance of the target vehicle.

[0043] Based on the ideal distance difference , obtain the ideal speed information of the target vehicle .

[0044] In one preferred embodiment, the ideal distance difference satisfy:

[0045]

[0046] Said is the current speed of the target vehicle, is the preset headway distance, The value range of is greater than or equal to 0. Equal to 0, ideal distance difference In other words, the above current vehicle distance information The preset safety distance , the target vehicle does not need to adjust the following distance.

[0047] The target vehicle's ideal speed information satisfy:

[0048]

[0049] Said is the speed of the target vehicle during the last sensing cycle of the sensing device, is the maximum speed limit of the road section where the target vehicle is located, and They are the calibrated PD filter parameters respectively.

[0050] The above-mentioned embodiment of the present invention is deployed on the outermost side of the main line and on the right side of the up-ramp by monitoring the driving data of the target vehicle and the adjacent lanes of the lane where the target vehicle is located. When a suitable traffic gap is detected in the main line traffic, PACC lighting control can be activated. For the main line, the PACC system guides the vehicles behind the gap to maintain a uniform speed and maintain the length of the gap; for the up-ramp, the vehicles in the ramp are guided to merge into the main line traffic with a uniform acceleration to ensure that the merging action is carried out safely and efficiently. The lights can be used as a guide for safe merging, and can also be used as a basis for tracing events after a conflict occurs.

[0051] The above-mentioned embodiments of the present invention utilize the acquired information such as the current vehicle speed, position, and distance between vehicles, take the platoon driving model as the core control logic, guide the vehicles to drive in an orderly manner by transmitting optical information, realize the refinement of key channel scenes and the adaptive controllable characteristics, and improve the stability and safety of road traffic.

[0052] In one preferred embodiment, the method further comprises:

[0053] Obtaining traffic event information of vehicles in a target area and information of vehicles involved in the traffic event information;

[0054] Based on the information of the vehicle involved in the accident, obtaining the speed information and vehicle distance information of the vehicle involved in the accident and surrounding vehicles within a preset period of time before the traffic incident occurs;

[0055] According to the vehicle speed information and vehicle distance information of the involved vehicles in a preset time period before the traffic incident occurs, and based on the vehicle formation driving model, the cause of the traffic incident information is analyzed.

[0056] The above-mentioned embodiments of the present invention obtain the cause of the traffic incident by monitoring the traffic incident and analyzing the incident of the vehicle involved, thereby facilitating the division of responsibilities for the traffic incident and providing a basis.

[0057] A pan-vehicle-road cooperative system based on roadside perception and visual guidance, including:

[0058] Roadside holographic perception module, used to obtain the current location data and current speed information of the target vehicle;

[0059] A roadside edge computing module is used to import the current position data information and the current vehicle speed information into the constructed vehicle formation driving model to obtain the ideal vehicle speed information;

[0060] The visual guidance module is used to send visual guidance information to the target vehicle based on the ideal speed information and current speed information of the target vehicle, so as to guide the target vehicle to adjust the speed to the ideal speed.

[0061] The above-mentioned embodiment of the present invention utilizes the acquired information such as the current vehicle speed, position, and distance between vehicles, and based on the vehicle formation driving model, transmits visual information to the vehicle to recommend the vehicle speed, so as to refine the vehicle guidance in key scenarios, improve the control granularity of visual guidance, and enhance the adaptability of vehicle guidance, so as to maximize the overall traffic efficiency of all vehicles.

[0062] The above-mentioned embodiments of the present invention utilize the acquired information such as the current vehicle speed, position, and distance between vehicles, take the platoon driving model as the core control logic, guide the vehicles to drive in an orderly manner by transmitting optical information, realize the refinement of key channel scenes and the adaptive controllable characteristics, and improve the stability and safety of road traffic. BRIEF DESCRIPTION OF THE DRAWINGS

[0063] Figure 1 It is a flow chart of a pan-vehicle-road collaboration method based on roadside perception and visual guidance in a first preferred embodiment of the present invention;

[0064] Figure 2 This is a flowchart of subdivided steps of step S20 of the pan-vehicle-road collaborative method based on roadside perception and visual guidance in the first preferred embodiment of the present invention;

[0065] Figure 3A flowchart of the steps further included in the pan-vehicle-road collaboration method based on roadside perception and visual guidance in another preferred embodiment of the present invention;

[0066] Figure 4 A flowchart of the steps further included in the pan-vehicle-road collaboration method based on roadside perception and visual guidance in another preferred embodiment of the present invention;

[0067] Figure 5 This is a module diagram of a pan-vehicle-road cooperative system based on roadside perception and visual guidance in the second preferred embodiment of the present invention. DETAILED DESCRIPTION

[0068] In order to make the purpose, technical solution and advantages of the present invention more clearly understood, the present invention is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not intended to limit the present invention.

[0069] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as those commonly understood by those skilled in the art of the present invention. The terms used herein in the specification of the present invention are only for the purpose of describing specific embodiments and are not intended to limit the present invention. The term "and / or" used herein includes any and all combinations of one or more related listed items.

[0070] like Figure 1 As shown, in the first preferred embodiment of the present invention, a pan-vehicle-road collaboration method based on roadside perception and visual guidance is disclosed, and the method includes the following steps:

[0071] S10: Obtaining current location data information and current vehicle speed information of the target vehicle;

[0072] In the above step S10, the current position data of the target vehicle and the current speed information of the target vehicle are obtained by using a sensing device installed on the roadside. Specifically, in this embodiment, the target vehicle can be sensed by using a visual perception device. More specifically, the position and speed of the target vehicle can be sensed in real time by using a camera installed on the roadside using image recognition technology. In the above steps of this embodiment, a laser radar sensing device can also be used to calculate the current position, speed and other information of the target vehicle by emitting a laser beam and receiving the reflected signal. Laser radar has high accuracy and anti-interference ability, and is suitable for vehicle detection in complex environments. In the above steps of this embodiment, optical fiber sensing equipment can also be used to realize full-time, full-domain, all-weather, blind-spot-free perception of vehicles, roads, and events, lane-level positioning of vehicle position, speed, trajectory, and perception of road surface operation status. This technology has the characteristics of large capacity, high density, long distance, fast response, and high reliability, and can provide accurate vehicle dynamic information. In the above steps of this embodiment, vehicle positioning and speed measurement based on a grating array sensor can also be performed by obtaining the vibration signal of the vehicle in real time, and determining the vehicle position and speed based on the vibration sampling signal. This vehicle positioning and speed measurement based on grating array sensors can achieve all-weather monitoring of vehicles and improve the efficiency and accuracy of positioning and speed measurement. The above sensing technologies can be used alone or in combination to achieve the best detection effect. Different technologies have their own advantages and limitations. The specific technology to be selected depends on the actual application scenario and needs.

[0073] S20: Importing the current position data information and the current vehicle speed information into the constructed vehicle formation driving model to obtain the ideal vehicle speed information.

[0074] Specifically, Figure 2 As shown, the above step S20 includes the following subdivision steps:

[0075] S21: Obtaining the distance information between the target vehicle and the vehicle in front of the target vehicle .

[0076] In this subdivision step, the vehicle distance information The above vehicle distance information is obtained through the sensing device. The current position of the target vehicle can be obtained, as well as the position of the vehicle in front of the target vehicle, and the distance between the two vehicles can be calculated. Specifically, the above vehicle distance information satisfy:

[0077] (1)

[0078] In the above formula is the current position of the target vehicle, The current position information of the vehicle in front of the target vehicle.

[0079] S22: Get the preset safety distance of the current road section , and based on the vehicle distance information And preset safety distance , get the ideal distance difference of the target vehicle .

[0080] Specifically, in the above step S22, the ideal distance difference satisfy:

[0081] (2)

[0082] Said is the current speed of the target vehicle, The above-mentioned headway time (TH) refers to the time interval between the front ends of two consecutive vehicles passing through a certain section in a moving vehicle queue. It is an important indicator for evaluating driving safety, closely related to traffic flow composition and driving behavior, and is also an important basis for reflecting road capacity and service level. The value range of is greater than or equal to 0. Equal to 0, ideal distance difference In other words, the above current vehicle distance information The preset safety distance , the target vehicle does not need to adjust the following distance.

[0083] In this embodiment, the above ideal distance difference When it is a negative number, the following distance of the target vehicle needs to be increased. When it is a positive number, the following distance of the target vehicle needs to be reduced. If it is 0, there is no need to adjust the following distance of the target vehicle.

[0084] The above preset safety distance The reserved safety distance needs to be calibrated according to the on-site conditions and vehicle speed. In this embodiment, the above safety distance Based on the current speed information of the target vehicle, the preset safety distance is obtained from the database In this way, the head-to-head distance of the convoy can be set in a dense flow state, and the traffic flow can be organized by guiding the vehicle speed, thereby optimizing the traffic efficiency without reducing the safety of the convoy.

[0085] S23: Based on ideal distance difference , get the ideal speed information .

[0086] Specifically, the above-mentioned ideal vehicle speed information satisfy:

[0087] (3)

[0088] Said is the speed of the target vehicle during the last sensing cycle of the sensing device, is the maximum speed limit of the road section where the target vehicle is located, and They are respectively the calibrated PD filter parameters, which are obtained through an on-site calibration process.

[0089] In this subdivision step, the current speed of the target vehicle The sensing period is obtained by the sensing device in the above step S10, and the above sensing period is the sensing period of the above sensing device sensing the road vehicle, and the sensing period is an integer multiple of the signal sending or receiving period of the above sensing device. For example, the signal sending or receiving period of the sensing device used is 2ms, and the sensing period of the sensing device in this embodiment is between 0.5s and 1s. It is the speed of the target vehicle during the last sensing cycle of the sensing device.

[0090] The advantage of adopting the above-mentioned vehicle formation driving model is that the dynamics of the constructed convoy is a decentralized control structure. Once a vehicle in the queue ignores the guidance information at this time, the original convoy will split into two convoys, and the first vehicle behind the vehicle will become the head vehicle of the new convoy behind. The vehicles following behind the new head vehicle can still be guided by the PD negative feedback adaptive mechanism in the above-mentioned vehicle formation driving model. It is only necessary to improve the vehicle's acceptance of information through various means. When all vehicles in the lane follow the suggestions of the guidance information, the longer the convoy formed, the traffic efficiency of the entire lane will naturally be closer to the dense flow state under active traffic control, thereby improving the traffic efficiency to the optimal level.

[0091] S30: Based on the ideal vehicle speed information and the current vehicle speed information of the target vehicle, visual guidance information is sent to the target vehicle to guide the target vehicle to adjust the vehicle speed to the ideal vehicle speed.

[0092] In this step, visual guidance information is sent to the target vehicle by means of a guide light or a variable luminous sign arranged on the road, wherein the visual guidance information includes changing the light color and / or changing the light flashing frequency.

[0093] When the visual guidance information includes changing the light flashing frequency, the light flashing frequency satisfy:

[0094] (4)

[0095] in It is the deployment distance between two adjacent beacons (or adjacent bright spots in the light strip).

[0096] Generally, the guide lights installed on the road are located on both sides of the road. In order to make the frequency change of the guide lights or variable luminous signs on both sides of the road within the field of vision of the driver of the target vehicle, one to three guide lights on both sides of the road located in front of the target vehicle flash along with the target vehicle and based on the flashing frequency defined by the above formula (4).

[0097] When the visual guidance information includes changing the light color, it includes:

[0098] When the current speed information of the target vehicle is less than the ideal speed information, a green flashing visual guidance information is sent to the target vehicle; when the current speed information of the target vehicle is close to the ideal speed information, a yellow flashing visual guidance information is sent to the target vehicle; when the current speed information of the target vehicle is greater than the ideal speed information, a visual guidance information different from the red flashing is sent to the target vehicle; when the current speed information of the target vehicle is greater than the ideal speed information and exceeds the threshold range, a red visual guidance information is sent to the target vehicle. In this embodiment, the PACC system is used to guide the target vehicle with lights.

[0099] In this embodiment, the frequency change and color change of the guide light can also be combined to send visual guidance information. Greater than the current speed of the target vehicle , then the 1-3 traffic lights closest to the target vehicle are set to green, and the light flashing frequency is adjusted according to the above formula (4). The vehicle is prompted to accelerate to the speed corresponding to the flashing frequency.

[0100] If the target vehicle's ideal speed Current speed of the approaching vehicle , then the 1-3 traffic lights closest to the vehicle are set to yellow, and the light adjustment flashing frequency is consistent with formula (4), prompting the vehicle to maintain a constant speed at the corresponding speed. Less than the current speed of the target vehicle , then the 1-3 traffic lights closest to the vehicle are set to yellow, and the light adjustment flashing frequency is consistent with formula (4), prompting the vehicle to slow down to the speed corresponding to the flashing frequency. Much smaller than the current speed of the target vehicle , the nearest traffic lights in front of the vehicle are set to red and set to long-on mode to prompt the vehicle to perform an emergency brake operation. The guide lights set on the road are road stud indicator lights, and at least one road stud indicator light located in front of the target vehicle sends visual guidance information to the target vehicle.

[0101] In this implementation, if the first If a car ignores the guidance information and changes lanes, the original convoy will be split into two convoys. The vehicle will become the head vehicle of the new convoy behind it, and the vehicles behind it can still be guided using the above content. If no emergency occurs in the tunnel, then as long as the vehicles' acceptance of information is improved through various means, when all vehicles in the lane follow the suggestions of the guidance information, the longer the convoy formed, the traffic efficiency of the entire lane will naturally be closer to the dense flow state under active traffic control, thereby optimizing the traffic efficiency.

[0102] Relying on the above method, it can form vehicle-road collaborative control with existing information release media such as holographic perception and accompanying information services. It can be used as a self-explanatory, non-mandatory driving behavior guidance tool, and can also be used as a basis for mandatory control in certain scenarios after popular education.

[0103] In addition to ensuring that traffic flows at appropriate speeds and vehicle spacing indicators, the above guidance information can provide target vehicles with early warning functions for road conditions such as water accumulation and collapse.

[0104] The guiding scenario embodiment of the present invention is a vehicle speed guidance method and device in a tunnel and at the entrance based on rhythmic adaptive cruise control. When necessary, by deploying light arrays or light strips corresponding to each lane on the top of the tunnel, the guidance information can reach the lane level, and then the traffic in the tunnel is guided by the PACC method system. According to the actual illumination conditions in the tunnel, a series of visual guidance information optimization and facility optimization can also be carried out to further improve the driver's acceptance of the guidance information.

[0105] The above-mentioned embodiments of the present invention utilize the acquired information such as the current vehicle speed, position, and distance between vehicles, take the platoon driving model as the core control logic, guide the vehicles to drive in an orderly manner by transmitting optical information, realize the refinement of key channel scenes and the adaptive controllable characteristics, and improve the stability and safety of road traffic.

[0106] like Figure 3 As shown, in another embodiment of the present invention, a pan-vehicle-road collaboration method based on roadside perception and visual guidance is disclosed. The method is applicable to the situation where two or more lanes merge in front of the vehicle in the driving direction of certain road sections and how to guide the vehicle. The method includes:

[0107] S40: Monitor whether the lane in which the target vehicle is located merges with an adjacent lane in the driving direction ahead.

[0108] Generally, this step obtains the location of the target vehicle and the driving direction of the vehicle, and combines the specific lane of the road section where the target vehicle is located to obtain whether the front of the driving direction of the lane where the target vehicle is located is merged with the adjacent lane. Specifically, the road section can be an elevated up-ramp entrance, a road section where the main lane narrows, etc. In this embodiment, the target vehicle can be a vehicle that needs to change lanes, generally an outer lane of a lane, or an up-ramp entrance, etc.

[0109] S50: If merged, obtain vehicle information of the target vehicle and vehicle information within a preset range of the target vehicle and located on the adjacent lane, wherein the vehicle information includes vehicle speed information and current position data information.

[0110] If in the above step S40, if it is detected that the front of the road section needs to be merged, the vehicle information of the target vehicle and the vehicle information within the preset range of the target vehicle and located on the adjacent lane are obtained, and the vehicle information includes speed information and current position data information. Specifically, in this embodiment, a visual perception device can be used to sense the target vehicle. More specifically, through a camera installed on the roadside, the position and speed of the target vehicle can be perceived in real time using image recognition technology. The above steps of this embodiment can also use a laser radar sensing device to calculate the current, position, speed and other information of the target vehicle by emitting a laser beam and receiving the reflected signal. Laser radar has high accuracy and anti-interference ability, and is suitable for vehicle detection in complex environments. The above steps of this embodiment can also realize full-time, full-domain, all-weather, non-blind spot perception of vehicles, roads, and events through optical fiber sensing equipment, lane-level positioning of vehicle position, speed, trajectory, and perception of road surface operation status. This technology has the characteristics of large capacity, high density, long distance, fast response, and high reliability, and can provide accurate vehicle dynamic information. The above steps of this embodiment can also be performed by a vehicle positioning and speed measurement system and method based on a grating array sensor, by acquiring the vibration signal of the vehicle in real time, and determining the vehicle position and speed based on the vibration sampling signal. This system can achieve all-weather monitoring of the vehicle and improve the efficiency and accuracy of positioning and speed measurement. The above sensing technologies can be used alone or in combination to achieve the best detection effect. Different technologies have their own advantages and limitations. The specific technology to be selected depends on the actual application scenario and needs.

[0111] S60: Importing the current position data information and current vehicle speed information of the target vehicle and the vehicles located in the adjacent lanes into the constructed vehicle platoon driving model to obtain the ideal vehicle speed information of the target vehicle.

[0112] Specifically, the above step S60 includes the following subdivision steps:

[0113] Obtain the distance information between the target vehicle and the vehicles within a preset range on the adjacent lane in the travel direction ;

[0114] Get the preset safety distance of the current road section , and based on the vehicle distance information And preset safety distance , get the ideal distance difference of the target vehicle ;

[0115] In more detail, the above ideal distance difference satisfy:

[0116]

[0117] Said is the current speed of the target vehicle, is the preset headway time.

[0118] Based on the ideal distance difference , obtain the ideal speed information of the target vehicle .

[0119] More specifically, the ideal speed information of the target vehicle is satisfy:

[0120]

[0121] Said is the speed of the target vehicle during the last sensing cycle of the sensing device, The maximum speed limit for the section where the target vehicle is located. The speed limit will be adjusted to suit the road conditions ahead in the merging area, such as whether there is a tunnel entrance. and They are the calibrated PD filter parameters respectively.

[0122] S70: Based on the ideal speed information and current speed information of the target vehicle, visual guidance information is sent to the target vehicle to guide the target vehicle to adjust its speed to the ideal speed so that the target vehicle and vehicles in adjacent lanes merge into the lane at the merged ramp or lane.

[0123] In this step, visual guidance information is sent to the target vehicle through the guide light or variable luminous sign arranged on the road, and the visual guidance information includes changing the light color and / or changing the light flashing frequency. The light color and light flashing frequency are consistent with the description in the above embodiment, and the present invention will not be repeated here.

[0124] like Figure 4 As shown, in another embodiment of the present invention, the method further comprises:

[0125] S81: Obtaining traffic event information of vehicles in a target area and information of vehicles involved in the traffic event information;

[0126] S82: Based on the information of the vehicle involved in the accident, obtaining the speed information and the distance information of the vehicle involved in the accident and surrounding vehicles within a preset period of time before the traffic incident occurs;

[0127] S83: Analyze the cause of the traffic incident information based on the vehicle speed information and vehicle distance information of the involved vehicles in a preset period of time before the traffic incident occurs and based on the vehicle platoon driving model.

[0128] The above-mentioned embodiments of the present invention obtain the cause of the traffic incident by monitoring the traffic incident and analyzing the incident of the vehicle involved, thereby facilitating the division of responsibilities for the traffic incident and providing a basis.

[0129] like Figure 5 As shown, in another preferred embodiment of the present invention, a pan-vehicle-road collaborative system 100 based on roadside perception and visual guidance is disclosed, including: a roadside holographic perception module 110, a roadside edge computing module 120 and a visual guidance module 130.

[0130] The roadside holographic sensing module 110 is used to obtain the current position data information and current vehicle speed information of the target vehicle.

[0131] The roadside holographic perception module 110 obtains the current position data and current speed information of the target vehicle through the sensing device installed on the roadside. Specifically, in this embodiment, the target vehicle can be sensed by using a visual perception device. More specifically, the position and speed of the target vehicle can be perceived in real time by using a camera installed on the roadside using image recognition technology. The above steps of this embodiment can also use a laser radar sensing device to calculate the current position, speed and other information of the target vehicle by emitting a laser beam and receiving the reflected signal. The laser radar has high accuracy and anti-interference ability and is suitable for vehicle detection in complex environments. The above steps of this embodiment can also realize full-time, full-domain, all-weather and blind-spotless perception of vehicles, roads and events through optical fiber sensing equipment, and lane-level positioning of vehicle position, speed, trajectory, and perception of road surface operation status. This technology has the characteristics of large capacity, high density, long distance, fast response and high reliability, and can provide accurate vehicle dynamic information. The above steps of this embodiment can also be based on a vehicle positioning and speed measurement system and method based on a grating array sensor, by obtaining the vibration signal of the vehicle in real time, and determining the vehicle position and speed according to the vibration sampling signal. This system can achieve all-weather monitoring of vehicles and improve the efficiency and accuracy of positioning and speed measurement. The above-mentioned sensing technologies can be used alone or in combination to achieve the best detection effect. Different technologies have their own advantages and limitations. The specific technology to be selected depends on the actual application scenario and needs.

[0132] The roadside edge computing module 120 is used to import the current position data information and the current vehicle speed information into the constructed vehicle platoon driving model to obtain the ideal vehicle speed information.

[0133] The roadside edge computing module 120 includes a vehicle distance information acquisition unit 121 , a safety distance processing unit 122 and an ideal vehicle distance processing unit 123 .

[0134] The vehicle distance information acquisition unit 121 is used to acquire the vehicle distance information between the target vehicle and the vehicle in front of the target vehicle. , the vehicle distance information Acquired by sensing device

[0135] The above distance information The current position of the target vehicle can be obtained, as well as the position of the vehicle in front of the target vehicle, and the distance between the two vehicles can be calculated. Specifically, the above vehicle distance information satisfy:

[0136] (1)

[0137] In the above formula is the current position of the target vehicle, The current position information of the vehicle in front of the target vehicle.

[0138] The safety distance processing unit 122 is used to obtain the safety distance preset for the current road section. , and based on the vehicle distance information And preset safety distance , get the ideal distance difference of the target vehicle , the ideal distance difference satisfy:

[0139] (2)

[0140] Said is the current speed of the target vehicle, is the headway time of the target vehicle. The headway time (TH) refers to the time interval between the front ends of two consecutive vehicles passing through a certain section in a moving vehicle queue. It is an important indicator for evaluating driving safety, closely related to traffic flow composition and driving behavior, and is also an important basis for reflecting road capacity and service level. The value range of is greater than or equal to 0. Equal to 0, ideal distance difference In other words, the above current vehicle distance information The preset safety distance , the target vehicle does not need to adjust the following distance.

[0141] In this embodiment, the above ideal distance difference When it is a negative number, the following distance of the target vehicle needs to be increased. When it is a positive number, the following distance of the target vehicle needs to be reduced. If it is 0, there is no need to adjust the following distance of the target vehicle.

[0142] The above preset safety distance The reserved safety distance needs to be calibrated according to the on-site conditions and vehicle speed. In this embodiment, the above safety distance Based on the current speed information of the target vehicle, the preset safety distance is obtained from the database In this way, the head-to-head distance of the convoy can be set in a dense flow state, and the traffic flow can be organized by guiding the vehicle speed, thereby optimizing the traffic efficiency without reducing the safety of the convoy.

[0143] The ideal vehicle distance processing unit 123 is used to calculate the ideal vehicle distance difference based on the ideal vehicle distance difference. , get the ideal speed information , the ideal vehicle speed information satisfy:

[0144] (3)

[0145] Said is the speed of the target vehicle during the last sensing cycle of the sensing device, is the maximum speed limit of the road section where the target vehicle is located, and They are respectively the calibrated PD filter parameters, which are obtained through an on-site calibration process.

[0146] In this subdivision step, the current speed of the target vehicle The sensing period is obtained by the sensing device in the above step S10, and the above sensing period is the sensing period of the above sensing device sensing the road vehicle, and the sensing period is an integer multiple of the signal sending or receiving period of the above sensing device. For example, the signal sending or receiving period of the sensing device used is 2ms, and the sensing period of the sensing device in this embodiment is between 0.5s and 1s. It is the speed of the target vehicle during the last sensing cycle of the sensing device.

[0147] The advantage of using the above-mentioned vehicle formation driving model is that once the first vehicle in the queue ignores the guidance information at this time, the original convoy will split into two convoys, and the second vehicle will become the head vehicle of the new convoy behind it. The vehicles behind it can still be guided by the PD negative feedback adaptive mechanism in the above-mentioned vehicle formation driving model. It is only necessary to improve the vehicle's acceptance of information through various means. When all vehicles in the lane follow the suggestions of the guidance information, the longer the convoy formed, the traffic efficiency of the entire lane will naturally be closer to the dense flow state under active traffic control, thereby improving the traffic efficiency to the optimal level.

[0148] The visual guidance module 130 is used to send visual guidance information to the target vehicle based on the ideal vehicle speed information and the current vehicle speed information of the target vehicle, so as to guide the target vehicle to adjust the vehicle speed to the ideal vehicle speed.

[0149] In this step, visual guidance information is sent to the target vehicle by means of a guide light or a variable luminous sign arranged on the road, wherein the visual guidance information includes changing the light color and / or changing the light flashing frequency.

[0150] When the visual guidance information includes changing the light flashing frequency, the light flashing frequency satisfy:

[0151] (4)

[0152] in It is the deployment distance between two adjacent beacons (or adjacent bright spots in the light strip).

[0153] Generally, the guide lights on the road are located on both sides of the road. In order to make the frequency change of the guide lights on both sides of the road within the field of vision of the driver of the target vehicle, one to three guide lights on both sides of the road located in front of the target vehicle flash along with the target vehicle and based on the flashing frequency defined by the above formula (4).

[0154] When the visual guidance information includes changing the light color, it includes:

[0155] When the current speed information of the target vehicle is less than the ideal speed information, a green flashing visual guidance information is sent to the target vehicle; when the current speed information of the target vehicle is close to the ideal speed information, a yellow flashing visual guidance information is sent to the target vehicle; when the current speed information of the target vehicle is greater than the ideal speed information, a red flashing visual guidance information is sent to the target vehicle; when the current speed information of the target vehicle is greater than the ideal speed information and exceeds the threshold range, a red visual guidance information is sent to the target vehicle. In this embodiment, the PACC system is used to guide the target vehicle with lights.

[0156] In this embodiment, the frequency change and color change of the guide light can also be combined to send visual guidance information. Greater than the current speed of the target vehicle , then the 1-3 traffic lights closest to the target vehicle are set to green, and the light flashing frequency is adjusted according to the above formula (4). The vehicle is prompted to accelerate to the speed corresponding to the flashing frequency.

[0157] If the target vehicle's ideal speed Current speed of the approaching vehicle , then the 1-3 traffic lights closest to the vehicle are set to yellow, and the light adjustment flashing frequency is consistent with formula (4), prompting the vehicle to maintain a constant speed at the corresponding speed. Less than the current speed of the target vehicle , then the 1-3 traffic lights closest to the vehicle are set to yellow, and the light adjustment flashing frequency is consistent with formula (4), prompting the vehicle to slow down to the speed corresponding to the flashing frequency. Much smaller than the current speed of the target vehicle , the nearest traffic lights in front of the vehicle are set to red and set to long-on mode to prompt the vehicle to perform an emergency brake operation. The guide lights set on the road are road stud indicator lights, and at least one road stud indicator light located in front of the target vehicle sends visual guidance information to the target vehicle.

[0158] In this implementation, if the first If a car ignores the guidance information and changes lanes, the original convoy will be split into two convoys. The vehicle will become the head vehicle of the new convoy behind it, and the vehicles behind it can still be guided using the above content. If no emergency occurs in the tunnel, then as long as the vehicles' acceptance of information is improved through various means, when all vehicles in the lane follow the suggestions of the guidance information, the longer the convoy formed, the traffic efficiency of the entire lane will naturally be closer to the dense flow state under active traffic control, thereby optimizing the traffic efficiency.

[0159] Relying on the above-mentioned control system, it can form vehicle-road collaborative management and control with existing information release media such as holographic perception and accompanying information services. It can be used as a self-explanatory, non-mandatory driving behavior guidance tool, and can also be used as a basis for mandatory control in certain scenarios after popular education.

[0160] In addition to ensuring that traffic flows at appropriate speeds and vehicle spacing indicators, the above guidance information can provide target vehicles with early warning functions for road conditions such as water accumulation and collapse.

[0161] The guiding scenario embodiment of the present invention is a vehicle speed guidance method and device in a tunnel and at the entrance based on rhythmic adaptive cruise control. When necessary, by deploying light arrays or light strips corresponding to each lane on the top of the tunnel, the guidance information can reach the lane level, and then the traffic in the tunnel is guided by the PACC method system. According to the actual illumination conditions in the tunnel, a series of visual guidance information optimization and facility optimization can also be carried out to further improve the driver's acceptance of the guidance information.

[0162] The above-mentioned embodiments of the present invention utilize the acquired information such as the current vehicle speed, position, and distance between vehicles, take the platoon driving model as the core control logic, guide the vehicles to drive in an orderly manner by transmitting optical information, realize the refinement of key channel scenes and the adaptive controllable characteristics, and improve the stability and safety of road traffic.

[0163] Another embodiment of the present invention discloses a storage medium having a computer program stored thereon. When the computer program is executed by a processor, the above-mentioned pan-vehicle-road collaborative method based on roadside perception and visual guidance is implemented.

[0164] It should be noted that the storage medium disclosed above may be a computer-readable signal medium or a computer-readable storage medium or any combination of the above two. The computer-readable storage medium may be, for example, but not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, device or device, or any combination of the above. More specific examples of computer-readable storage media may include, but are not limited to: an electrical connection with one or more wires, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the above. In the present disclosure, a computer-readable storage medium may be any tangible medium containing or storing a program, which may be used by or in combination with an instruction execution system, device or device. In the present disclosure, a computer-readable signal medium may include a data signal propagated in a baseband or as part of a carrier wave, in which a computer-readable program code is carried. This propagated data signal may take a variety of forms, including but not limited to an electromagnetic signal, an optical signal, or any suitable combination of the above. Computer readable signal media may also be any computer storage medium other than computer readable storage media, which may send, propagate or transmit a program for use by or in conjunction with an instruction execution system, apparatus or device. The program code contained on the computer storage medium may be transmitted using any appropriate medium, including but not limited to: wires, optical cables, RF (radio frequency), etc., or any suitable combination of the above.

[0165] In some embodiments, the client and the server may communicate using any currently known or future developed network protocol such as HTTP (Hyper Text Transfer Protocol), and may be interconnected with any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include a local area network ("LAN"), a wide area network ("WAN"), an internet (e.g., the Internet), and a peer-to-peer network (e.g., an ad hoc peer-to-peer network), as well as any currently known or future developed network.

[0166] The computer storage medium may be included in the electronic device, or may exist independently without being installed in the electronic device.

[0167] The computer storage medium carries one or more programs. When the one or more programs are executed by the electronic device, the electronic device:

[0168] The technical features of the above embodiments may be arbitrarily combined. To make the description concise, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0169] The above-mentioned embodiments only express several implementation methods of the present invention, and the description thereof is relatively specific and detailed, but it cannot be understood as limiting the scope of the invention application. It should be pointed out that, for a person of ordinary skill in the art, several modifications and improvements can be made without departing from the concept of the present invention, and these all belong to the protection scope of the present invention. Therefore, the protection scope of the present invention application shall be subject to the attached claims.

Claims

1. A pan-vehicle-road collaboration method based on roadside perception and visual guidance, characterized in that: Methods include: Obtain the current location data information and current speed information of the target vehicle; The current position data information and the current vehicle speed information are imported into the constructed vehicle formation driving model to obtain the ideal vehicle speed information, including: Get the distance information between the target vehicle and the vehicle in front of the target vehicle ; Get the preset safety distance of the current road section , and based on the vehicle distance information And preset safety distance Headway , get the ideal distance difference of the target vehicle , the ideal distance difference satisfy: ； in is the current speed of the target vehicle, is the preset headway time; Based on the ideal distance difference , obtain the ideal speed information of the target vehicle , the ideal speed information of the target vehicle satisfy: ； in is the speed of the target vehicle during the last sensing cycle of the sensing device, is the maximum speed limit of the road section where the target vehicle is located, and They are the calibrated PD filter parameters; Based on the ideal vehicle speed information and the current vehicle speed information of the target vehicle, visual guidance information is sent to the target vehicle to guide the target vehicle to adjust the vehicle speed to the ideal vehicle speed.

2. The pan-vehicle-road collaboration method based on roadside perception and visual guidance according to claim 1 is characterized in that: The preset safety distance The way to obtain is: Based on the current speed information of the target vehicle and the distance information of the vehicle in front of the target vehicle, the preset safety distance is obtained from the dynamic vehicle distance parameter database. .

3. The pan-vehicle-road collaboration method based on roadside perception and visual guidance according to claim 1 is characterized in that: The obtaining of the distance information between the target vehicle and the vehicle in front of the target vehicle ,include: By obtaining the current position of the target vehicle , and obtain the position information of the vehicle in front of the target vehicle , the vehicle distance information satisfy: 。 4. The pan-vehicle-road collaboration method based on roadside perception and visual guidance according to claim 1 is characterized in that: The sending of visual guidance information to the target vehicle based on the ideal vehicle speed information and the current vehicle speed information of the target vehicle to guide the target vehicle to adjust the vehicle speed to the ideal vehicle speed includes: Visual guidance information is sent to the target vehicle through a guide light or a variable luminous sign arranged on the road, and the visual guidance information includes changing the light color and / or changing the light flashing frequency.

5. The pan-vehicle-road collaboration method based on roadside perception and visual guidance according to claim 4 is characterized in that: When the visual guidance information includes changing the light flashing frequency, the light flashing frequency satisfy: ； in is the deployment spacing between two adjacent signal sources.

6. The pan-vehicle-road collaboration method based on roadside perception and visual guidance according to claim 4 is characterized in that: When the visual guidance information includes changing the light color, the sending of the visual guidance information to the target vehicle based on the ideal speed information and the current speed information of the target vehicle to guide the target vehicle to adjust the speed to the ideal speed includes: When the current speed information of the target vehicle is less than the ideal speed information, a green flashing visual guidance information is sent to the target vehicle; When the current speed information of the target vehicle is close to the ideal speed information, a yellow flashing visual guidance message is sent to the target vehicle; When the current speed information of the target vehicle is greater than the ideal speed information, a red flashing visual guidance information is sent to the target vehicle; When the current speed information of the target vehicle is greater than the ideal speed information and exceeds the threshold range, a red visual guidance message is sent to the target vehicle.

7. The pan-vehicle-road collaboration method based on roadside perception and visual guidance according to claim 4 is characterized in that: The guide lights arranged on the road are road stud indicator lights or luminous signs, and at least one road stud indicator light located in front of the target vehicle sends visual guidance information to the target vehicle.

8. The pan-vehicle-road collaboration method based on roadside perception and visual guidance according to claim 1 is characterized in that: The method further comprises: Monitor whether the lane ahead of the target vehicle merges with the adjacent lane in the driving direction; If combined, the vehicle information of the target vehicle and the vehicle information within the preset range of the target vehicle and located in the adjacent lane are obtained, wherein the vehicle information includes current vehicle speed information and current location data information; The vehicle information of the target vehicle and the vehicles in the adjacent lanes is imported into the constructed vehicle formation driving model to obtain the ideal vehicle speed information of the target vehicle; Based on the ideal speed information and current speed information of the target vehicle, visual guidance information is sent to the target vehicle to guide the target vehicle to adjust its speed to the ideal speed so that the target vehicle and vehicles in adjacent lanes merge into the lane at the merged ramp or lane.

9. The pan-vehicle-road collaboration method based on roadside perception and visual guidance according to claim 8 is characterized in that: The current position data information and current speed information of the target vehicle and the vehicles in the adjacent lanes are imported into the constructed vehicle formation driving model to obtain the ideal speed information of the target vehicle, including: Obtain the distance information between the target vehicle and the vehicles in the adjacent lane within the preset range. ; Get the preset safety distance of the current road section , and based on the vehicle distance information and preset safe vehicle distance Safety car distance , get the ideal distance difference of the target vehicle ; Based on the ideal distance difference , obtain the ideal speed information of the target vehicle .

10. The pan-vehicle-road collaboration method based on roadside perception and visual guidance according to claim 9 is characterized in that: The preset safety distance The way to obtain is: Based on the current speed information of the target vehicle and the distance information of the vehicle in front of the target vehicle, the preset safety distance is obtained from the dynamic vehicle distance parameter database. .

11. The pan-vehicle-road collaboration method based on roadside perception and visual guidance according to claim 9 is characterized in that: The ideal distance difference satisfy: ； in is the current speed of the target vehicle, is the preset headway time; The target vehicle's ideal speed information satisfy: ； in is the speed of the target vehicle during the last sensing cycle of the sensing device, is the maximum speed limit of the road section where the target vehicle is located, and They are the calibrated PD filter parameters respectively.

12. The pan-vehicle-road collaboration method based on roadside perception and visual guidance according to claim 1 is characterized in that: The method further comprises: Obtaining traffic event information of vehicles in a target area and information of vehicles involved in the traffic event information; Based on the information of the vehicle involved in the accident, obtaining the speed information and the distance information of the vehicle involved in the accident within a preset period of time before the traffic incident occurs; According to the vehicle speed information and vehicle distance information of the involved vehicles in a preset time period before the traffic incident occurs, and based on the vehicle formation driving model, the cause of the traffic incident is analyzed.

13. A pan-vehicle-road cooperative system based on roadside perception and visual guidance, characterized in that: include: Roadside holographic perception module, used to obtain the current location data and current speed information of the target vehicle; The roadside edge computing module is used to import the current position data information and current speed information of the target vehicle into the constructed vehicle formation driving model to obtain the ideal speed information, including: Get the distance information between the target vehicle and the vehicle in front of the target vehicle ; Get the preset safety distance of the current road section , and based on the vehicle distance information And preset safety distance Headway , get the ideal distance difference of the target vehicle , the ideal distance difference satisfy: ； in is the current speed of the target vehicle, is the preset headway time; Based on the ideal distance difference , obtain the ideal speed information of the target vehicle , the ideal speed information of the target vehicle satisfy: ； in is the speed of the target vehicle during the last sensing cycle of the sensing device, is the maximum speed limit of the road section where the target vehicle is located, and They are the calibrated PD filter parameters; The visual guidance module is used to send visual guidance information to the target vehicle based on the ideal speed information and current speed information of the target vehicle, so as to guide the target vehicle to adjust the speed to the ideal speed.

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