Dynamic setting method of dedicated lanes to support the operation of autonomous truck platoons

Abstract

The present invention discloses a method for dynamically setting a dedicated lane supporting the operation of a self-driving truck vehicle queue. When a vehicle queue is detected entering a preset road section, the formation information of the vehicle queue is obtained and the target driving section corresponding to the vehicle queue is determined according to the formation information; the average driving speed and the free flow speed of the section corresponding to the target driving section are determined according to the section traffic flow information of the target driving section; the average driving speed of the section and the free flow speed of the section are compared and processed in terms of size; and the dedicated lane supporting the operation of the vehicle queue is dynamically set in the target driving section corresponding to the vehicle queue according to the size relationship and the scale data of the vehicle queue. This method achieves the dynamic setting of dedicated lanes supporting the operation of the self-driving truck vehicle queue by achieving a balance between improving the transportation efficiency of the self-driving truck queue and the impact on the social traffic flow.

Description

Technical Field

[0001] The present invention relates to the field of intelligent traffic management technology, and in particular to a method for dynamically setting dedicated lanes to support the operation of a fleet of autonomous driving trucks. Background Art

[0002] In recent years, highway construction has developed rapidly. The popularization of autonomous driving technology will bring new opportunities for future highway design. The reasonable allocation and use of road rights will also face new challenges. Among them, setting up dedicated lanes for vehicle queues (such as autonomous driving truck queues) is one of the consensuses in the industry at this stage. The setting of dedicated lanes must take into account the effective use of lanes to ensure that they are not interfered with by other ordinary social vehicles during the activation of dedicated lanes. At the same time, it must ensure that when there is no formation of vehicle queues, other vehicles are allowed to enter and use them, so as to avoid wasting road resources and reducing the efficiency of highway traffic. At present, due to the lack of mature technology applications, there are still many deficiencies in the dynamic activation or shutdown of dedicated lanes on highways, and the dynamic setting of dedicated lanes to support the operation of vehicle queues has not yet been realized. Summary of the invention

[0003] In view of this, an embodiment of the present invention provides a method for dynamically setting up dedicated lanes to support the operation of a platoon of autonomous driving trucks, so as to solve the technical problem that the dynamic setting of dedicated lanes to support the operation of a platoon of vehicles has not yet been achieved in the prior art.

[0004] The technical solution proposed by the present invention is as follows:

[0005] A first aspect of an embodiment of the present invention provides a method for dynamically setting up dedicated lanes to support the operation of an autonomous driving truck vehicle queue. The method for dynamically setting up dedicated lanes to support the operation of an autonomous driving truck vehicle queue includes: when a vehicle queue is detected entering a preset road section, obtaining formation information of the vehicle queue and determining a target driving section corresponding to the vehicle queue based on the formation information; determining an average section driving speed and a section free-flow speed corresponding to the target driving section based on section traffic flow information of the target driving section; performing a size comparison process on the average section driving speed and the section free-flow speed; and dynamically setting a dedicated lane to support the operation of the vehicle queue in the target driving section corresponding to the vehicle queue based on the comparison result and the size data of the vehicle queue.

[0006] Optionally, when a vehicle queue is detected entering a preset road section, before obtaining formation information of the vehicle queue and determining a target driving section corresponding to the vehicle queue based on the formation information, the method further includes: obtaining operation information of the vehicle queue; and determining whether the vehicle queue has entered the preset road section based on the operation information.

[0007] Optionally, a dedicated lane supporting the operation of the vehicle queue is dynamically set in the target driving section corresponding to the vehicle queue based on the comparison result and the size data of the vehicle queue, including: when the comparison result is greater than a preset first threshold, enabling the target dedicated lane for supporting the operation of the vehicle queue in the target driving section; when the comparison result is greater than a preset second threshold and less than the preset first threshold, comparing the size data of the vehicle queue with a preset third threshold; when the size data of the vehicle queue is greater than the preset third threshold, enabling the target dedicated lane in the target driving section; when the comparison result is less than the preset second threshold, not enabling the target dedicated lane in the target driving section.

[0008] Optionally, an image acquisition device and a display screen are provided on the target dedicated lane, and the image acquisition device is used to acquire image information of the target dedicated lane according to a target interval duration; the method further includes: when the target dedicated lane is enabled in the target driving section, acquiring image information corresponding to the target dedicated lane acquired by the image acquisition device; when the image information includes a vehicle that does not belong to the vehicle queue, using the image acquisition device to acquire the license plate information of the vehicle that does not belong to the vehicle queue and sending the license plate information to a corresponding display screen for display.

[0009] Optionally, the method also includes: comparing the image information captured twice adjacently by the image acquisition device; when the same target vehicle exists in the image information captured twice adjacently, storing the vehicle information of the target vehicle in a preset database, the vehicle information including the panoramic image information, vehicle license plate information and current timestamp information of the target vehicle, and the target vehicle is a vehicle that does not belong to the vehicle queue.

[0010] Optionally, a lane dividing line between the target dedicated lane and the non-target dedicated lane is provided with a light-emitting module; the method further includes: when the target dedicated lane is enabled in the target driving section, controlling the light-emitting module to display in a first color; when the target dedicated lane is enabled in the target driving section and a new vehicle that does not belong to the vehicle queue enters the target dedicated lane, controlling the light-emitting module to display periodically in a second color; when the target dedicated lane is enabled in the target driving section and there are already vehicles that do not belong to the vehicle queue in the target dedicated lane, controlling the light-emitting module to display periodically in the second color; when the target dedicated lane is not enabled in the target driving section, controlling the light-emitting module to turn off the color display.

[0011] Optionally, the method further includes: when the light emitting module performs periodic display in the second color, controlling the display screen to perform text prompts.

[0012] A second aspect of an embodiment of the present invention provides a system for dynamically setting up dedicated lanes to support the operation of an autonomous driving truck vehicle queue. The system for dynamically setting up dedicated lanes to support the operation of an autonomous driving truck vehicle queue includes: a roadside unit, the roadside unit is used to communicate with a vehicle-mounted unit, and is used to collect formation information of vehicle queues entering a corresponding road section; a computing unit, which is communicated with the roadside unit and is used to execute a method for dynamically setting up dedicated lanes to support the operation of an autonomous driving truck vehicle queue as described in the first aspect of the embodiment of the present invention and any one of the first aspects.

[0013] Optionally, the system also includes: a first image acquisition device, connected to the computing unit, for acquiring vehicle information at the entrance and exit of the road section; and multiple second image acquisition devices, connected to the computing unit, for acquiring driving status information of vehicles in the road section.

[0014] Optionally, the system further comprises: a display screen connected to the computing unit and configured to display prompt information.

[0015] Optionally, the system further comprises: a light emitting module connected to the computing unit and configured to perform light emitting display according to control instructions.

[0016] A third aspect of an embodiment of the present invention provides a device for dynamically setting dedicated lanes to support the operation of an autonomous driving truck vehicle queue. The device for dynamically setting dedicated lanes to support the operation of an autonomous driving truck vehicle queue includes: an acquisition module, which is used to acquire the formation information of the vehicle queue and determine the target driving section corresponding to the vehicle queue according to the formation information when the vehicle queue is detected to enter a preset section; a determination module, which is used to determine the average section driving speed and the section free flow speed corresponding to the target driving section according to the section traffic flow information of the target driving section; a comparison module, which is used to compare the average section driving speed and the section free flow speed; and a setting module, which is used to dynamically set a dedicated lane to support the operation of the vehicle queue in the target driving section corresponding to the vehicle queue according to the comparison result and the size data of the vehicle queue.

[0017] A fourth aspect of an embodiment of the present invention provides a computer-readable storage medium, wherein the computer-readable storage medium stores computer instructions, and the computer instructions are used to enable the computer to execute the method for dynamically setting up dedicated lanes to support the operation of an autonomous driving truck vehicle fleet as described in the first aspect of the embodiment of the present invention and any one of the first aspects.

[0018] A fifth aspect of an embodiment of the present invention provides an electronic device, comprising: a memory and a processor, wherein the memory and the processor are communicatively connected to each other, the memory stores computer instructions, and the processor executes the computer instructions to execute the method for dynamically setting up dedicated lanes to support the operation of an autonomous driving truck vehicle fleet as described in the first aspect of the embodiment of the present invention and any one of the first aspects.

[0019] The technical solution provided by the present invention has the following effects:

[0020] The method for dynamically setting a dedicated lane supporting the operation of a self-driving truck vehicle platoon provided in an embodiment of the present invention, when a vehicle platoon is detected entering a preset road section, the formation information of the vehicle platoon is obtained and the target driving section corresponding to the vehicle platoon is determined according to the formation information; the average driving speed and the free flow speed of the section corresponding to the target driving section are determined according to the section traffic flow information of the target driving section; the average driving speed of the section and the free flow speed of the section are compared and processed; and the dedicated lane supporting the operation of the vehicle platoon is dynamically set in the target driving section corresponding to the vehicle platoon according to the comparison result and the scale data of the vehicle platoon. The method determines the scale data of the vehicle platoon based on the obtained formation information of the vehicle platoon, and the transportation efficiency of the vehicle platoon can be determined according to the scale data and whether the dedicated lane is enabled; the influence of the vehicle platoon on the social traffic flow is evaluated based on the obtained section attribute information of the target driving section, and a decision is made whether to set a dedicated lane supporting the operation of the vehicle platoon in the target driving section by balancing the improvement of the transportation efficiency of the self-driving truck platoon and the influence on the social traffic flow, thereby realizing the dynamic setting of the dedicated lane supporting the operation of the self-driving truck vehicle platoon. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] In order to more clearly illustrate the specific implementation methods of the present invention or the technical solutions in the prior art, the drawings required for use in the specific implementation methods or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are some implementation methods of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0022] Figure 1 is a flowchart of a method for dynamically setting a dedicated lane to support the operation of an autonomous driving truck vehicle platoon according to an embodiment of the present invention;

[0023] Figure 2 is a flowchart of a method for dynamically setting a dedicated lane to support the operation of an autonomous driving truck vehicle platoon provided according to an embodiment of the present invention;

[0024] Figure 3is a schematic diagram of an implementation method of a dynamic setting method of a dedicated lane supporting the operation of an autonomous driving truck vehicle platoon according to an embodiment of the present invention;

[0025] Figure 4 is a structural block diagram of a dedicated lane dynamic setting system supporting the operation of an autonomous driving truck vehicle platoon according to an embodiment of the present invention;

[0026] Figure 5 is a schematic diagram of the structure of a dedicated lane dynamic setting system supporting the operation of an autonomous driving truck vehicle platoon provided according to an embodiment of the present invention;

[0027] Figure 6 is a structural block diagram of a device for dynamically setting a dedicated lane to support the operation of a self-driving truck vehicle platoon according to an embodiment of the present invention;

[0028] Figure 7 is a schematic diagram of the structure of a computer-readable storage medium provided according to an embodiment of the present invention;

[0029] Figure 8 is a schematic diagram of the structure of an electronic device provided according to an embodiment of the present invention. DETAILED DESCRIPTION

[0030] In order to make the purpose, technical solution and advantages of the embodiments of the present invention clearer, the technical solution in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative work are within the scope of protection of the present invention.

[0031] The embodiment of the present invention provides a method for dynamically setting a dedicated lane to support the operation of a self-driving truck vehicle platoon, such as Figure 1 As shown, the method comprises the following steps:

[0032] Step S101: when it is detected that a vehicle queue enters a preset road section, the formation information of the vehicle queue is obtained and a target driving section corresponding to the vehicle queue is determined according to the formation information.

[0033] Specifically, the preset road section can be any road section that needs and has the conditions to set up a dedicated lane to support the operation of an autonomous driving truck vehicle queue, such as a highway section. The embodiment of the present application takes the highway as an example to illustrate the technical solution recorded in the embodiment of the present application. Video cameras are respectively set at the locations where the main road of the highway merges and separates from the ramp, and the video cameras can be used to detect whether there is a vehicle queue entering the section of the highway. A roadside RSU (Road Side Unit) device is also set at the entrance of the ramp of the highway to realize the collection and reporting of vehicle queue information. When a vehicle queue is detected to enter, the formation information of the vehicle queue can be obtained using the roadside RSU device, wherein the formation information may include information such as the driving path of the vehicle queue and the location where the vehicle queue is to leave. Finally, the target driving section corresponding to the vehicle queue can be obtained based on the driving path of the vehicle queue and the location where the vehicle queue is to leave.

[0034] Step S102: Determine the average speed and free flow speed of the target driving section according to the traffic flow information of the target driving section. Specifically, a video camera can be used to capture a section image of the target driving section, and the traffic flow information of the section can be obtained by analyzing the section image. The traffic flow information of the section can include information such as cross-sectional traffic flow and driving time, wherein the driving time includes the time when vehicles enter and leave the target driving section.

[0035] The average driving speed and free flow speed of the target driving section can be calculated based on the traffic flow and driving time of the section.

[0036] In one embodiment, assuming that the road distance between the two cameras is s (km), when any vehicle x1 passes through the ramp entrance, the video camera records the time t1, and when the vehicle passes through the ramp exit of the target driving section, the video camera records the time t2. Then the time the vehicle travels is (t2-t1) (h), and the average driving speed of the vehicle x1 on the road section can be calculated. When n vehicles pass through the road section within a certain period of time, the average driving speed of the road section is The free flow speed of a road section is the average speed of the road section from 1:00 to 3:00 a.m. that night (it is generally believed that there are fewer vehicles during this period and the vehicles on the road are not affected by upstream and downstream traffic).

[0037] Step S103: Compare the average speed of the road section with the free flow speed of the road section. Specifically, the comparison between the average speed of the road section and the free flow speed of the road section can be performed by calculating the difference between the average speed of the road section and the free flow speed of the road section or calculating the ratio of the average speed of the road section and the free flow speed of the road section. For example, when the difference between the average speed of the road section and the free flow speed of the road section is used to calculate the size relationship between the two, the closer the difference is to 0, the closer the average speed of the road section is to the free flow speed of the road section, and vice versa; when the ratio of the average speed of the road section and the free flow speed of the road section is used to calculate the size relationship between the two, the closer the ratio is to 1, the closer the average speed of the road section is to the free flow speed of the road section, and vice versa. The method for comparing the average speed of the road section and the free flow speed of the road section is not specifically limited in the present invention, as long as it meets the requirements.

[0038] Step S104: Dynamically set a dedicated lane supporting the operation of the vehicle queue in the target driving section corresponding to the vehicle queue according to the comparison result and the size data of the vehicle queue. Specifically, the comparison processing result can reflect whether the traffic condition of the current target driving section is good according to the size relationship between the average driving speed of the section and the free flow speed of the section, and the transportation efficiency of the vehicle queue can be determined according to the size data of the vehicle queue and whether the dedicated lane is enabled. When a balance is achieved between the two, the dedicated lane supporting the operation of the vehicle queue can be dynamically set in the target driving section.

[0039] The method for dynamically setting up dedicated lanes to support the operation of a queue of autonomous driving trucks provided in an embodiment of the present invention determines the size data of the queue of vehicles based on the acquired formation information of the queue of vehicles, and the transportation efficiency of the queue of vehicles can be determined according to the size data and whether the dedicated lanes are enabled; the impact of the queue of vehicles on the social traffic flow is evaluated based on the acquired section attribute information of the target driving section, and a decision is made whether to set up dedicated lanes to support the operation of the queue of vehicles in the target driving section by achieving a balance between improving the transportation efficiency of the queue of autonomous driving trucks and the impact on the social traffic flow, thereby realizing the dynamic setting of dedicated lanes to support the operation of the queue of autonomous driving trucks.

[0040] As an optional implementation of the embodiment of the present invention, before step S101, the method further includes: obtaining the operation information of the vehicle queue; determining whether the vehicle queue enters the preset road section according to the operation information. Specifically, each vehicle in the automatic driving truck vehicle queue is equipped with an on-board OBU (On board Unit) device, which can collect the operation information of the truck in real time. The on-board OBU device can realize information transmission with the roadside RSU device, and the roadside RSU device is installed at the entrance of the ramp of the highway. Therefore, the background central processor can determine whether the vehicle queue enters the corresponding road section according to the operation information of the vehicle queue obtained by the roadside RSU device. In the present invention, a video camera can be used to detect whether the vehicle queue enters the preset road section, or the on-board OBU device and the roadside RSU device can be used to determine whether the vehicle queue enters the preset road section, or both methods can be used for detection at the same time. The present invention does not make specific restrictions on this, as long as the requirements are met.

[0041] As an optional implementation of the embodiment of the present invention, when a dedicated lane supporting the operation of the vehicle queue is dynamically set in the target driving section corresponding to the vehicle queue according to the size relationship and the scale data of the vehicle queue, the dynamic setting can be performed when a balance is achieved between the traffic conditions of the current target driving section and the transportation efficiency of the vehicle queue. It includes: when the comparison result is greater than the preset first threshold, the target dedicated lane for supporting the operation of the vehicle queue is enabled in the target driving section; when the comparison result is greater than the preset second threshold and less than the preset first threshold, the scale data of the vehicle queue is compared with the preset third threshold; when the scale data of the vehicle queue is greater than the preset third threshold, the target dedicated lane is enabled in the target driving section; when the comparison result is less than the preset second threshold, the target dedicated lane is not enabled in the target driving section.

[0042] First, the traffic conditions of the current target driving section are considered. The better the traffic conditions, the smaller the impact of setting up a dedicated lane supporting the operation of the vehicle platoon in the target driving section on the social traffic flow, and vice versa. The traffic conditions are related to the comparison processing result of the magnitude relationship between the average driving speed of the section and the free flow speed of the section. Therefore, a comparison threshold is determined according to the comparison processing result. When the magnitude relationship is closer to the threshold, it indicates that the dedicated lane supporting the operation of the vehicle platoon can be enabled in the target driving section, and vice versa, it is more important not to disable it.

[0043] For example, when the obtained difference is closer to 0 (comparison threshold) or the obtained ratio is closer to 1 (comparison threshold), it indicates that the traffic condition of the current target driving section is closer to free flow driving. At this time, setting a dedicated lane supporting the operation of the vehicle queue in the target driving section has the least impact on the social traffic flow, that is, the dedicated lane supporting the operation of the vehicle queue can be enabled in the target driving section at this time, otherwise it will not be enabled.

[0044] Secondly, the transport efficiency of the vehicle queue is considered. When the transport efficiency is high, it indicates that the impact of setting up a dedicated lane supporting the operation of the vehicle queue in the target driving section on the social traffic flow is acceptable, and vice versa. The transport efficiency of the vehicle queue is related to the size of the vehicle queue. The larger the size, the higher the transport efficiency. Therefore, a size threshold (preset third threshold) is determined according to actual needs. When the actual size of the vehicle queue is greater than the size threshold, the dedicated lane supporting the operation of the vehicle queue can be enabled in the target driving section, otherwise it will not be enabled.

[0045] Then, a balance is obtained between the traffic conditions of the current target driving section and the transportation efficiency of the vehicle queue. At this time, the preset first threshold and the preset second threshold are determined according to the comparison threshold, wherein the preset first threshold can be a value less than the comparison threshold and closer to the comparison threshold, and the preset second threshold is determined according to the average value of the upper limit value and the lower limit value of the comparison threshold. Specifically, the preset second threshold can be a value greater than the average value of the comparison threshold and closer to the comparison threshold. Among them, the comparison threshold is used to represent the relationship between size, that is, the good situation of the traffic conditions of the current target driving section. Therefore, the upper limit value of the comparison threshold is used to represent the best situation of the traffic conditions of the current target driving section; the lower limit value of the comparison threshold is used to represent the worst situation of the traffic conditions of the current target driving section.

[0046] For example, when the ratio of the average driving speed of a road section to the free flow speed of the road section is used to calculate the size relationship between the two, the upper limit value of the corresponding comparison threshold is 1 and the lower limit value is 0. At this time, the preset first threshold value can be selected as 0.9 and the preset second threshold value can be selected as 0.6.

[0047] At this time, when the magnitude relationship is greater than 0.9, it indicates that the traffic condition of the current target driving section is close to the free flow driving condition, and the activation of the dedicated lane has little impact on the social traffic flow. At this time, the target dedicated lane can be activated in the target driving section. The target dedicated lane can be the innermost driving lane corresponding to the target driving section. The present invention does not make specific limitations on this, and it can be set according to actual needs;

[0048] When the magnitude relationship is greater than 0.6 and less than 0.9, it indicates that the traffic pressure of the current target driving section is at a medium level. At this time, further judgment is made based on the size data of the corresponding vehicle queue: when the size data of the vehicle queue is greater than 5 vehicles (size threshold), the transportation efficiency is high, and the impact of enabling the dedicated lane on the social traffic flow is acceptable. At this time, the target dedicated lane can be enabled in the target driving section, otherwise it will not be enabled;

[0049] When the magnitude relationship is less than 0.6, it indicates that the traffic condition of the current target driving section is poor, and the impact of enabling the dedicated lane on the social traffic flow is unacceptable. At this time, the target dedicated lane is not enabled in the target driving section.

[0050] Finally, when the vehicle queue passes the target driving section and no new vehicle queue is detected entering, the target dedicated lane is stopped and other ordinary vehicles are allowed to enter and drive.

[0051] As an optional implementation of the embodiment of the present invention, an image acquisition device and a display screen are provided on the target dedicated lane, which can detect and capture the license plate when a vehicle that does not belong to the vehicle queue illegally occupies the target dedicated lane, and provide a text prompt when a vehicle that illegally occupies the automatic driving lane is illegally occupied. The image acquisition device is used to collect image information of the target dedicated lane according to the target interval duration; the method also includes: when the target dedicated lane is enabled in the target driving section, the image acquisition device is used to acquire the image information corresponding to the target dedicated lane; when the image information contains a vehicle that does not belong to the vehicle queue, the image acquisition device is used to obtain the license plate information of the vehicle that does not belong to the vehicle queue and send the license plate information to the corresponding display screen for display.

[0052] Specifically, when a target dedicated lane is enabled in a target driving section, the image acquisition device can be used to obtain image information corresponding to the target dedicated lane. When image information of a vehicle that does not belong to the vehicle queue is found in the image information, it indicates that the vehicle that does not belong to the vehicle queue is occupying and driving when the target dedicated lane is enabled. At this time, the image acquisition device is used to obtain the license plate information of the vehicle and send the license plate information to the background central processor, and then the background central processor is used to control the display screen to display it to serve as a prompt.

[0053] As an optional implementation of the embodiment of the present invention, the method also includes: comparing the image information captured by the image acquisition device twice adjacently; when the same target vehicle exists in the image information captured twice adjacently, storing the vehicle information of the target vehicle in a preset database, the vehicle information includes panoramic image information, vehicle license plate information and current timestamp information of the target vehicle, and the target vehicle is a vehicle that does not belong to the vehicle queue.

[0054] Specifically, when the image acquisition device captures the same vehicle for the second time, first, the image acquisition device is used to record the vehicle and take a picture containing the vehicle's panoramic view and license plate details with a time stamp. Second, the picture is saved in a preset database (such as an industrial computer) as evidence of the violation. Then, the video recording, the length of time the vehicle occupies the dedicated lane, the vehicle speed, the location number and other information can also be stored in the preset database. Finally, this information is sent to the background central processor for manual verification.

[0055] As an optional implementation of the embodiment of the present invention, a light-emitting module is provided at the lane dividing line between the target dedicated lane and the non-target dedicated lane, for example, a full-color LED light-emitting floor tile is provided every 50 meters. The light-emitting module can dynamically display multiple colors to indicate whether the target dedicated lane is enabled; the method further includes: when the target dedicated lane is enabled in the target driving section, the light-emitting module is controlled to display in a first color; when the target dedicated lane is enabled in the target driving section and a new vehicle that does not belong to the vehicle queue enters the target dedicated lane, the light-emitting module is controlled to display in a second color periodically; when the target dedicated lane is enabled in the target driving section and there are already vehicles that do not belong to the vehicle queue in the target dedicated lane, the light-emitting module is controlled to display in a second color periodically; when the target dedicated lane is not enabled in the target driving section, the light-emitting module is controlled to turn off the color display.

[0056] Specifically, when the target dedicated lane is enabled, the background central processor controls the light emitting module to display in a first color, for example, controls the full-color LED luminous floor tiles to display orange-yellow; at this time, if a new vehicle that does not belong to the vehicle queue enters the target dedicated lane, or a vehicle that does not belong to the vehicle queue has been driving in the target dedicated lane before the target dedicated lane is enabled, the background central processor controls the light emitting module to display in a second color periodically, for example, controls the full-color LED luminous floor tiles to periodically flash red; when the target dedicated lane is not enabled, the light emitting module is controlled not to work, that is, no color is displayed.

[0057] Specifically, the light emitting module may also be periodically displayed in the second color as a prompt of "leaving the target dedicated lane", that is, when the light emitting module is periodically displayed in the second color, the background central processor controls the corresponding display screen to provide text prompts.

[0058] In one embodiment, the specific implementation process of the method for dynamically setting a dedicated lane to support the operation of an autonomous driving truck vehicle platoon is as follows: Figure 2 shown.

[0059] In one example, if Figure 3 As shown in the figure, when the self-driving truck queue enters the highway entrance ramp, the on-board OBU communicates with the roadside RSU to report the driving information of the truck queue. At the same time, based on the cross-sectional flow and travel time detected by the highway section video camera, it decides whether the conditions for the activation of the self-driving truck queue lane are met. If not, the system will not work. If it is met, the full-color LED luminous floor tiles will turn orange-yellow to prompt the passing vehicles that the self-driving truck queue lane is enabled. If there are other ordinary vehicles occupying the self-driving lane at this time, the LED luminous floor tiles will turn red and flash, and the LED screen will display words such as "Please leave the self-driving lane" to prompt other vehicles to leave. If other networked vehicles also upload driving information, a comprehensive judgment will be made to enter the self-driving lane if the conditions are met. During the activation of the dedicated autonomous driving lane, the road section video camera detects ordinary vehicles that illegally enter the dedicated autonomous driving lane. When the detection determines that an ordinary vehicle is driving in the dedicated autonomous driving lane, on the one hand, the video from 10 seconds ago is retrieved from the memory for a separate recording, and the vehicle is captured to obtain a picture including information such as the vehicle and license plate recognition to obtain information such as the vehicle license plate and model. At the same time, the LED luminous tiles turn into flowing red, and the LED screen displays the text "Please leave the dedicated autonomous driving lane" to prompt ordinary vehicles to leave immediately; if there is no vehicle continuing to drive in the downstream camera, the LED luminous tiles will return to orange-yellow; if the downstream camera captures the same vehicle illegally entering the dedicated autonomous driving lane for the second time, the downstream video camera will record and capture the vehicle and upload the illegal evidence to the illegal alarm database, and the LED luminous tiles will continue to display as flowing red for continuous prompting. When the autonomous driving truck queue passes through this section and enters the next section, and there is no new autonomous driving truck queue request in this section, the dedicated autonomous driving lane will stop being activated, and the LED luminous tiles will not emit light to allow other ordinary vehicles to enter.

[0060] The embodiment of the present invention also provides a dedicated lane dynamic setting system for supporting the operation of an autonomous driving truck vehicle platoon, such as Figure 4 As shown, the dedicated lane dynamic setting system 1 supporting the operation of the automatic driving truck vehicle platoon includes:

[0061] The roadside unit 11 is used to communicate with the vehicle-mounted unit 2 to collect the formation information of the vehicle queue entering the corresponding road section. Specifically, the roadside unit uses DSRC technology to communicate with the vehicle-mounted unit to receive the formation information of the vehicle queue sent by the vehicle-mounted unit.

[0062] The computing unit 12 is communicatively connected to the roadside unit 11, and is used to execute the method for dynamically setting dedicated lanes to support the operation of an autonomous driving truck vehicle platoon as described in an embodiment of the present invention.

[0063] As an optional implementation of the embodiment of the present invention, the system further includes:

[0064] The first image acquisition device 13 is connected to the computing unit 12 and is used to collect vehicle information at the entrance and exit of the road section. Specifically, corresponding first image acquisition devices are respectively set at the locations where the main road of the expressway merges and separates from the ramp. The first image acquisition devices can be video cameras, which are not specifically limited in the present invention as long as the acquisition requirements are met.

[0065] A plurality of second image acquisition devices 14 are connected to the computing unit 12 and are used to acquire driving state information of vehicles in the road section. Specifically, a plurality of second image acquisition devices are arranged in the road section. The driving state information may include the driving speed of the vehicle and the duration of occupying the target dedicated lane.

[0066] As an optional implementation of the embodiment of the present invention, the system further includes: a display screen 15, connected to the computing unit 12, for displaying prompt information. The specific control display method refers to the specific control process in the method for dynamically setting a dedicated lane to support the operation of an autonomous driving truck vehicle platoon provided in the embodiment of the present invention, and will not be repeated here.

[0067] As an optional implementation of the embodiment of the present invention, the system further includes: a light emitting module 16, connected to the computing unit, for emitting light according to the control instruction. The specific control process is referred to the specific control process in the method for dynamically setting a dedicated lane to support the operation of a self-driving truck vehicle platoon provided in the embodiment of the present invention, and will not be repeated here.

[0068] In one example, a dedicated lane dynamic configuration system supporting the operation of a self-driving truck platoon is as follows: Figure 5As shown, the road traffic video camera is set at the location where the main road of the highway merges and separates from the ramp; the automatic driving lane video camera is set in the target dedicated lane; the workstation is the background central processor; the system software is installed in the workstation, which can include front-end license plate recognition and video recording software, which is mainly used to recognize the vehicle license plate of the captured vehicle, extract the video and send the illegal information at the same time. The edge computing unit gathers traffic flow data such as license plate number and vehicle passing time collected by the road video camera and fleet size, driving path and other data uploaded by the automatic driving truck fleet, calculates the average driving speed and free flow speed of the road section based on the traffic flow data, judges the current traffic condition of the road section by the ratio of the two, and judges the cargo transportation efficiency by the fleet size, and saves the computing power of the central server through the edge computing unit.

[0069] The embodiment of the present invention also provides a dedicated lane dynamic setting device for supporting the operation of an autonomous driving truck vehicle platoon, such as Figure 6 As shown, the device comprises:

[0070] The acquisition module 601 is used to acquire the formation information of the vehicle queue and determine the target driving section corresponding to the vehicle queue according to the formation information when a vehicle queue is detected entering a preset section; for details, please refer to the relevant description of step S101 in the above method embodiment.

[0071] The determination module 602 is used to determine the average driving speed and free flow speed of the target driving section according to the traffic flow information of the target driving section; for details, please refer to the relevant description of step S102 in the above method embodiment.

[0072] The comparison module 603 is used to compare the average driving speed of the road section with the free flow speed of the road section; for details, please refer to the relevant description of step S103 in the above method embodiment.

[0073] The setting module 604 is used to dynamically set a dedicated lane supporting the operation of the vehicle queue in the target driving section corresponding to the vehicle queue according to the comparison result and the size data of the vehicle queue; for details, please refer to the relevant description of step S104 in the above method embodiment.

[0074] The device for dynamically setting up dedicated lanes to support the operation of a queue of autonomous driving trucks provided in an embodiment of the present invention determines the size data of the queue of vehicles based on the acquired formation information of the queue of vehicles, and determines the transportation efficiency of the queue of vehicles based on the size data and whether to enable dedicated lanes; evaluates the impact of the queue of vehicles on social traffic flow based on the acquired section attribute information of the target driving section, and decides whether to set up dedicated lanes to support the operation of the queue of vehicles in the target driving section by achieving a balance between improving the transportation efficiency of the queue of autonomous driving trucks and the impact on social traffic flow, thereby realizing the dynamic setting of dedicated lanes to support the operation of the queue of vehicles.

[0075] As an optional implementation of the embodiment of the present invention, the device further includes: a first acquisition module, used to acquire operation information of the vehicle queue; and a first determination module, used to determine whether the vehicle queue enters the preset road section according to the operation information.

[0076] As an optional implementation manner of the embodiment of the present invention, the setting module includes: a first enabling word module, which is used to enable a target dedicated lane for supporting the operation of the vehicle queue in the target driving section when the comparison result is greater than a preset first threshold; a first comparison sub-module, which is used to compare the size data of the vehicle queue with a preset third threshold when the comparison result is greater than a preset second threshold and less than the preset first threshold; a second enabling word module, which is used to enable the target dedicated lane in the target driving section when the size data of the vehicle queue is greater than the preset third threshold; and a first closing sub-module, which is used to not enable the target dedicated lane in the target driving section when the comparison result is less than the preset second threshold.

[0077] As an optional implementation manner of the embodiment of the present invention, an image acquisition device and a display screen are provided on the target dedicated lane; the device also includes: a second acquisition module, used to acquire image information corresponding to the target dedicated lane acquired by the image acquisition device when the target dedicated lane is enabled in the target driving section; a first processing module, used to acquire license plate information of the vehicle that does not belong to the vehicle queue by using the image acquisition device when the image information contains a vehicle that does not belong to the vehicle queue and send the license plate information to the corresponding display screen for display.

[0078] As an optional implementation of the embodiment of the present invention, the device also includes: a first comparison module, used to compare the image information captured by the image acquisition device twice adjacently; a second processing module, used to store the vehicle information of the target vehicle in a preset database when the same target vehicle exists in the image information captured twice adjacently, the vehicle information including panoramic image information, vehicle license plate information and current timestamp information of the target vehicle, and the target vehicle is a vehicle that does not belong to the vehicle queue.

[0079] As an optional implementation manner of the embodiment of the present invention, a light-emitting module is provided on the lane dividing line between the target dedicated lane and the non-target dedicated lane; the device also includes: a first control module, used to control the light-emitting module to display a first color when the target dedicated lane is enabled in the target driving section; a second control module, used to control the light-emitting module to display periodically in a second color when the target dedicated lane is enabled in the target driving section and a new vehicle that does not belong to the vehicle queue enters the target dedicated lane; a third control module, used to control the light-emitting module to display periodically in the second color when the target dedicated lane is enabled in the target driving section and a vehicle that does not belong to the vehicle queue already exists in the target dedicated lane; and a fourth control module, used to control the light-emitting module to turn off the color display when the target dedicated lane is not enabled in the target driving section.

[0080] As an optional implementation of the embodiment of the present invention, the device further includes: a fifth control module, which is used to control the display screen to provide text prompts when the light-emitting module periodically displays in the second color.

[0081] For a detailed description of the functions of the device for dynamically setting dedicated lanes to support the operation of a queue of autonomous truck vehicles provided in an embodiment of the present invention, please refer to the description of the method for dynamically setting dedicated lanes to support the operation of a queue of autonomous truck vehicles in the above embodiment.

[0082] The embodiment of the present invention also provides a storage medium, such as Figure 7As shown, a computer program 701 is stored thereon, and when the instruction is executed by the processor, the steps of the method for dynamically setting a dedicated lane to support the operation of a fleet of autonomous truck vehicles in the above-mentioned embodiment are implemented. The storage medium also stores audio and video stream data, feature frame data, interaction request signaling, encrypted data, and preset data size, etc. Among them, the storage medium can be a disk, an optical disk, a read-only memory (ROM), a random access memory (RAM), a flash memory (Flash Memory), a hard disk (Hard Disk Drive, abbreviated: HDD) or a solid-state drive (SSD), etc.; the storage medium can also include a combination of the above-mentioned types of memory.

[0083] Those skilled in the art can understand that all or part of the processes in the above-mentioned embodiments can be implemented by instructing the relevant hardware through a computer program, and the program can be stored in a computer-readable storage medium, and when the program is executed, it can include the processes of the embodiments of the above-mentioned methods. Among them, the storage medium can be a disk, an optical disk, a read-only memory (ROM), a random access memory (RAM), a flash memory, a hard disk drive (HDD) or a solid-state drive (SSD), etc.; the storage medium can also include a combination of the above-mentioned types of memory.

[0084] The embodiment of the present invention further provides an electronic device, such as Figure 8 As shown, the electronic device may include a processor 81 and a memory 82, wherein the processor 81 and the memory 82 may be connected via a bus or other means. Figure 8 The example of connecting through bus is taken in the following.

[0085] The processor 81 may be a central processing unit (CPU). The processor 81 may also be other general-purpose processors, digital signal processors (DSP), application-specific integrated circuits (ASIC), field-programmable gate arrays (FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, or a combination of the above chips.

[0086] The memory 82 is a non-transitory computer-readable storage medium that can be used to store non-transitory software programs, non-transitory computer executable programs and modules, such as the corresponding program instructions / modules in the embodiment of the present invention. The processor 81 executes various functional applications and data processing of the processor by running the non-transitory software programs, instructions and modules stored in the memory 82, that is, the dynamic setting method of dedicated lanes supporting the operation of the autonomous driving truck vehicle fleet in the above method embodiment is realized.

[0087] The memory 82 may include a program storage area and a data storage area, wherein the program storage area may store the application required for the operating device and at least one function; the data storage area may store data created by the processor 81, etc. In addition, the memory 82 may include a high-speed random access memory, and may also include a non-volatile memory, such as at least one disk storage device, a flash memory device, or other non-volatile solid-state storage device. In some embodiments, the memory 82 may optionally include a memory remotely arranged relative to the processor 81, and these remote memories may be connected to the processor 81 via a network. Examples of the above-mentioned network include, but are not limited to, the Internet, an intranet, a local area network, a mobile communication network, and combinations thereof.

[0088] The one or more modules are stored in the memory 82 and when executed by the processor 81, perform the following steps: Figure 1 -3 shows a method for dynamically setting up dedicated lanes to support the operation of a self-driving truck vehicle platoon in the embodiment shown in FIG.

[0089] For details of the above electronic equipment, please refer to Figures 1 to 3 The corresponding related descriptions and effects in the illustrated embodiments can be understood and will not be repeated here.

[0090] Although the embodiments of the present invention have been described in conjunction with the accompanying drawings, those skilled in the art may make various modifications and variations without departing from the spirit and scope of the present invention, and such modifications and variations are all within the scope defined by the appended claims.

Claims

1. A method for dynamically setting dedicated lanes to support the operation of a platoon of autonomous trucks, characterized in that: The steps include: When it is detected that a vehicle queue enters a preset road section, obtaining the formation information of the vehicle queue and determining the target driving section corresponding to the vehicle queue according to the formation information; Determine the average driving speed and free flow speed of the target driving section according to the traffic flow information of the target driving section; Comparing the average speed of the road section with the free flow speed of the road section; Dynamically setting a dedicated lane supporting the operation of the vehicle queue in a target driving section corresponding to the vehicle queue according to the comparison result and the size data of the vehicle queue, wherein the comparison result reflects the current traffic condition of the target driving section, and the size data of the vehicle queue reflects the transportation efficiency of the vehicle queue, wherein when the current traffic condition of the target driving section and the transportation efficiency of the vehicle queue are balanced, dynamically setting a dedicated lane supporting the operation of the vehicle queue in the target driving section; Wherein, determining the section average driving speed and the section free flow speed corresponding to the target driving section according to the section traffic flow information of the target driving section includes: Determine the cross-sectional traffic flow and travel time according to the traffic flow information of the target travel section, wherein the travel time includes the time when vehicles enter and leave the target travel section; According to the cross-sectional traffic flow and the driving time, the average driving speed of the section and the free flow speed of the section corresponding to the target driving section are calculated.

2. The method according to claim 1, characterized in that: When it is detected that a vehicle queue enters a preset road section, before obtaining the formation information of the vehicle queue and determining the target driving road section corresponding to the vehicle queue according to the formation information, the method further includes: Acquiring operation information of the vehicle queue; Determine whether the vehicle queue enters the preset road section according to the operation information.

3. The method according to claim 1, characterized in that Dynamically setting a dedicated lane supporting the operation of the vehicle queue in a target driving section corresponding to the vehicle queue according to the comparison result and the size data of the vehicle queue, including: When the comparison result is greater than a preset first threshold, enabling a target dedicated lane for supporting the operation of the vehicle queue in the target driving section; When the comparison result is greater than the preset second threshold and less than the preset first threshold, comparing the size data of the vehicle queue with a preset third threshold; When the size data of the vehicle queue is greater than the preset third threshold, enabling the target dedicated lane in the target driving section; When the comparison result is less than the preset second threshold, the target dedicated lane is not enabled in the target driving section.

4. The method according to claim 3, characterized in that: An image acquisition device and a display screen are provided on the target dedicated lane, and the image acquisition device is used to acquire image information of the target dedicated lane according to the target interval duration; The method further comprises: When the target dedicated lane is enabled in the target driving section, acquiring image information corresponding to the target dedicated lane acquired by the image acquisition device; When the image information includes a vehicle that does not belong to the vehicle queue, the image acquisition device is used to obtain the license plate information of the vehicle that does not belong to the vehicle queue and send the license plate information to the corresponding display screen for display.

5. The method according to claim 4, characterized in that The method further comprises: Comparing the image information acquired by the image acquisition device twice consecutively; When the same target vehicle exists in the image information collected twice adjacently, the vehicle information of the target vehicle is stored in a preset database, wherein the vehicle information includes the panoramic image information, vehicle license plate information and current timestamp information of the target vehicle, and the target vehicle is a vehicle that does not belong to the vehicle queue.

6. The method according to claim 4, characterized in that The lane boundary between the target dedicated lane and the non-target dedicated lane is provided with a light emitting module; the method further comprises: When the target dedicated lane is enabled in the target driving section, controlling the light emitting module to display a first color; When the target dedicated lane is enabled in the target driving section and a new vehicle that does not belong to the vehicle queue enters the target dedicated lane, controlling the light emitting module to perform periodic display in a second color; When the target dedicated lane is enabled in the target driving section and a vehicle that does not belong to the vehicle queue already exists in the target dedicated lane, controlling the light emitting module to perform periodic display in a second color; When the target dedicated lane is not enabled in the target driving section, the light emitting module is controlled to turn off the color display.

7. The method according to claim 6, characterized in that The method further comprises: When the light emitting module performs periodic display in the second color, the display screen is controlled to perform text prompts.

8. A dynamic setting system for dedicated lanes supporting the operation of a platoon of autonomous trucks, characterized in that: include: A roadside unit, the roadside unit is used to communicate with the vehicle-mounted unit and collect formation information of a vehicle queue entering a corresponding road section; A computing unit is communicatively connected to the roadside unit and is used to execute the steps of a method for dynamically setting a dedicated lane to support the operation of an autonomous driving truck vehicle platoon as described in any one of claims 1 to 7.

9. The system according to claim 8, characterized in that The system further comprises: A first image acquisition device, connected to the computing unit, for acquiring vehicle information at the entrance and exit of the road section; A plurality of second image acquisition devices are connected to the computing unit and are used to acquire driving status information of vehicles in the road section.

10. The system according to claim 8, characterized in that The system further comprises: a display screen connected to the computing unit and used for displaying prompt information.

11. The system according to claim 8, characterized in that The system further comprises: a light emitting module connected to the computing unit and configured to perform light emitting display according to control instructions.

12. A dynamic setting device for dedicated lanes supporting the operation of a platoon of autonomous trucks, characterized in that: include: An acquisition module, configured to acquire formation information of the vehicle queue and determine a target driving section corresponding to the vehicle queue according to the formation information when a vehicle queue is detected to enter a preset road section; A determination module, used to determine the average driving speed and free flow speed of the section corresponding to the target driving section according to the section traffic flow information of the target driving section; A comparison module, used for comparing the average speed of the road section with the free flow speed of the road section; a setting module, configured to dynamically set a dedicated lane supporting the operation of the vehicle queue in a target driving section corresponding to the vehicle queue according to a comparison result and the size data of the vehicle queue, wherein the comparison result reflects the current traffic condition of the target driving section, and the size data of the vehicle queue reflects the transportation efficiency of the vehicle queue, wherein when the current traffic condition of the target driving section and the transportation efficiency of the vehicle queue are balanced, the dedicated lane supporting the operation of the vehicle queue is dynamically set in the target driving section; The determination module is specifically used to: determine the cross-sectional traffic flow and travel time according to the section traffic flow information of the target travel section, wherein the travel time includes the time when vehicles enter and leave the target travel section; According to the cross-sectional traffic flow and the driving time, the average driving speed of the section and the free flow speed of the section corresponding to the target driving section are calculated.

13. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores computer instructions, and the computer instructions are used to enable the computer to execute the method for dynamically setting dedicated lanes to support the operation of an autonomous driving truck vehicle fleet as described in any one of claims 1 to 7.

14. An electronic device, characterized in that: include: A memory and a processor, wherein the memory and the processor are communicatively connected to each other, the memory stores computer instructions, and the processor executes the method for dynamically setting dedicated lanes to support the operation of a fleet of autonomous driving trucks as described in any one of claims 1 to 7 by executing the computer instructions.

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