A collision avoidance method for two-way vehicle platooning in full tidal road section environment

Abstract

The present application relates to a method for meeting and avoiding collisions in a two-way vehicle group formation in a full tidal road section environment, wherein the method includes: calculating the target formation configuration of a multi-lane road scene of a full tidal lane while obtaining the current geometric structure of the full tidal lane; based on the target formation configuration and the current geometric structure, using a preset A* algorithm to calculate the relative driving path of each vehicle in a relative coordinate system, and using the relative driving path of the front vehicle as a time-space constraint in the path planning process of the rear vehicle, and planning the relative motion path within the vehicle group; based on the relative motion path within the vehicle group, determining the advance time of the formation structure change of the full tidal lane, and when the advance time of the formation structure change is reached, meeting and avoiding collisions are performed according to the relative motion path within the vehicle group. Thus, the problems that the related technology may cause deadlock, fail to derive a reasonable lane change order, and fail to consider the traffic efficiency benefits of the vehicle group as a whole are solved.

Description

Technical Field

[0001] The present application relates to the field of vehicle control technology, and in particular to a method for avoiding collisions of two-way vehicle groups in a platoon in a full-tidal road section environment. Background Art

[0002] Multi-lane road sections are a common scenario in road traffic systems. In suburban, rural or other underdeveloped road environments, the direction of travel of the lane is often not clearly restricted, forming a multi-tidal lane scenario that is passable in both the forward and reverse directions. This scenario may also exist in future intelligent transportation systems. By removing the restrictions on the direction of travel of the lane, the road can be given the ability to self-regulate in different traffic flow environments, thereby improving traffic efficiency. In such a lane environment, forward and reverse vehicles may occupy the same lane. If the vehicles are not properly guided to change lanes, collisions may occur, affecting driving safety.

[0003] To address the above issues, relevant technologies are mainly based on the first-come, first-served principle, that is, vehicles that enter the road section first can obtain higher road use rights, while vehicles that enter later need to give way.

[0004] However, when the traffic volume increases, the related technology may cause priority confusion within different vehicle groups. For example, the driving priority of some vehicles in the forward vehicle group is between two vehicles in the reverse vehicle group, which will lead to deadlock and inability to come up with a reasonable lane changing order. In addition, the related technology cannot consider the traffic efficiency benefits of the vehicle group as a whole, and the solution obtained needs to be improved in terms of efficiency optimality. Summary of the invention

[0005] The present application provides a method for platooning and avoiding collisions of two-way vehicles in a full-tidal road section environment, so as to solve the problems that related technologies may cause deadlock, fail to derive a reasonable lane change sequence, and fail to consider the traffic efficiency benefits of the vehicle group as a whole.

[0006] A first aspect of the present application provides a method for meeting and collision avoidance of a two-way vehicle group in a full-tidal road section environment, comprising the following steps: calculating a target formation configuration of a multi-lane road scene of a full-tidal lane while acquiring a current geometric structure of the full-tidal lane; based on the target formation configuration and the current geometric structure, calculating the relative driving path of each vehicle in a relative coordinate system using a preset A* algorithm, and using the relative driving path of the front vehicle as a spatiotemporal constraint in the path planning process of the rear vehicle to plan a relative motion path within the vehicle group; and based on the relative motion path within the vehicle group, determining an advance time for a formation structure change of the full-tidal lane, and when the advance time for the formation structure change is reached, performing meeting and collision avoidance according to the relative motion path within the vehicle group.

[0007] Optionally, in one embodiment of the present application, while calculating the target formation configuration of the multi-lane road scene of the full tidal lane, the current geometric structure of the full tidal lane is obtained, including: determining the coordinate scale of the relative coordinate system; calculating the current geometric structure according to the current relative position of the vehicle group; based on the current geometric structure, allocating the number of driving lanes for each vehicle group according to the number of vehicles in the two-way vehicle group; generating an expected formation structure in the relative coordinate system according to the staggered formation structure or the parallel formation structure according to the number of driving lanes of each vehicle group and the number of vehicles corresponding to the number of driving lanes, and calculating the relative coordinates of each expected target position to determine the target formation configuration.

[0008] Optionally, in one embodiment of the present application, determining the advance time of the formation structure change of the full tidal lane includes: determining the longest path based on the relative motion path; calculating the time required for adjusting the structure of the current vehicle group based on the longest path, and determining the advance time of the formation structure change.

[0009] Optionally, in one embodiment of the present application, determining the advance time of the formation structure change includes: respectively calculating the time required for adjusting the structures of two vehicle groups traveling in forward and reverse directions; and calculating the advance time of the formation structure change by working backwards from the intersection time based on the time required for adjusting the structure.

[0010] A second aspect of the present application provides a two-way vehicle group formation meeting and collision avoidance device in a full-tidal road section environment, including: an acquisition module, used to calculate the target formation configuration of the multi-lane road scene of the full-tidal lane and obtain the current geometric structure of the full-tidal lane; a planning module, used to calculate the relative driving path of each vehicle in a relative coordinate system based on the target formation configuration and the current geometric structure using a preset A* algorithm, and use the relative driving path of the front vehicle as the time and space constraint in the path planning process of the rear vehicle to plan the relative motion path within the vehicle group; and a collision avoidance module, used to determine the advance time of the formation structure change of the full-tidal lane based on the relative motion path within the vehicle group, and when the advance time of the formation structure change is reached, perform meeting and collision avoidance according to the relative motion path within the vehicle group.

[0011] Optionally, in one embodiment of the present application, the acquisition module includes: a first determination unit, used to determine the coordinate scale of the relative coordinate system; a first calculation unit, used to calculate the current geometric structure according to the current relative position of the vehicle group; an allocation unit, used to allocate the number of driving lanes for each vehicle group according to the number of vehicles in the two-way vehicle group based on the current geometric structure; a generation unit, used to generate an expected formation structure in the relative coordinate system according to the number of driving lanes of each vehicle group and the number of vehicles corresponding to it in an staggered formation structure or a parallel formation structure, and calculate the relative coordinates of each expected target position to determine the target formation configuration.

[0012] Optionally, in one embodiment of the present application, the collision avoidance module includes: a second determination unit, used to determine the longest path based on the relative motion path; a third determination unit, used to calculate the time required for adjusting the structure of the current vehicle group based on the longest path, and determine the advance time of the formation structure change.

[0013] Optionally, in one embodiment of the present application, the collision avoidance module further includes: a second calculation unit, used to respectively calculate the time required for adjusting the structures of two vehicle groups traveling in forward and reverse directions; and a third calculation unit, used to calculate the advance time of the formation structure change by working backwards from the intersection moment based on the time required for adjusting the structure.

[0014] A third aspect of the present application provides an electronic device, including: a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the program to implement the method for meeting and avoiding collisions of a group of two-way vehicles in a full tidal road section environment as described in the above embodiment.

[0015] A fourth aspect of the present application provides a computer-readable storage medium storing a computer program that, when executed by a processor, implements the above-mentioned method for two-way vehicle formation meeting and collision avoidance in a full tidal road section environment.

[0016] Therefore, the embodiments of the present application have the following beneficial effects:

[0017] The embodiments of the present application can obtain the current geometric structure of the full tidal lane while calculating the target formation configuration of the multi-lane road scene of the full tidal lane; based on the target formation configuration and the current geometric structure, the preset A* algorithm is used to calculate the relative driving path of each vehicle in the relative coordinate system, and the relative driving path of the front vehicle is used as the spatiotemporal constraint in the path planning process of the rear vehicle to plan the relative motion path within the vehicle group; based on the relative motion path within the vehicle group, the advance time of the formation structure change of the full tidal lane is determined, and when the advance time of the formation structure change is reached, the relative motion path within the vehicle group is used to avoid collision. Thus, the traffic efficiency benefits of the vehicle group are considered as a whole, and collisions within the vehicle group and vehicles traveling in opposite directions at the intersection are effectively avoided, reducing the computational challenges brought by the vehicle model constraints. Thus, the problems that the related technology may cause deadlock, fail to derive a reasonable lane change order, and fail to consider the traffic efficiency benefits of the vehicle group as a whole are solved.

[0018] Additional aspects and advantages of the present application will be given in part in the description below, and in part will become apparent from the description below, or will be learned through the practice of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] The above and / or additional aspects and advantages of the present application will become apparent and easily understood from the following description of the embodiments in conjunction with the accompanying drawings, in which:

[0020] Figure 1 A flowchart of a two-way vehicle group formation meeting and collision avoidance method in a full tidal road section environment provided according to an embodiment of the present application;

[0021] Figure 2 A schematic diagram of an initial geometric structure of a vehicle group provided according to an embodiment of the present application;

[0022] Figure 3 A schematic diagram of an expected geometric structure of a vehicle group provided according to an embodiment of the present application;

[0023] Figure 4 This is an example diagram of a two-way vehicle group formation meeting and collision avoidance device in a full tidal road section environment according to an embodiment of the present application;

[0024] Figure 5 A schematic diagram of the structure of an electronic device provided for an application embodiment.

[0025] Explanation of reference numerals: two-way vehicle platoon meeting and collision avoidance device in full tidal road section environment - 10; acquisition module - 100, planning module - 200, collision avoidance module - 300; memory - 501, processor - 502, communication interface - 503. DETAILED DESCRIPTION

[0026] Embodiments of the present application are described in detail below, and examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are intended to be used to explain the present application, and should not be construed as limiting the present application.

[0027] The following describes the method for avoiding collisions of two-way vehicle group formations in the full tidal road section environment of the embodiment of the present application with reference to the accompanying drawings. In view of the problems mentioned in the above background technology, the present application provides a method for avoiding collisions of two-way vehicle group formations in the full tidal road section environment. In the method, the current geometric structure of the full tidal lane is obtained while calculating the target formation configuration of the multi-lane road scene of the full tidal lane; based on the target formation configuration and the current geometric structure, the relative driving path of each vehicle is calculated in the relative coordinate system using the preset A* algorithm, and the relative driving path of the front vehicle is used as the spatiotemporal constraint in the path planning process of the rear vehicle to plan the relative motion path inside the vehicle group; based on the relative motion path inside the vehicle group, the advance time of the formation structure change of the full tidal lane is determined, and when the advance time of the formation structure change is reached, the relative motion path inside the vehicle group is followed to avoid collisions. Thus, the traffic efficiency benefits of the vehicle group are considered as a whole, and collisions between the vehicle group and the vehicle group traveling in opposite directions at the intersection are effectively avoided, and the computational challenges brought by the model constraints of the vehicle are reduced. This solves the problems that related technologies may cause deadlock, fail to come up with a reasonable lane-changing sequence, and fail to consider the traffic efficiency benefits of the vehicle group as a whole.

[0028] Specifically, Figure 1 A flow chart of a method for platooning and avoiding collision in a two-way vehicle group in a full tidal road section environment provided in an embodiment of the present application.

[0029] like Figure 1 As shown, the two-way vehicle group formation meeting and collision avoidance method in the full tidal road section environment includes the following steps:

[0030] In step S101 , while calculating the target formation configuration of a multi-lane road scene of a full tidal lane, the current geometric structure of the full tidal lane is obtained.

[0031] It should be noted that the above target formation configuration, ie the expected formation configuration, refers to the geometric configuration formed after the vehicle group completes the structural switching. The embodiments of the present application can use the relative coordinate system of the vehicle group movement to describe the vehicle group movement and constrain vehicle behavior.

[0032] Those skilled in the art can understand that the embodiments of the present application can obtain the relative motion state of the vehicle relative to the vehicle group by subtracting the overall motion state of the vehicle group from the actual absolute motion state of the vehicle. The embodiments of the present application can be based on the relative coordinate system to calculate the desired configuration target position coordinates that can be achieved by the vehicle group, and obtain the current geometric structure of the full tidal lane, so as to plan the vehicle motion in the relative motion coordinate system, effectively reducing the computational challenges brought by the vehicle model constraints.

[0033] Optionally, in one embodiment of the present application, while calculating the target formation configuration of a multi-lane road scene with full tidal lanes, the current geometric structure of the full tidal lanes is obtained, including: determining the coordinate scale of the relative coordinate system; calculating the current geometric structure according to the current relative position of the vehicle group; based on the current geometric structure, allocating the number of driving lanes to each vehicle group according to the number of vehicles in the two-way vehicle group; generating an expected formation structure in the relative coordinate system according to the number of driving lanes and the corresponding number of vehicles in each vehicle group in an staggered formation structure or a parallel formation structure, and calculating the relative coordinates of each expected target position to determine the target formation configuration.

[0034] It should be noted that in order to achieve the collision avoidance of two-way vehicle group formation in the full tidal road section environment, it is necessary to first calculate the expected configuration of vehicle meeting in the full tidal lane. The embodiment of the present application can first establish a relative coordinate system for vehicle group movement, and then define the relative coordinates of the target position of the expected geometric configuration in the relative coordinate system, so as to calculate the expected configuration based on the relative coordinate system. The specific steps are as follows:

[0035] S1: Define the coordinate scale of the relative coordinate system, where the X-axis scale can be defined by the safe longitudinal following distance, for example, the X-coordinates of multiple vehicles traveling in the same lane differ by 1; the Y-axis scale can be defined by the lane width, for example, the Y-coordinates of multiple vehicles traveling side by side in adjacent lanes differ by 1;

[0036] S2: Calculate the initial formation configuration based on the current relative position of the vehicle group. The X coordinate of the front vehicle can be selected as 0 and the Y coordinate of the leftmost lane can be selected as 0. This defines the origin of the coordinate system and calculates the relative coordinate values ​​of each vehicle in the vehicle group one by one. It should be noted that this coordinate system must retain integers. If all vehicles are at the same coordinate, they should be adjusted by accelerating, decelerating, and changing lanes before the algorithm starts to avoid the same coordinates. The current (initial) geometric configuration of the vehicle is as follows: Figure 2 As shown;

[0037] S3: According to the number of vehicles in the two-way vehicle group, allocate the number of driving lanes for the two vehicle groups to maximize the use of lane resources. For example, when the number of vehicles in the two-way vehicle group is n1 and n2 respectively, and the total number of lanes is m, it is only necessary to consider k (1≤k≤m-1) to make max(n1 / k,n2 / (mk)) as small as possible, and then select k and mk two-way lanes respectively;

[0038] S4: According to the number of lanes assigned to each vehicle group and the number of vehicles in the vehicle group, design the desired formation structure in the relative coordinate system according to the staggered formation structure or the parallel formation structure, and calculate the relative coordinates of each desired target position. Figure 3 shown.

[0039] Therefore, the embodiments of the present application calculate the expected configuration of vehicle meeting in the full tidal lane based on the relative coordinate system, which not only reduces the calculation amount of vehicle model constraints and fully utilizes lane resources, but also provides reliable data support for the switching of formation structure in subsequent meeting scenarios.

[0040] In step S102, based on the target formation configuration and the current geometric structure, the preset A* algorithm is used to calculate the relative driving path of each vehicle in the relative coordinate system, and the relative driving path of the front vehicle is used as the spatiotemporal constraint in the path planning process of the rear vehicle to plan the relative motion path within the vehicle group.

[0041] It should be noted that in the relative coordinate system, the movement of the vehicle is discretized, and the vehicle moves between adjacent grids. Therefore, the path planning algorithm commonly used in grid maps can be used to calculate the relative movement path of the vehicle.

[0042] Based on the target formation configuration and the current geometric structure of the vehicle group obtained above, the embodiments of the present application can calculate the relative driving path of each vehicle in a gridded relative coordinate system through the A* algorithm, and use the driving path result of the front vehicle as the spatiotemporal constraint in the path planning process of the rear vehicle to realize the switching of the formation structure in the meeting scenario.

[0043] The following uses the A* algorithm as an example to introduce in detail the switching of the vehicle group formation structure in the embodiment of the present application. It is assumed that the time taken by the vehicles to move between different coordinate points is equal. The specific process is as follows:

[0044] S1: First, assign each vehicle its target location. You can use the Hungarian algorithm, simplex algorithm, etc., input the current position coordinates and expected position coordinates of the vehicle group, define the allocation cost as the number of grids that the vehicle needs to pass through from the current position to the target position, and then you can get the vehicle-target position allocation relationship with the best total cost;

[0045] S2: Use the A* algorithm to plan the relative movement paths of the vehicles in the order from front to back within the vehicle group. For the vehicles that have been planned, their positions at different times will become the position constraints of the vehicles planned after them, that is, restricting the temporal and spatial movement relationship of different vehicles, preventing vehicles from reaching the same coordinate point at the same time, thereby avoiding collisions.

[0046] It can be understood that the embodiments of the present application switch the vehicle group formation structure based on the A* algorithm to reasonably plan the movement path of each vehicle within the vehicle group, thereby effectively avoiding collisions within the vehicle group when the vehicle group is switching the formation structure and ensuring driving safety.

[0047] In step S103, based on the relative motion path within the vehicle group, the advance time for the formation structure change of the full tidal lane is determined, and when the advance time for the formation structure change is reached, the vehicle group is guided to avoid collision according to the relative motion path within the vehicle group.

[0048] After rationally planning the movement path of each vehicle within the vehicle group, further, the embodiments of the present application can determine the advance time for the formation structure change of the entire tidal lane based on the relative movement path within the vehicle group, and when the advance time for the formation structure change is reached, it can perform oncoming and collision avoidance according to the relative movement path within the vehicle group, thereby effectively avoiding priority confusion within the same vehicle group and improving traffic efficiency.

[0049] Optionally, in one embodiment of the present application, determining the advance time of the formation structure change of the full tidal lane includes: determining the longest path based on the relative motion path; calculating the time required for adjusting the structure of the current vehicle group based on the longest path, and determining the advance time of the formation structure change.

[0050] It should be noted that the advance time for changing the formation structure refers to the time when the vehicle group starts to switch the formation structure at a certain distance from the vehicle group traveling in the opposite direction.

[0051] In the relative coordinate system, assuming that the time intervals used by vehicles when moving between different coordinate points are the same, after planning the relative movement path within the vehicle group, the embodiments of the present application can calculate the vehicle with the longest relative movement path (the longest time to complete the relative path) among all the vehicles in the vehicle group, and use its movement time as the advance time for the formation structure change. The time required for the vehicle group to adjust its structure can be calculated based on the longest path, thereby ensuring that the vehicle group can complete the structure switch before reaching the intersection, effectively avoiding collisions between vehicles traveling in opposite directions at the intersection.

[0052] Optionally, in one embodiment of the present application, determining the advance time of the formation structure change includes: calculating the time required for adjusting the structures of two vehicle groups traveling in forward and reverse directions respectively; and calculating the advance time of the formation structure change by working backwards from the intersection time based on the time required for adjusting the structure.

[0053] The embodiments of the present application can calculate the time required for the vehicle group to adjust its structure based on the longest path. After calculating the time required for the two vehicle groups traveling in the forward and reverse directions, the advance time for the formation structure change in the meeting scenario can be calculated by working backwards from the intersection time.

[0054] Therefore, the embodiments of the present application can reasonably guide vehicles traveling in both directions in a full tidal road section environment, avoiding collisions between vehicles traveling in opposite directions at intersections due to occupying the same lane, effectively ensuring driving safety and improving traffic efficiency.

[0055] According to the method for meeting and avoiding collisions of two-way vehicle group formations in a full tidal lane section environment proposed in the embodiment of the present application, the current geometric structure of the full tidal lane is obtained while calculating the target formation configuration of the multi-lane road scene of the full tidal lane; based on the target formation configuration and the current geometric structure, the relative driving path of each vehicle is calculated in the relative coordinate system using the preset A* algorithm, and the relative driving path of the front vehicle is used as the spatiotemporal constraint in the path planning process of the rear vehicle to plan the relative motion path within the vehicle group; based on the relative motion path within the vehicle group, the advance time of the formation structure change of the full tidal lane is determined, and when the advance time of the formation structure change is reached, meeting and avoiding collisions are performed according to the relative motion path within the vehicle group. Thus, the traffic efficiency benefits of the vehicle group are considered as a whole, collisions within the vehicle group and vehicles traveling in opposite directions at intersections are effectively avoided, and the computational challenges brought by the model constraints of the vehicle are reduced.

[0056] Next, a two-way vehicle platoon meeting and collision avoidance device in a full tidal road section environment proposed according to an embodiment of the present application will be described with reference to the accompanying drawings.

[0057] Figure 4 It is a block diagram of a two-way vehicle group formation meeting and collision avoidance device in a full tidal road section environment of an embodiment of the present application.

[0058] like Figure 4 As shown, the two-way vehicle group formation meeting and collision avoidance device 10 in the full tidal road section environment includes: an acquisition module 100, a planning module 200 and a collision avoidance module 300.

[0059] The acquisition module 100 is used to calculate the target formation configuration of the multi-lane road scene of the full tidal lane and acquire the current geometric structure of the full tidal lane.

[0060] The planning module 200 is used to calculate the relative driving path of each vehicle in the relative coordinate system based on the target formation configuration and the current geometric structure using the preset A* algorithm, and use the relative driving path of the front vehicle as the spatiotemporal constraint in the path planning process of the rear vehicle to plan the relative motion path within the vehicle group.

[0061] The collision avoidance module 300 is used to determine the advance time of the formation structure change of the full tidal lane based on the relative motion path within the vehicle group, and when the advance time of the formation structure change is reached, perform oncoming collision avoidance according to the relative motion path within the vehicle group.

[0062] Optionally, in one embodiment of the present application, the acquisition module 100 includes: a first determination unit, a first calculation unit, an allocation unit, and a generation unit.

[0063] Wherein, the first determining unit is used to determine the coordinate scale of the relative coordinate system.

[0064] The first calculation unit is used to calculate the current geometric structure according to the current relative position of the vehicle group.

[0065] The allocation unit is used to allocate the number of driving lanes to each vehicle group according to the number of vehicles in the bidirectional vehicle group based on the current geometric structure.

[0066] The generation unit is used to generate an expected formation structure in a staggered formation structure or a parallel formation structure in a relative coordinate system according to the number of driving lanes and the number of vehicles corresponding to each vehicle group, and calculate the relative coordinates of each expected target position to determine the target formation configuration.

[0067] Optionally, in one embodiment of the present application, the collision avoidance module 300 includes: a second determination unit and a third determination unit.

[0068] Wherein, the second determining unit is used to determine the longest path according to the relative motion path.

[0069] The third determining unit is used to calculate the time required for adjusting the structure of the current vehicle group according to the longest path, and determine the advance time of the formation structure change.

[0070] Optionally, in one embodiment of the present application, the collision avoidance module 300 further includes: a second calculation unit and a third calculation unit.

[0071] The second calculation unit is used to calculate the time required for adjusting the structures of the two vehicle groups traveling forward and backward.

[0072] The third calculation unit is used to calculate the advance time of the formation structure change by working backwards from the intersection time based on the time required for adjusting the structure.

[0073] It should be noted that the aforementioned explanation of the embodiment of the method for meeting and avoiding collision of a two-way vehicle platoon in a full-tidal road section environment is also applicable to the device for meeting and avoiding collision of a two-way vehicle platoon in a full-tidal road section environment of this embodiment, and will not be repeated here.

[0074] According to the two-way vehicle group formation meeting and collision avoidance device in the full tidal lane section environment proposed in the embodiment of the present application, the current geometric structure of the full tidal lane is obtained while calculating the target formation configuration of the multi-lane road scene of the full tidal lane; based on the target formation configuration and the current geometric structure, the relative driving path of each vehicle is calculated in the relative coordinate system using the preset A* algorithm, and the relative driving path of the front vehicle is used as the spatiotemporal constraint in the path planning process of the rear vehicle to plan the relative motion path within the vehicle group; based on the relative motion path within the vehicle group, the advance time of the formation structure change of the full tidal lane is determined, and when the advance time of the formation structure change is reached, the meeting and collision avoidance are performed according to the relative motion path within the vehicle group. Thus, the traffic efficiency benefits of the vehicle group are considered as a whole, and collisions within the vehicle group and vehicles traveling in opposite directions at the intersection are effectively avoided, reducing the computational challenges brought by the model constraints of the vehicle.

[0075] Figure 5 A schematic diagram of the structure of an electronic device provided in an embodiment of the present application. The electronic device may include:

[0076] A memory 501 , a processor 502 , and a computer program stored in the memory 501 and executable on the processor 502 .

[0077] When the processor 502 executes the program, the method for avoiding collision by platooning of two-way vehicles in a full tidal road section environment provided in the above-mentioned embodiment is implemented.

[0078] Furthermore, the electronic device further comprises:

[0079] The communication interface 503 is used for communication between the memory 501 and the processor 502 .

[0080] The memory 501 is used to store computer programs that can be executed on the processor 502 .

[0081] The memory 501 may include a high-speed RAM memory, and may also include a non-volatile memory (non-volatile memory), such as at least one disk memory.

[0082] If the memory 501, the processor 502 and the communication interface 503 are implemented independently, the communication interface 503, the memory 501 and the processor 502 can be connected to each other through a bus and communicate with each other. The bus can be an Industry Standard Architecture (ISA) bus, a Peripheral Component (PCI) bus or an Extended Industry Standard Architecture (EISA) bus. The bus can be divided into an address bus, a data bus, a control bus, etc. For ease of representation, Figure 5 Only one thick line is used in the diagram, but this does not mean that there is only one bus or only one type of bus.

[0083] Optionally, in a specific implementation, if the memory 501, the processor 502 and the communication interface 503 are integrated on a chip, the memory 501, the processor 502 and the communication interface 503 can communicate with each other through an internal interface.

[0084] The processor 502 may be a central processing unit (CPU), or an application specific integrated circuit (ASIC), or one or more integrated circuits configured to implement the embodiments of the present application.

[0085] The present embodiment also provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the above-mentioned method for meeting and avoiding collisions of a group of two-way vehicles in a full-tidal road section environment.

[0086] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present application. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or N embodiments or examples in a suitable manner. In addition, those skilled in the art may combine and combine the different embodiments or examples described in this specification and the features of the different embodiments or examples, without contradiction.

[0087] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Therefore, a feature defined as "first" or "second" may explicitly or implicitly include at least one of the features. In the description of this application, "N" means at least two, such as two, three, etc., unless otherwise clearly and specifically defined.

[0088] Any process or method description in a flowchart or otherwise described herein may be understood to represent a module, fragment or portion of code comprising one or N executable instructions for implementing the steps of a custom logical function or process, and the scope of the preferred embodiments of the present application includes alternative implementations in which functions may not be performed in the order shown or discussed, including performing functions in a substantially simultaneous manner or in reverse order depending on the functions involved, which should be understood by technicians in the technical field to which the embodiments of the present application belong.

[0089] The logic and / or steps represented in the flowchart or otherwise described herein, for example, can be considered as an ordered list of executable instructions for implementing logical functions, and can be embodied in any computer-readable medium for use by an instruction execution system, device or apparatus (such as a computer-based system, a system including a processor, or other system that can fetch instructions from an instruction execution system, device or apparatus and execute instructions), or in combination with these instruction execution systems, devices or apparatuses. For the purpose of this specification, "computer-readable medium" can be any device that can contain, store, communicate, propagate or transmit a program for use by an instruction execution system, device or apparatus, or in combination with these instruction execution systems, devices or apparatuses. More specific examples of computer-readable media (a non-exhaustive list) include the following: an electrical connection with one or N wirings (electronic devices), a portable computer disk box (magnetic device), a random access memory (RAM), a read-only memory (ROM), an erasable and programmable read-only memory (EPROM or flash memory), a fiber optic device, and a portable compact disk read-only memory (CDROM). In addition, the computer-readable medium may even be paper or other suitable medium on which the program is printed, since the program may be obtained electronically by optically scanning the paper or other medium and then editing, interpreting or processing in other suitable ways as necessary and then storing it in a computer memory.

[0090] It should be understood that the various parts of the present application can be implemented by hardware, software, firmware or a combination thereof. In the above-mentioned embodiment, the N steps or methods can be implemented by software or firmware stored in a memory and executed by a suitable instruction execution system. For example, if implemented by hardware, as in another embodiment, it can be implemented by any one of the following technologies known in the art or their combination: a discrete logic circuit having a logic gate circuit for implementing a logic function for a data signal, a dedicated integrated circuit having a suitable combination of logic gate circuits, a programmable gate array (PGA), a field programmable gate array (FPGA), etc.

[0091] A person skilled in the art may understand that all or part of the steps in the method for implementing the above-mentioned embodiment may be completed by instructing related hardware through a program, and the program may be stored in a computer-readable storage medium, which, when executed, includes one or a combination of the steps of the method embodiment.

[0092] In addition, each functional unit in each embodiment of the present application may be integrated into a processing module, or each unit may exist physically separately, or two or more units may be integrated into one module. The above-mentioned integrated module may be implemented in the form of hardware or in the form of a software functional module. If the integrated module is implemented in the form of a software functional module and sold or used as an independent product, it may also be stored in a computer-readable storage medium.

[0093] The storage medium mentioned above may be a read-only memory, a magnetic disk or an optical disk, etc. Although the embodiments of the present application have been shown and described above, it can be understood that the above embodiments are exemplary and cannot be understood as limiting the present application. A person of ordinary skill in the art may change, modify, replace and modify the above embodiments within the scope of the present application.

Claims

1. A method for avoiding collisions between two-way vehicles in a platoon under full tidal road conditions, characterized in that: The following steps are involved: While calculating a target formation configuration of a multi-lane road scenario of a full tidal lane, obtaining a current geometry of the full tidal lane; Based on the target formation configuration and the current geometric structure, the relative driving path of each vehicle is calculated in the relative coordinate system using the preset A* algorithm, and the relative driving path of the front vehicle is used as the spatiotemporal constraint in the path planning process of the rear vehicle to plan the relative motion path within the vehicle group; as well as Based on the relative motion path within the vehicle group, determine the advance time of the formation structure change of the full tidal lane, and when the advance time of the formation structure change is reached, perform the meeting and collision avoidance according to the relative motion path within the vehicle group; While calculating the target formation configuration of the multi-lane road scene of the full tidal lane, obtaining the current geometric structure of the full tidal lane includes: Determining the coordinate scale of the relative coordinate system; Calculating the current geometric structure according to the current relative position of the vehicle group; Based on the current geometric structure, allocating a number of driving lanes to each vehicle group according to the number of vehicles in the bidirectional vehicle group; Generating an expected formation structure in the relative coordinate system according to the number of vehicles corresponding to the number of driving lanes of each vehicle group in a staggered formation structure or a parallel formation structure, and calculating the relative coordinates of each expected target position to determine the target formation configuration; The step of determining the advance time of the formation structure change of the full tidal lane comprises: Determine the longest path according to the relative motion path; Calculating the time required for adjusting the structure of the current vehicle group according to the longest path, and determining the advance time of the formation structure change; The step of determining the advance time of the formation structure change comprises: Calculate the time required for adjusting the structure of the two groups of vehicles traveling forward and backward respectively; Based on the time required for adjusting the structure, the advance time of the formation structure change is calculated by working backwards from the intersection time.

2. A two-way vehicle group formation meeting and collision avoidance device in a full tidal road section environment, characterized in that: include: An acquisition module, for calculating a target formation configuration of a multi-lane road scene of a full tidal lane and acquiring a current geometric structure of the full tidal lane; A planning module, for calculating the relative driving path of each vehicle in a relative coordinate system using a preset A* algorithm based on the target formation configuration and the current geometric structure, and using the relative driving path of the leading vehicle as a spatiotemporal constraint in the path planning process of the rear vehicle to plan a relative motion path within the vehicle group; as well as A collision avoidance module is used to determine the advance time of the formation structure change of the full tidal lane based on the relative motion path within the vehicle group, and when the advance time of the formation structure change is reached, perform oncoming collision avoidance according to the relative motion path within the vehicle group; The acquisition module comprises: A first determining unit, used to determine the coordinate scale of the relative coordinate system; A first calculation unit, configured to calculate the current geometric structure according to the current relative position of the vehicle group; an allocating unit, configured to allocate the number of driving lanes to each vehicle group according to the number of vehicles in the bidirectional vehicle group based on the current geometric structure; A generating unit, configured to generate an expected formation structure in the relative coordinate system according to the number of vehicles corresponding to the number of driving lanes of each vehicle group in a staggered formation structure or a parallel formation structure, and calculate the relative coordinates of each expected target position to determine the target formation configuration; The collision avoidance module comprises: A second determining unit, configured to determine a longest path according to the relative motion path; A third determining unit is used to calculate the time required for adjusting the structure of the current vehicle group according to the longest path, and determine the advance time of the formation structure change; The collision avoidance module also includes: The second calculation unit is used to calculate the time required for adjusting the structures of the two vehicle groups traveling forward and backward respectively; The third calculation unit is used to calculate the advance time of the formation structure change by working backwards from the intersection time based on the time required for adjusting the structure.

3. An electronic device, characterized in that: include: A memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the program to implement the two-way vehicle platoon meeting and collision avoidance method in a full tidal road section environment as described in claim 1.

4. A computer-readable storage medium having a computer program stored thereon, characterized in that: The program is executed by a processor to implement the two-way vehicle platoon meeting and collision avoidance method in a full tidal road section environment as claimed in claim 1.

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