Method, device, equipment and medium for controlling vehicle traffic at intersections based on V2X

Abstract

The present invention discloses a method, device, equipment and medium for controlling the traffic of vehicles at intersections based on V2X. The method comprises the following steps: establishing a priority set with gradually decreasing priorities according to the distance between each target vehicle and the intersection, wherein an intersection is determined at the intersection of multiple roads, and the priority set is provided with target vehicles corresponding to the current roads one by one, and the target vehicle corresponding to any current road in the priority set is closer to the intersection than the target vehicle corresponding to the same current road in the priority set of the next priority; determining the road right level of each target vehicle in the priority set in descending order according to the road right level table and the driving intention and speed of each target vehicle in the priority set, wherein the road right level table is determined by the road information of the intersection, the speed ranking and the type of driving intention. Beneficial effect: It is possible to plan the road right for vehicles at intersections without traffic lights and optimize the traffic efficiency of vehicles at intersections.

Description

Technical Field

[0001] The present invention relates to the field of autonomous driving technology, and in particular to a method, device, equipment, and medium for controlling vehicle traffic at an intersection based on V2X. Background Art

[0002] On urban roads, traffic jams and traffic accidents often occur at intersections. Traffic lights are an important tool to strengthen road traffic management, reduce traffic accidents, improve road efficiency, and improve traffic conditions. Traffic lights are controlled by road traffic signal controllers to guide vehicles and pedestrians to pass safely and orderly. However, in scenarios without traffic lights, such as newly built roads that have not yet been officially put into use or some relatively backward economic areas such as towns or rural areas, traffic accidents are very likely to occur due to vehicle drivers competing for road priority, resulting in loss of life and property.

[0003] Intelligent Vehicle Infrastructure Cooperative Systems (IVICS) are the latest development direction of intelligent transportation systems. Vehicle-infrastructure cooperative systems use wireless communications and the new generation of the Internet to implement all-round dynamic real-time information interaction between vehicles and roads, and carry out active vehicle safety control and road cooperative management based on the collection and integration of dynamic traffic information in all time and space, fully realizing the effective coordination of people, vehicles and roads, ensuring traffic safety, and improving traffic efficiency, thus forming a safe, efficient and environmentally friendly road traffic system.

[0004] Therefore, it is particularly important to use V2X technology to automatically control vehicle traffic at intersections without traffic lights. Summary of the invention

[0005] In view of the above defects or improvement needs of the prior art, the object of the present invention is to provide a method, device, equipment and medium for controlling the passage of vehicles at intersections based on V2X.

[0006] To achieve this object, the present invention adopts the following technical solutions:

[0007] In a first aspect, a method for controlling vehicle traffic at an intersection based on V2X comprises the following steps:

[0008] According to the distance between each target vehicle and the intersection, a priority set with gradually decreasing priority is established, wherein one intersection is determined at the intersection of multiple roads, and the priority set is provided with target vehicles corresponding to the current roads one by one, and any target vehicle corresponding to the current road in the priority set is closer to the intersection than a target vehicle corresponding to the same current road in the priority set of a later priority;

[0009] According to the road right grade table and the driving intention and speed of each target vehicle in the priority set, the road right grade of each target vehicle in the priority set is determined in descending order of priority, wherein the road right grade table is determined by the road information of the intersection, the speed ranking and the type of driving intention.

[0010] In one embodiment, the step of establishing a priority set with gradually decreasing priorities according to the distance between each target vehicle and the intersection further includes the following steps:

[0011] Periodically determining that vehicles on each road within a preset distance from the intersection are target vehicles;

[0012] The distance between each of the target vehicles and the intersection is determined.

[0013] In one embodiment, the step of establishing a priority set with gradually decreasing priorities according to the distance between each target vehicle and the intersection comprises:

[0014] Establishing an initial set of target vehicles on each current road, wherein the target vehicles in the initial set are arranged in order from small to large according to the distance;

[0015] The priority sets are established in sequence according to each of the initial sets and the ranking of the target vehicles in each of the initial sets, wherein a previous priority set has a higher priority than a subsequent priority set.

[0016] In one embodiment, the types of driving intention include: going straight, turning left, and turning right;

[0017] The road right level table has the following rules: left-turning vehicles give way to straight-moving vehicles; right-turning vehicles give way to left-turning vehicles; and two vehicles with driving intentions on the road in the same priority set can occupy the road right at the same time if there is no conflict between them.

[0018] In one embodiment, the step of determining whether there is a conflict between two vehicles intending to travel on the road in the same priority set includes:

[0019] Determine, according to the path planning of the vehicle, the target road after each target vehicle in the same priority set passes through the intersection;

[0020] If the target roads corresponding to different target vehicles are the same road, or the paths of different target vehicles passing through the intersection intersect, then there is a conflict between the different target vehicles.

[0021] In one embodiment, when there is no right of way conflict between the first target vehicle with the lowest right of way in the priority set of the previous priority and the second target vehicle with the highest right of way in the priority set of the next priority, the first target vehicle and the second target vehicle can pass through the intersection at the same time.

[0022] In one embodiment, the following steps are also included:

[0023] Determine the faulty vehicle and the right-of-way level of the faulty vehicle in the corresponding priority set according to the vehicle speed and vehicle location;

[0024] The vehicle of the next right-of-way level in the priority set is reminded to increase the speed to speed up passing through the intersection.

[0025] In a second aspect, a V2X-based intersection vehicle traffic control device includes:

[0026] The first module is used to establish a priority set with gradually decreasing priorities according to the distance between each target vehicle and the intersection, wherein one intersection is determined at the intersection of multiple roads, and the priority set is provided with target vehicles corresponding to the current roads one by one, and any target vehicle corresponding to the current road in the priority set is closer to the intersection than a target vehicle corresponding to the same current road in the priority set of a later priority;

[0027] The second module is used to determine the road right level of each target vehicle in the priority set in descending order of priority according to the road right level table and the driving intention and speed of each target vehicle in the priority set, wherein the road right level table is determined by the road information of the intersection, the speed ranking and the type of driving intention.

[0028] According to a third aspect, a device includes a processor and a memory, wherein the processor and the memory are connected to each other;

[0029] The memory is used to store computer programs;

[0030] The processor is configured to execute the above-mentioned V2X-based intersection vehicle traffic control method when calling the computer program.

[0031] In a fourth aspect, a computer-readable storage medium stores a computer program, and the computer program is executed by a processor to implement the above-mentioned V2X-based intersection vehicle traffic control method.

[0032] Beneficial effects of the present invention:

[0033] For the control method of vehicle traffic at intersections based on V2X, a priority set with gradually decreasing priority is established according to the distance between each target vehicle and the intersection. The right of way level of each target vehicle in the priority set is determined in descending order according to the right of way level table and the driving intention and speed of each target vehicle in the priority set. This method can plan the right of way for vehicles at intersections without traffic lights and optimize the traffic efficiency of vehicles at intersections.

[0034] For the V2X-based control device for vehicle traffic at intersections, a priority set with gradually decreasing priority is established according to the distance between each target vehicle and the intersection. The right-of-way level of each target vehicle in the priority set is determined in order of decreasing priority according to the right-of-way level table and the driving intention and speed of each target vehicle in the priority set. This device can plan the right of way for vehicles at intersections without traffic lights and optimize the traffic efficiency of vehicles at intersections.

[0035] For the equipment, a priority set with gradually decreasing priority is established according to the distance between each target vehicle and the intersection. The right of way level of each target vehicle in the priority set is determined in descending order according to the right of way level table and the driving intention and speed of each target vehicle in the priority set. This can plan the right of way for vehicles at intersections without traffic lights and optimize the traffic efficiency of vehicles at intersections.

[0036] For computer storage media, a priority set with gradually decreasing priority is established according to the distance between each target vehicle and the intersection. The right of way level of each target vehicle in the priority set is determined in descending order according to the right of way level table and the driving intention and speed of each target vehicle in the priority set. This can plan the right of way for vehicles at intersections without traffic lights and optimize the traffic efficiency of vehicles at intersections.

[0037] Additional aspects and advantages of the present application will be partially given in the following description, which will become apparent from the following description, or will be understood through the practice of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0038] 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:

[0039] Figure 1 is a schematic diagram of a specific application of the V2X-based intersection vehicle traffic control method provided in an embodiment of the present application;

[0040] Figure 2 It is a flowchart of a method for controlling vehicle traffic at an intersection based on V2X provided in an embodiment of the present application;

[0041] Figure 3is a schematic diagram of the path planning of each vehicle in the first priority set;

[0042] Figure 4 is a schematic diagram of the path planning of each vehicle in the second priority set;

[0043] Figure 5 It is a structural schematic diagram of a control device for vehicle traffic at an intersection based on V2X provided in an embodiment of the present application;

[0044] Figure 6 It is a schematic diagram of the structure of an electronic device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0045] The present invention will be further described in detail below in conjunction with the accompanying drawings and embodiments. It is to be understood that the specific embodiments described herein are only used to explain the present invention, rather than to limit the present invention. It should also be noted that, for ease of description, only parts related to the present invention, rather than all structures, are shown in the accompanying drawings.

[0046] In the description of the present invention, unless otherwise clearly specified and limited, the terms "connected", "connected", and "fixed" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0047] Those skilled in the art will appreciate that, unless otherwise stated, the singular forms "a", "an", "said" and "the" used herein may also include plural forms. It should be further understood that the term "comprising" used in the specification of the present application refers to the presence of the features, integers, steps, operations, elements and / or components, but does not exclude the presence or addition of one or more other features, integers, steps, operations, elements, components and / or combinations thereof.

[0048] It will be understood by those skilled in the art that, unless otherwise defined, all terms (including technical terms and scientific terms) used herein have the same meaning as the general understanding of those skilled in the art to which this application belongs. It should also be understood that terms such as those defined in general dictionaries should be understood to have the same meaning as in the context of the prior art, and will not be interpreted with an idealized or overly formal meaning unless specifically defined as in the embodiments of this application.

[0049] The embodiment of the present invention provides a control system for vehicle traffic at intersections based on V2X, which can be applied to the fields of mapping, navigation, autonomous driving, intelligent vehicle control, Internet of Vehicles, intelligent transportation, and cloud computing. The system includes at least a vehicle, a terminal, a road side unit (RSU), and a signal control device.

[0050] The means of transportation may include but are not limited to: cars, motorcycles, bicycles, etc. The means of transportation may be configured with an on-board unit (OBD); the on-board unit may communicate with the roadside unit based on the communication technology related to the means of transportation. For example, when the means of transportation is a car, the on-board unit may communicate with the roadside unit through V2X technology. The V2X technology (Vehicle to Everything, vehicle wireless communication technology) here refers to a new generation of information communication technology that connects vehicles to everything.

[0051] The terminal is used to exchange information with the roadside unit and execute the driving control plan to control the vehicle to drive through the target intersection; specifically, the terminal can exchange information with the roadside unit through the vehicle-mounted unit configured for the vehicle; the terminal may include but is not limited to: smart phones, tablet computers, desktop computers, vehicle-mounted terminals, etc.

[0052] It should be noted that the V2X-based intersection vehicle traffic control system does not limit the positional relationship between the terminal and the vehicle, that is, the terminal can be fixed on the vehicle, built into the vehicle, independent of the vehicle and connected to the vehicle, and so on.

[0053] The terminal can control the driving of vehicles on the road according to the high-precision map. The so-called high-precision map refers to a map with an accuracy at the centimeter level. Compared with traditional navigation maps, high-precision maps contain more and more detailed road elements, such as the precise coordinates of each road and each lane on each road, traffic signs, traffic lights, and the connection relationship between lanes.

[0054] Since there may be multiple intersections in a high-precision map, and each intersection has multiple directions of travel, in order to facilitate the terminal to safely and accurately control the vehicle to pass through the intersection, the expression of multiple factors such as each intersection in the high-precision map, the direction of travel at each intersection, and the color status of traffic lights can be uniformly encoded in advance.

[0055] Specifically, each intersection can be modeled according to the road traffic markings involved in each intersection in the high-precision map to obtain the modeling results of each intersection. The modeling results may at least include the intersection sign, the expression of each traffic direction at the intersection and / or the traffic instruction table associated with the intersection.

[0056] The intersection refers to a location where two or more roads intersect on the same plane, which may be a three-way intersection, a T-junction, or a crossroads, etc.

[0057] For the sake of convenience, the following explanation will be given by taking any intersection in the high-precision map as an example. Figure 1 The intersection shown. Road traffic markings refer to signs on the road surface that use lines, arrows, text, elevation marks, raised road signs and contour marks to convey traffic information such as guidance, restrictions, warnings, etc. to traffic participants; for example, road traffic markings may include signs indicating "go straight and turn right" on the road surface.

[0058] like Figure 1 As shown in the figure, each road (Road, which can be represented by R) at an intersection in a high-precision map can be composed of one or more lanes (Line, which can be represented by L), each lane has a direction attribute, and any two passable lanes can be associated by a connecting line. Therefore, in the process of modeling an intersection, a unique intersection identifier can be assigned to the intersection to identify the intersection, and the intersection identifier can be the intersection ID; and a road identifier can be assigned to each road connected to the intersection to identify the road, such as R1, R2, etc.; and a lane identifier can be assigned to each lane in each road to identify the lane, such as L1, L2 ( Figure 1 Here, the road sign may be a road ID or a road coordinate, and the lane sign may be a lane ID or a lane coordinate. Since the connection between roads can determine a travel direction, the code of the travel direction can be represented by a combination of the road sign of the starting road and the road sign of the end road.

[0059] According to the path of the vehicle on different roads, the driving intention can be obtained:

[0060] R1→R2: go straight; R2→R1: go straight; R3→R4: go straight; R4→R3: go straight;

[0061] R1→R3: turn right; R2→R4: turn right; R3→R2: turn right; R4→R1: turn right;

[0062] R1→R4: turn left; R2→R3: turn left; R3→R1: turn left; R4→R2: turn left.

[0063] Based on the above description, an embodiment of the present invention proposes a driving control method, which can be executed by the terminal mentioned above.

[0064] Figure 1This is a schematic diagram of a specific application of the V2X-based intersection vehicle traffic control method provided in an embodiment of the present application. The scenario includes four roads, and an intersection is determined at the intersection of the four roads. Two of the roads extend in the east-west direction, and the other two roads extend in the north-south direction, and each road can simultaneously run vehicles in two opposite directions. It should be noted that there is no traffic light at the intersection. Since there is no traffic light, it is easy for the driver to compete for the right of way (hereinafter referred to as the right of way) when controlling the vehicle, which can easily cause traffic accidents and cause loss of life and property. Based on this scenario, the V2X-based intersection vehicle traffic control method provided in this embodiment can plan the right of way for vehicles at intersections without traffic lights and optimize the traffic efficiency of vehicles at intersections.

[0065] Figure 2 It is a flow chart of a method for controlling vehicle traffic at intersections based on V2X provided in an embodiment of the present application.

[0066] like Figure 2 As shown, the method includes the following steps: S10-S30.

[0067] Step S10 includes: periodically determining that vehicles within a preset distance from the intersection on each road are target vehicles, and determining the distance between each target vehicle and the intersection.

[0068] In this embodiment, the terminal periodically determines that vehicles within a preset distance from each road to the intersection are target vehicles based on the roadside unit (RSU), and after determining the target vehicles, continues to determine the distance from each target vehicle to the intersection.

[0069] Specifically, step S10 includes steps S101-S103.

[0070] S101, determining the center M of the intersection, and drawing a circular area with a radius R1 with the center M of the intersection as the center as the first area S1;

[0071] S102, every T1 time, taking a vehicle traveling in a direction close to the intersection on each road (R1-R4) in the first area S1 as a target vehicle;

[0072] S103, sequentially connect the boundaries of each road connected to the intersection into an intersection area S2, and determine the distance between each target vehicle and the intersection area S2.

[0073] by Figure 1 To explain, the center M of the intersection can be determined by determining the intersection position of two intersection lines determined by the four vertices of the intersection as the center M of the intersection. A circular area with a radius R1 is made with the center M as the first area S1. In this embodiment, the radius R1 is set to 80 meters.

[0074] Afterwards, at every T1 time interval, the roadside unit obtains information about all vehicles in the first area S1, which includes at least one of the following: vehicle speed and vehicle location information. In addition, the vehicle information may also include at least one of the following: vehicle identification information, vehicle acceleration, and vehicle driving intention.

[0075] like Figure 1 As shown in the figure, under the current road conditions, 12 vehicles (V1-V12) can be identified through V2X. The screening conditions are based on the direction of approaching the intersection. Since vehicles V5, V6, V11, and V12 have already left the intersection, they are excluded. Finally, vehicles V1, V2, V3, V4, V7, V8, V9, and V10 are selected as target vehicles.

[0076] Then, the rectangular area formed by connecting the four vertices of the intersection in sequence is determined as the intersection area S2. In this embodiment, Figure 1 The intersection area S2 shown is slightly smaller than the rectangular area formed by connecting the four vertices of the intersection in sequence, but the present embodiment is not limited thereto. The terminal obtains the straight-line distance between each of the vehicles V1, V2, V3, V4, V7, V8, V9, and V10 and the intersection area according to the roadside unit, which is the distance between the target vehicle and the intersection.

[0077] Step S10 is followed by step S20, establishing a priority set with gradually decreasing priorities according to the distance between each target vehicle and the intersection.

[0078] The priority set is provided with target vehicles corresponding one to one with the current roads (R1-R4), and a target vehicle corresponding to any current road in the priority set is closer to the intersection than a target vehicle corresponding to the same current road in a priority set of the next priority.

[0079] Specifically, step S20 includes steps S201-S202, specifically:

[0080] S201. Establish an initial set of target vehicles on each current road, wherein the target vehicles in the initial set are arranged in order from small to large according to distance.

[0081] In this embodiment, four roads determine four initial sets, and they are sorted according to the distance of each target vehicle from the open intersection, namely, initial set A1 (V1, V2) on road R1, initial set A2 (V3, V4) on road R2, initial set A3 (V7, V8) on road R3 and initial set A4 (V9, V10) on road R4.

[0082] S202. Establish priority sets (B1-B2) in sequence according to each initial set (A1-A4) and the ranking of the target vehicles in each initial set, wherein the priority of a previous priority set is higher than the priority of a subsequent priority set.

[0083] In this embodiment, the first target vehicles in the initial set A1, initial set A2, initial set A3, and initial set A4 are sequentially organized into a first priority set B1 {V1, V3, V7, V9}, and the second target vehicles in A1, A2, A3, and A4 are sequentially organized into a second priority set B2 {V2, V4, V8, V10}.

[0084] It can be understood that, corresponding to any vehicle in the first priority set B1, the priority of the vehicle is higher than the other vehicles in the second priority set on the road where the vehicle is located.

[0085] See also Figure 1 As shown, the types of vehicle driving intentions in this embodiment include: going straight, turning left, and turning right.

[0086] After step S20, step S30 is performed to determine the road right level of each target vehicle in the priority set in descending order of priority according to the road right level table and the driving intention and speed of each target vehicle in the priority set.

[0087] It should be noted that the road right level table in step S30 is determined by the road information of the intersection, the speed ranking and the type of driving intention.

[0088] The right-of-way hierarchy table has the following rules:

[0089] Rule 1: Left-turning vehicles give way to vehicles going straight;

[0090] Rule 2: Right-turning vehicles give way to left-turning vehicles;

[0091] Rule 3: Vehicles on two roads in the same priority set can occupy the right of way at the same time if there is no conflict in their driving intentions.

[0092] Specifically, according to the path planning of the vehicle, the target road after each target vehicle in the same priority set passes through the intersection is determined;

[0093] If the target roads corresponding to different target vehicles are the same road, or the paths of different target vehicles passing through intersections intersect, there is a conflict between different target vehicles.

[0094] Figure 3 is the path planning diagram of each vehicle in the first priority set, combined with Figure 3, Rule 3 is explained in detail. Taking vehicles V1, V3, V7, and V9 in the first priority set B1 as examples, vehicle V1 has a target path of turning left from north to east, vehicle V3 has a target path of turning left from south to west, vehicle V7 has a target path of going straight from west to east, and vehicle V9 has a target path of turning left from east to south.

[0095] According to the above rules, there is no conflict between vehicle V1 and vehicle V3, there is a conflict between vehicle V1 and vehicle V9, and there is also a conflict between vehicle V9 and vehicle V3.

[0096] The road information includes the number of lanes at the intersection, the driving direction defined by the lanes, and the driving direction that can affect the vehicle's driving intention to reach the lane.

[0097] Assume that the vehicle set N = {A1, B1, C1, D1}, and the order of the time it takes for the four vehicles to reach the intersection is: T A1 <T B1 <T C1 <T D1 ,According to the rules of the road right level table, the road right level table of each vehicle under each driving intention combination is shown in Table 1.

[0098] Serial number <![CDATA[Vehicle A1]]> <![CDATA[Vehicle B1]]> <![CDATA[Vehicle C1]]> <![CDATA[Vehicle D1]]> Serial number <![CDATA[Vehicle A1]]> <![CDATA[Vehicle B1]]> <![CDATA[Vehicle C1]]> <![CDATA[Vehicle D1]]> Serial number <![CDATA[Vehicle A1]]> <![CDATA[Vehicle B1]]> <![CDATA[Vehicle C1]]> <![CDATA[Vehicle D1]]> 1 Go straight① Go straight② Go straight① Go straight② 28 Turn left③ Go straight① Go straight② Go straight① 55 Turn right② Go straight① Go straight② Go straight① 2 Go straight① Go straight② Go straight① Turn left③ 29 Turn left③ Go straight① Go straight② Turn left④ 56 Turn right① Go straight① Go straight② Turn left③ 3 Go straight① Go straight② Go straight① Turn right② 30 Turn left③ Go straight① Go straight② Turn right① 57 Turn right① Go straight① Go straight② Turn right② 4 Go straight① Go straight② Turn left③ Go straight② 31 Turn left② Go straight① Turn left② Go straight① 58 Turn right① Go straight① Turn left③ Go straight② 5 Go straight① Go straight② Turn left③ Turn left④ 32 Turn left② Go straight① Turn left② Turn left③ 59 Turn right① Go straight① Turn left② Turn left③ 6 Go straight① Go straight② Turn left③ Turn right① 33 Turn left② Go straight① Turn left② Turn right① 60 Turn right① Go straight① Turn left② Turn right② 7 Go straight① Go straight② Turn right① Go straight② 34 Turn left② Go straight① Turn right③ Go straight① 61 Turn right① Go straight① Turn right② Go straight② 8 Go straight① Go straight② Turn right① Turn left③ 35 Turn left② Go straight① Turn right③ Turn left③ 62 Turn right① Go straight① Turn right② Turn left② 9 Go straight① Go straight② Turn right① Turn right① 36 Turn left② Go straight① Turn right③ Turn right① 63 Turn right① Go straight① Turn right② Turn right② 10 Go straight① Turn left③ Go straight① Go straight② 37 Turn left⑧ Turn left④ Go straight① Go straight② 64 Turn right① Turn left③ Go straight① Go straight② 11 Go straight① Turn left② Go straight① Turn left② 38 Turn left② Turn left③ Go straight① Turn left③ 65 Turn right① Turn left② Go straight① Turn left② 12 Go straight① Turn left② Go straight① Turn right③ 39 Turn left② Turn left③ Go straight① Turn right② 66 Turn right① Turn left② Go straight① Turn right③ 13 Go straight① Turn left③ Turn left④ Go straight② 40 Turn left② Turn left③ Turn left② Go straight① 67 Turn right③ Turn left② Turn left③ Go straight① 14 Go straight① Turn left② Turn left③ Turn left④ 4l Turn left① Turn left② Turn left① Turn left② 68 Turn right① Turn left① Turn left② Turn left⑧ 15 Go straight① Turn left② Turn left③ Turn right① 42 Turn left① Turn left② Turn left① Turn right① 69 Turn right① Turn left① Turn left② Turn right② 16 Go straight① Turn left③ Turn right① Go straight② 43 Turn left② Turn left③ Turn right① Go straight① 70 Turn right② Turn left② Turn right① Go straight① 17 Go straight① Turn left② Turn right① Turn left② 44 Turn left① Turn left② Turn right② Turn left② 7l Turn right① Turn left① Turn right② Turn left② 18 Go straight① Turn left② Turn right① Turn right③ 45 Turn left① Turn left② Turn right② Turn right⑧ 72 Turn right① Turn left① Turn right② Turn right② 19 Go straight① Turn right② Go straight① Go straight② 46 Turn left③ Turn right① Go straight① Go straight② 73 Turn right① Turn right② Go straight① Go straight② 20 Go straight① Turn right③ Go straight① Turn left② 47 Turn left② Turn right① Go straight① Turn left③ 74 Turn right① Turn right③ Go straight① Turn left② 21 Go straight① Turn right② Go straight① Turn right② 48 Turn left② Turn right① Go straight① Turn right② 75 Turn right① Turn right② Go straight① Turn right② 22 Go straight① Turn right② Turn left④ Go straight ③ 49 Turn left② Turn right① Turn left② Go straight① 76 Turn right③ Turn right① Turn left② Go straight① 23 Go straight① Turn right② Turn left③ Turn left④ 50 Turn left① Turn right① Turn left① Turn left② 77 Turn right② Turn right① Turn left① Turn left② 24 Go straight① Turn right② Turn left③ Turn right① 5l Turn left① Turn right① Turn left① Turn right① 78 Turn right② Turn right① Turn left① Turn right① 25 Go straight① Turn right② Turn right① Go straight② 52 Turn left② Turn right① Turn right⑧ Go straight① 79 Turn right② Turn right① Turn right① Go straight① 26 Go straight① Turn right③ Turn right① Turn left② 53 Turn left① Turn right① Turn right② Turn left② 80 Turn right① Turn right② Turn right① Turn left① 27 Go straight① Turn right② Turn right① Turn right② 54 Turn left① Turn right① Turn right② Turn right② 8l Turn right① Turn right① Turn right① Turn right①

[0099] Table 1

[0100] Based on the above table, the right of way of level ① is higher than that of level ②, the right of way of level ② is higher than that of level ③, and so on.

[0101] In the same priority set, first determine the time it takes for each vehicle to arrive at the intersection, and then arrange them in order from small to large according to the time. Then, determine the right of way for each vehicle in the same priority set based on the above-mentioned right of way level table. After each vehicle in the same priority set passes the intersection, each vehicle in the next priority set continues to determine the right of way based on the above method and drives according to the right of way.

[0102] Continuing with the first priority set B1 as an example, assuming that the time it takes for vehicles V1, V3, V7, and V9 to arrive at the intersection is in an increasing trend, that is, in Table 1, according to vehicle A1 turning left, vehicle A2 turning left, vehicle A3 going straight, and vehicle A4 turning left, we find 38 in Table 1: left turn ②, left turn ③, straight going ①, left turn ③, that is, vehicle V7 has the highest right of way, followed by vehicle V1, and finally vehicle V3 and vehicle V9; among them, vehicle V3 and vehicle V9 have the same right of way.

[0103] In step S30, when there is no right of way conflict between the first target vehicle with the lowest right of way in the priority set of the previous priority and the second target vehicle with the highest right of way in the priority set of the next priority, the first target vehicle and the second target vehicle can pass through the intersection at the same time.

[0104] Figure 4 is a schematic diagram of the path planning of each vehicle in the second priority set, see Figure 4 , in the second priority set B2{V2, V4, V8, V10}, assuming that the time for vehicles V2, V4, V8, and V10 to arrive at the intersection is increasing, vehicle V2 turns right, vehicle V4 turns left, vehicle V8 goes straight, and vehicle V10 turns left, all go straight, that is, in Table 1, according to vehicle A1 turning right, vehicle A2 turning left, vehicle A3 going straight, and vehicle A4 turning left, find 65 in Table 1: right turn ①, left turn ②, straight go ①, left turn ②, that is, the right of way arrangement of the second priority set B2{V2, V4, V8, V10} is as follows: vehicles V2 and V8 have the highest right of way, followed by vehicles V4 and V10. Taking vehicle V9 with the lowest right of way in the first priority set B1 and vehicle V2 with the highest right of way in the second priority set B2 as examples, vehicle V9 turns left and vehicle V2 turns right, and there is no conflict in their right of way. At this time, vehicle V2 is merged from the second priority set B2 to the first priority set B1, and vehicle V2 can follow closely behind vehicle V1 and proceed within the first priority sequence at the same time, so as to further improve the traffic efficiency at the intersection.

[0105] In step S30, if a faulty vehicle is identified, the priority set to which the faulty vehicle belongs is determined, and a normal vehicle of the next right-of-way level is determined in the priority set to remind the normal vehicle to speed up through the intersection and improve the efficiency of the vehicles in the priority set passing through the intersection.

[0106] Taking the first priority set B1 as an example, if vehicle V7 breaks down, vehicle V1 will be reminded to speed up and pass the intersection. After that, the remaining vehicles will be arranged according to the priority according to the right of way.

[0107] It should be noted that when a vehicle breaks down, the broken vehicle will no longer be included in the priority set under the current road conditions.

[0108] It should be noted that the terminal obtains the vehicle's speed and position at any time through the roadside unit. If the vehicle is located in the first area S1 and the speed drops to 0 or a certain limit value, it is determined that the vehicle has a fault.

[0109] The V2X-based intersection vehicle traffic control method provided in this embodiment establishes a priority set with gradually decreasing priority according to the distance between each target vehicle and the intersection, and determines the right-of-way level of each target vehicle in the priority set in descending order according to the right-of-way level table and the driving intention and speed of each target vehicle in the priority set. This method can plan the right-of-way for vehicles at intersections without traffic lights and optimize the traffic efficiency of vehicles at intersections.

[0110] This embodiment also provides a V2X-based intersection vehicle traffic control device. Figure 5 is a schematic diagram of the structure of the control device for vehicle traffic at an intersection based on V2X provided in this embodiment, such as Figure 5 As shown, the device includes a first module 51 and a second module 52 .

[0111] The first module 51 is used to establish a priority set with gradually decreasing priority according to the distance between each target vehicle and the intersection, wherein an intersection is determined at the intersection of multiple roads, and the priority set is provided with target vehicles corresponding one-to-one to the current road. Any target vehicle corresponding to the current road in the priority set is closer to the intersection than a target vehicle corresponding to the same current road in the priority set of the next priority.

[0112] The second module 52 is used to determine the road right level of each target vehicle in the priority set in descending order of priority according to the road right level table and the driving intention and speed of each target vehicle in the priority set, wherein the road right level table is determined by the road information of the intersection, the speed ranking and the type of driving intention.

[0113] It should be noted that the V2X-based intersection vehicle traffic control device provided in this embodiment can also be a computer program (including program code) running in a computer device. For example, the V2X-based intersection vehicle traffic control device is an application program that can be used to execute the corresponding steps of the above method provided in the embodiment of the present application.

[0114] In some feasible implementations, the V2X-based intersection vehicle traffic control device provided in this embodiment can be implemented in a combination of software and hardware. As an example, the V2X-based intersection vehicle traffic control device provided in the embodiment of the present application can be a processor in the form of a hardware decoding processor, which is programmed to execute the V2X-based automatic driving control method provided in the embodiment of the present application. For example, the processor in the form of a hardware decoding processor can adopt one or more application-specific integrated circuits (ASICs), digital signal processors (DSPs), programmable logic devices (PLDs), complex programmable logic devices (CPLDs), field programmable gate arrays (FPGAs) or other electronic components.

[0115] In some feasible implementations, the V2X-based intersection vehicle traffic control device provided in this embodiment can be implemented in software, which can be software in the form of programs and plug-ins, and include a series of modules, such as a first module and a second module, to implement the V2X-based intersection vehicle traffic control method provided in an embodiment of the present invention.

[0116] The V2X-based intersection vehicle traffic control device provided in this embodiment establishes a priority set with gradually decreasing priority according to the distance between each target vehicle and the intersection, and determines the right-of-way level of each target vehicle in the priority set in descending order according to the right-of-way level table and the driving intention and speed of each target vehicle in the priority set. This device can plan the right-of-way for vehicles at intersections without traffic lights and optimize the traffic efficiency of vehicles at intersections.

[0117] The present application also provides an electronic device, Figure 6 is a schematic diagram of the structure of an electronic device according to an embodiment of the present application. Figure 6 As shown, the electronic device 1000 in this embodiment may include: a processor 1001, a network interface 1004 and a memory 1005. In addition, the above-mentioned electronic device 1000 may also include: a user interface 1003, and at least one communication bus 1002. Among them, the communication bus 1002 is used to realize the connection and communication between these components. Among them, the user interface 1003 may include a display screen (Display), a keyboard (Keyboard), and the user interface 1003 may optionally include a standard wired interface and a wireless interface. The network interface 1004 may optionally include a standard wired interface and a wireless interface (such as a WI-FI interface). The memory 1004 may be a high-speed RAM memory, or it may be a non-volatile memory (non-volatile memory), such as at least one disk storage. The memory 1005 may optionally also be at least one storage device located away from the aforementioned processor 1001. As Figure 6 As shown, the memory 1005 as a computer-readable storage medium may include an operating system, a network communication module, a user interface module, and a device control application program.

[0118] like Figure 6 In the electronic device 1000 shown, the network interface 1004 can provide a network communication function; the user interface 1003 is mainly used to provide an input interface for the user; and the processor 1001 can be used to call the device control application stored in the memory 1005 to achieve:

[0119] According to the distance between each target vehicle and the intersection, a priority set with gradually decreasing priority is established, wherein one intersection is determined at the intersection of multiple roads, and the priority set is provided with target vehicles corresponding to the current roads one by one, and any target vehicle corresponding to the current road in the priority set is closer to the intersection than a target vehicle corresponding to the same current road in the priority set of a later priority;

[0120] According to the road right grade table and the driving intention and speed of each target vehicle in the priority set, the road right grade of each target vehicle in the priority set is determined in descending order of priority, wherein the road right grade table is determined by the road information of the intersection, the speed ranking and the type of driving intention.

[0121] It should be understood that in some feasible implementations, the processor 1001 may be a central processing unit (CPU), or other general-purpose processors, DSPs, ASICs, FPGAs or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. A general-purpose processor may be a microprocessor or the processor may be any conventional processor, etc. The memory may include a read-only memory and a random access memory, and provide instructions and data to the processor. A portion of the memory may also include a non-volatile random access memory. For example, the memory may also store information about the device type.

[0122] In a specific implementation, the electronic device 1000 can execute the above-mentioned functions through its built-in functional modules. Figure 2 For the implementation methods provided in each step, please refer to the implementation methods provided in the above steps for details, which will not be repeated here.

[0123] The electronic device provided in this embodiment establishes a priority set with gradually decreasing priority according to the distance between each target vehicle and the intersection, and determines the right of way level of each target vehicle in the priority set in descending order according to the right of way level table and the driving intention and speed of each target vehicle in the priority set. It is capable of planning the right of way for vehicles at intersections without traffic lights and optimizing the traffic efficiency of vehicles at intersections.

[0124] The present application also provides a computer-readable storage medium, which stores a computer program and is executed by a processor to implement Figure 2 For the methods provided in each step, please refer to the implementation methods provided in the above steps for details, which will not be repeated here.

[0125] The computer storage medium establishes a priority set with gradually decreasing priorities according to the distance between each target vehicle and the intersection, and determines the right of way level of each target vehicle in the priority set in descending order according to the right of way level table and the driving intention and speed of each target vehicle in the priority set. This enables right of way planning for vehicles at intersections without traffic lights and optimizes the traffic efficiency of vehicles at intersections.

[0126] It should be understood that, although the steps in the flowchart of the accompanying drawings are displayed in sequence as indicated by the arrows, these steps are not necessarily executed in sequence in the order indicated by the arrows. Unless otherwise specified herein, there is no strict order restriction on the execution of these steps, and they can be executed in other orders. Moreover, at least a part of the steps in the flowchart of the accompanying drawings may include multiple sub-steps or multiple stages, and these sub-steps or stages are not necessarily executed at the same time, but can be executed at different times, and their execution order is not necessarily sequential, but can be executed in turn or alternately with other steps or at least a part of the sub-steps or stages of other steps.

[0127] The above description is only a partial implementation method of the present application. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the principles of the present application. These improvements and modifications should also be regarded as the scope of protection of the present application.

Claims

1. A method for controlling vehicle traffic at an intersection based on V2X, characterized in that: The following steps are involved: Periodically determining that vehicles within a preset distance from the intersection on each road are target vehicles, and determining the distance between each target vehicle and the intersection; According to the distance between each target vehicle and the intersection, a priority set with gradually decreasing priority is established, including: According to the number of roads at the intersection, the corresponding initial set on each road is constructed, and each initial set includes the corresponding road All target vehicles, wherein the target vehicles in the initial set are arranged in order from small to large according to the distance; Determining the number of priority sets according to the sorted number of the target vehicles in the initial set; According to each of the initial sets and the ranking of the target vehicles in each of the initial sets, the first target vehicle in each of the initial sets is formed into a first priority set, the second target vehicle in each of the initial sets is formed into a second priority set, and so on, the priority sets are established in sequence; wherein the priority of the former priority set is higher than the priority of the latter priority set; Wherein, a road intersection is determined at the intersection of multiple roads, target vehicles corresponding to current roads are provided in the priority set, and a target vehicle corresponding to any current road in the priority set is closer to the road intersection than a target vehicle corresponding to the same current road in the priority set of a next priority; According to the road right grade table and the driving intention and speed of each target vehicle in the priority set, the road right grade of each target vehicle in the priority set is determined in descending order of priority, wherein the road right grade table is determined by the road information of the intersection, the speed ranking and the type of driving intention.

2. The V2X-based intersection vehicle traffic control method according to claim 1, characterized in that: The types of driving intentions include: going straight, turning left and turning right; the road right level table has the following rules: left-turning vehicles give way to straight-going vehicles; right-turning vehicles give way to left-turning vehicles; and two vehicles with driving intentions on the road in the same priority set can occupy the road right at the same time if there is no conflict between them.

3. The V2X-based intersection vehicle traffic control method according to claim 2, characterized in that: The step of determining whether there is a conflict between two vehicles intending to travel on the road in the same priority set comprises: Determine, according to the path planning of the vehicle, the target road after each target vehicle in the same priority set passes through the intersection; If the target roads corresponding to different target vehicles are the same road, or the paths of different target vehicles passing through the intersection intersect, then there is a conflict between the different target vehicles.

4. The V2X-based intersection vehicle traffic control method according to claim 3, characterized in that: When there is no right of way conflict between the first target vehicle with the lowest right of way in the priority set of the previous priority and the second target vehicle with the highest right of way in the priority set of the next priority, the first target vehicle and the second target vehicle can pass through the intersection at the same time.

5. The V2X-based intersection vehicle traffic control method according to claim 1, characterized in that: The following steps are also included: Determine the faulty vehicle and the right-of-way level of the faulty vehicle in the corresponding priority set according to the vehicle speed and vehicle location; The vehicle of the next right-of-way level in the priority set is reminded to increase the speed to speed up passing through the intersection.

6. A V2X-based intersection vehicle traffic control device, characterized in that: include: The first module is used to periodically determine that vehicles within a preset distance from each road to the intersection are target vehicles, and determine the distance between each target vehicle and the intersection; According to the distance between each target vehicle and the intersection, a priority set with gradually decreasing priority is established, including: According to the number of roads at the intersection, the corresponding initial set on each road is constructed, and each initial set includes the corresponding road All target vehicles, wherein the target vehicles in the initial set are arranged in order from small to large according to the distance; Determining the number of priority sets according to the sorted number of the target vehicles in the initial set; According to each of the initial sets and the ranking of the target vehicles in each of the initial sets, the first target vehicle in each of the initial sets is formed into a first priority set, the second target vehicle in each of the initial sets is formed into a second priority set, and so on, the priority sets are established in sequence; wherein the priority of the former priority set is higher than the priority of the latter priority set; Wherein, a road intersection is determined at the intersection of multiple roads, target vehicles corresponding to current roads are provided in the priority set, and a target vehicle corresponding to any current road in the priority set is closer to the road intersection than a target vehicle corresponding to the same current road in the priority set of a next priority; The second module is used to determine the road right level of each target vehicle in the priority set in descending order of priority according to the road right level table and the driving intention and speed of each target vehicle in the priority set, wherein the road right level table is determined by the road information of the intersection, the speed ranking and the type of driving intention.

7. A device, characterized in that: comprising a processor and a memory, the processor and The memories are interconnected; The memory is used to store computer programs; The processor is configured to execute the V2X-based intersection vehicle traffic control method as described in any one of claims 1 to 5 when calling the computer program.

8. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores a computer program, and the computer program is executed by a processor to implement the V2X-based intersection vehicle traffic control method according to any one of claims 1 to 5.

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