Low-distance parking and starting control method, system, device and medium for intelligent connected vehicles

Abstract

The present invention provides a method, system, device and medium for controlling low-distance parking and starting of intelligent connected vehicles, presets a minimum stopping distance, and based on the driving information of the intelligent connected vehicle in different driving scenarios, optimizes the speed model, enables the vehicle to complete the motion process of low-distance parking and starting, and obtains the driving speed, displacement curve and acceleration curve of the vehicle in different driving scenarios; performs parameter calibration on the distance-speed relationship during the low-distance parking and starting process, and constructs an expected distance model for low-distance parking and starting of the vehicle in different driving scenarios; presets trigger conditions for the low-distance parking and starting system based on different driving scenarios; if the trigger conditions for the low-distance parking and starting system are met, the vehicle is controlled to start and stop at a low distance based on the expected distance model for the corresponding driving scenario, otherwise no control will be performed; the present application shortens the stopping distance of the vehicle, and effectively solves the problems of long queues and overflow of vehicles at intersections.

Description

Technical Field

[0001] The present invention relates to the field of assisted driving of intelligent connected vehicles, and in particular to a method, system, device and medium for controlling low-distance parking and starting of intelligent connected vehicles. Background Art

[0002] With the rapid development of road traffic, traffic congestion is becoming increasingly serious. Improving the road traffic driving environment and increasing traffic efficiency and capacity are key issues that need attention. The application of intelligent network technology and vehicle assisted driving technology in transportation provides new technologies and research directions for solving traffic congestion and achieving efficient vehicle traffic.

[0003] As key nodes in urban road traffic networks, signalized intersections face significant traffic congestion, with long queues leading to overflow and spillover to the previous intersection. Existing traffic management practices increase left-turn capacity by adding left-turn lanes and variable lanes in the same or opposite directions for left-turn vehicles, while increasing the number of lanes at intersections for straight-moving vehicles. These approaches are based on traffic channelization. Adjusting signal timing parameters and optimizing signal phase and sequence design are approaches from the perspective of traffic signal control optimization. Further approaches, such as the use of wireless communications and the internet, enable dynamic, real-time information exchange between vehicles and roads, and implement active vehicle safety control and road collaborative management to adjust driving behavior and arrival patterns. This is a step towards vehicle-road collaboration.

[0004] Analysis of measured data shows that compared to vehicles with larger parking gaps on urban roads, vehicles with a wide field of view and a short parking gap do not significantly increase the start-up interval, hindering the normal flow of vehicles on the road. This provides a basis for research on short-distance stop-and-go technology. The average stopping gap controlled by existing adaptive cruise control systems is approximately 1.5-2.0 meters, and no research has been found on stop-and-go control methods and systems that achieve even shorter gaps. Summary of the Invention

[0005] In response to the problems existing in the prior art, the present invention provides a low-distance parking and starting control method, system, equipment and medium for intelligent connected vehicles, which can increase the spatial occupancy of the road, improve the road's traffic capacity and reduce energy consumption, thereby achieving low-carbon and high-efficiency travel.

[0006] The present invention is achieved through the following technical solutions:

[0007] The low-distance parking and starting control method of an intelligent connected vehicle is characterized by comprising the following steps:

[0008] S1: Based on the preset minimum stopping distance and the driving information of the intelligent connected vehicle in different driving scenarios, the speed model is optimized to enable the vehicle to complete the movement process of short-distance parking and starting. The driving speed, displacement curve and acceleration curve of the vehicle in different driving scenarios are obtained;

[0009] S2: Based on the vehicle acceleration, speed, and position data obtained from the optimized speed model, the distance-speed relationship during low-gap parking and starting is calibrated to construct the expected distance model for low-gap parking and starting in different driving scenarios.

[0010] S3: Preset trigger conditions for the low-clearance stop and go system based on the preceding vehicle status, traffic light information, and road ahead information for different driving scenarios;

[0011] S4: If the low-clearance parking and starting system triggering conditions are met, the vehicle will be controlled to park and start at a low distance based on the expected distance model corresponding to the current driving scenario; otherwise, no control will be performed.

[0012] Furthermore, the vehicle driving scenario includes:

[0013] When there is no vehicle ahead, the first vehicle to arrive at the signalized intersection will decelerate at a certain distance with different initial speeds to the set stop position in front of the stop line;

[0014] When the vehicle ahead has come to a complete stop, the following vehicle begins to decelerate at a certain distance with different initial speeds to a parking position set behind the vehicle ahead and stops;

[0015] The vehicle ahead has stopped, and the following vehicle first starts to decelerate at different initial speeds at a certain distance. Before the vehicle ahead stops completely, the vehicle ahead restarts, and the following vehicle changes speed and stops at a different position.

[0016] The vehicles ahead and behind have both stopped. The vehicle ahead needs to start again due to external factors and then stop and drive forward for a certain distance. The following vehicle determines whether to start and stop again based on the distance traveled by the vehicle ahead.

[0017] The vehicle in front does not stop. The front and rear vehicles first follow each other at a certain initial speed. The front vehicle starts to decelerate, and the following vehicle also decelerates. Both vehicles stop at the set stopping distance.

[0018] Furthermore, the external factors and their treatment process are as follows:

[0019] After the vehicle starts to decelerate, if the desired distance set by the original low-clearance parking system cannot meet the low-clearance parking requirements due to changes in the parking position of the vehicle ahead or the vehicle ahead passes the signalized intersection without stopping due to speed guidance, the desired distance will be recalculated based on the status of the vehicle ahead.

[0020] The vehicle ahead stops suddenly, causing the following vehicle to be unable to fully maintain the desired distance set by the low-clearance parking system and requiring emergency braking.

[0021] For signalized intersections, the controlled vehicle can pass through the signal light without stopping by implementing speed guidance when the signal light and the vehicle cooperate with each other, and the low-clearance stop and start model mechanism will not be triggered.

[0022] Furthermore, constructing the expected distance model under different driving scenarios includes the following steps:

[0023] T1: Based on the definition of the expected spacing and speed relationship:

[0024] d v =p1v 2 +p2v+d min ;

[0025] Among them, d min is the set minimum stopping distance, v is the speed of the following vehicle, d v is the expected distance between the following vehicle and the preceding vehicle, and p1 and p2 are parameters that need to be calibrated;

[0026] T2: Set the minimum parking distance d based on the measured vehicle parking distance data min ;

[0027] T3: The above model is calibrated using the vehicle motion state data under different driving scenarios to obtain the expected distance model for low-distance parking and starting of vehicles corresponding to different driving scenarios.

[0028] Furthermore, the minimum stopping distance is 0.6±δm, where δ is the fluctuation distance of the control process.

[0029] Furthermore, the triggering conditions of the low-distance parking and starting system include:

[0030] When there are no vehicles ahead, the traffic light status and traffic light duration are judged to determine whether the vehicle needs to stop and wait. If the vehicle must stop and wait, the expected distance model mechanism is triggered when the vehicle starts to decelerate;

[0031] When there is a vehicle in front, the motion state of the vehicle in front is detected in real time, and the information perception module is set to obtain data at time interval t0 to detect the motion state S of the vehicle in front. t ={a t , v t , x t}, corresponding to the acceleration, speed and position information of the preceding vehicle respectively; by judging the motion state of the preceding vehicle and planning the desired spacing for low-distance parking of the vehicles, low-distance parking control is achieved.

[0032] Furthermore, when there is a vehicle ahead, the motion state S of the vehicle ahead t This includes the following situations:

[0033] In multiple consecutive t0s, the state of the preceding vehicle satisfies S t ={0, 0, x t}, indicating that the leading vehicle has completely stopped and the following vehicle starts to slow down at a certain distance, triggering a low-clearance stop;

[0034] In multiple consecutive t0s, the status of the preceding vehicle satisfies Indicates that the leading vehicle is in the deceleration phase, and a low-clearance stop is triggered when the following vehicle starts to decelerate at a certain distance;

[0035] Low-interval start system triggering conditions: When Indicates that the leading vehicle has started to move, triggering the low-gap start of the following vehicle.

[0036] The low-distance parking and starting control system for intelligent connected vehicles includes:

[0037] Optimize the speed module, preset the minimum stopping distance, and based on the driving information of intelligent connected vehicles in different driving scenarios, optimize the speed model to enable the vehicle to complete the movement process of low-distance parking and starting, and obtain the vehicle's driving speed, displacement curve and acceleration curve in different driving scenarios;

[0038] The expected distance calculation module is used to calibrate the distance-speed relationship during low-clearance parking and starting based on the vehicle acceleration, speed, and position data obtained from the optimized speed model, and to construct an expected distance model for low-clearance parking and starting in different driving scenarios;

[0039] The desired distance control algorithm module is used to preset the trigger conditions of the low-distance stop and start system according to different driving scenarios based on the status information of the preceding vehicle, signal information and the road ahead;

[0040] The execution module is used to perform low-distance parking and starting control on the vehicle based on the expected distance model corresponding to the current driving scenario if the low-distance parking and starting system triggering conditions are met, and otherwise no control will be performed.

[0041] A computer device includes a memory, a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the computer program, the steps of a method for controlling low-distance parking and starting of an intelligent connected vehicle are implemented.

[0042] A computer-readable storage medium stores a computer program, which, when executed by a processor, implements the steps of a low-distance parking and starting control method for an intelligent connected vehicle.

[0043] Compared with the prior art, the present invention has the following beneficial technical effects:

[0044] The present invention provides a method, system, device and medium for controlling low-distance parking and starting of intelligent connected vehicles. The method presets a minimum stopping distance and, based on driving information of the intelligent connected vehicle in different driving scenarios, optimizes a speed model so that the vehicle can complete the motion process of low-distance parking and starting, and obtains the driving speed, displacement curve and acceleration curve of the vehicle in different driving scenarios. According to the vehicle acceleration, speed and position data obtained by the optimized speed model, the distance-speed relationship in the low-distance parking and starting process is parameterized, and an expected distance model for low-distance parking and starting of the vehicle in different driving scenarios is constructed. The low-distance parking and starting system is preset according to different driving scenarios based on the status information of the preceding vehicle, the signal light information and the road ahead information. System triggering conditions; if the low-distance parking and starting system triggering conditions are met, the vehicle will be controlled to park and start at a low distance based on the expected distance model corresponding to the current driving scenario, otherwise no control will be performed; this application shortens the parking distance of the vehicle and effectively solves the problems of long queues and overflow of vehicles at intersections; the implementation of low-distance parking and starting control of vehicles can increase the space utilization rate of signalized intersections and greatly improve the traffic capacity of the road; at the same time, it supplements the research gaps in the existing expected distance model on low-distance parking and starting data acquisition, control methods and systems; reduces the speed fluctuation of low-distance parking and starting, makes the driving process smoother, and can effectively reduce the fuel consumption during the vehicle start-stop process. BRIEF DESCRIPTION OF THE DRAWINGS

[0045] Figure 1 This is a flow chart of the low-distance parking and starting control method for an intelligent connected vehicle according to the present invention;

[0046] Figure 2 This is a graph showing the relationship between the parking speed of the lead vehicle and the expected spacing of the vehicle according to the present invention;

[0047] Figure 3 This is a graph showing the relationship between the stopping speed of the following vehicle and the expected distance when the present invention decelerates simultaneously;

[0048] Figure 4 This is a curve diagram showing the relationship between the parking speed of the following vehicle and the expected distance during the second parking of the present invention. DETAILED DESCRIPTION

[0049] The present invention will be further described in detail below with reference to specific embodiments, which are intended to explain the present invention rather than to limit it.

[0050] In order to enable those skilled in the art to better understand the solutions of the present invention, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the embodiments described are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts should fall within the scope of protection of the present invention.

[0051] It should be noted that the terms "first", "second", etc. in the description and claims of the present invention and the above-mentioned drawings are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that the numbers used in this way can be interchanged where appropriate, so that the embodiments of the present invention described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions. For example, a process, method, system, product or device that includes a series of steps or units is not necessarily limited to those steps or units clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0052] The present invention provides a low-distance parking and starting control method for intelligent networked vehicles, such as Figure 1 As shown, the following steps are included:

[0053] The minimum stopping distance is preset, and based on the driving information of intelligent connected vehicles in different driving scenarios, the speed model is optimized to enable the vehicle to complete the movement process of low-distance parking and starting, and the driving speed, displacement curve and acceleration curve of the vehicle in different driving scenarios are obtained;

[0054] S2: Based on the vehicle acceleration, speed, and position data obtained from the optimized speed model, the distance-speed relationship during low-gap parking and starting is calibrated to construct the expected distance model for low-gap parking and starting in different driving scenarios.

[0055] S3: Preset trigger conditions for the low-clearance stop and go system based on the preceding vehicle status, traffic light information, and road ahead information for different driving scenarios;

[0056] S4: If the low-clearance parking and starting system triggering conditions are met, the vehicle will be controlled to park and start at a low distance based on the expected distance model corresponding to the current driving scenario; otherwise, no control will be performed.

[0057] Preferably, the vehicle driving scene information includes:

[0058] When there is no vehicle ahead, as the first vehicle to arrive at the signalized intersection, it starts to decelerate at different initial speeds at a certain distance and stops at the set stop position in front of the stop line;

[0059] When the vehicle ahead has come to a complete stop, the following vehicle begins to decelerate at a certain distance with different initial speeds to a parking position set behind the vehicle ahead and stops;

[0060] The vehicle ahead has stopped, and the following vehicle first starts to decelerate at different initial velocities at a certain distance. Before the vehicle ahead stops completely, the vehicle ahead restarts, and the following vehicle changes speed and stops at a different location.

[0061] The vehicles ahead and behind have both stopped. The vehicle ahead needs to start again due to external factors and then stop and drive forward for a certain distance. The following vehicle determines whether to start and stop again based on the distance traveled by the vehicle ahead.

[0062] The vehicle in front does not stop. The front and rear vehicles first follow each other at a certain initial speed. The front vehicle starts to decelerate, and the following vehicle also decelerates. Both vehicles stop at the set stopping distance.

[0063] Furthermore, the external factors and their treatment process are as follows:

[0064] When a vehicle starts to slow down, the expected distance set by the original low-clearance parking system cannot meet the low-clearance parking requirements due to changes in the parking position of the vehicle ahead or the vehicle ahead passes through the signalized intersection without stopping due to speed guidance. The expected distance will be recalculated based on the status of the vehicle ahead.

[0065] The vehicle ahead stops suddenly, causing the following vehicle to be unable to fully maintain the desired distance set by the low-clearance parking system and requiring emergency braking.

[0066] For signalized intersections, the controlled vehicle can pass through the signal light without stopping by implementing speed guidance when the signal light and the vehicle cooperate with each other, and the low-clearance stop and start model mechanism will not be triggered.

[0067] Preferably, constructing the expected distance model under different driving scenarios includes the following steps:

[0068] T1: Based on the definition of the expected spacing and speed relationship:

[0069] d v =p1v 2 +p2v+d min ;

[0070] Among them, d min is the set minimum stopping distance, v is the speed of the following vehicle, d v is the expected distance between the following vehicle and the preceding vehicle, and p1 and p2 are parameters that need to be calibrated;

[0071] T2: Based on the collection and mathematical statistical analysis of vehicle stopping distance data on actual roads at signalized intersections, the results show that among all vehicle types, the parking spacing data are mostly distributed in the range of 0.5m-2.0m. Among them, the average parking spacing between buses is the smallest, which can reach 0.6m. At the same time, there are also cars with a parking spacing of about 0.6m, which does not affect the normal passage and start-stop safety of vehicles. Therefore, the analysis believes that cars can also generally achieve this average value through control. Therefore, d min The data is set to the range of 0.6±δm, where δ is the smallest fluctuation distance during the control process and is determined based on the actual driving safety conditions and control accuracy;

[0072] T3: The above model is calibrated using the vehicle motion state data under different driving scenarios to obtain the expected distance model for low-distance parking and starting of vehicles corresponding to different driving scenarios.

[0073] Preferably, the triggering conditions of the low-headroom parking and starting system include:

[0074] When there are no vehicles ahead, the traffic light status and traffic light duration are judged to determine whether the vehicle needs to stop and wait. If the vehicle must stop and wait, the expected distance model mechanism is triggered when the vehicle starts to decelerate;

[0075] When there is a vehicle in front, the motion state of the vehicle in front is detected in real time, and the information perception module is set to obtain data at time interval t0 to detect the motion state S of the vehicle in front. t ={a t , v t , x t}, corresponding to the acceleration, speed and position information of the preceding vehicle respectively; by judging the motion state of the preceding vehicle and planning the desired spacing for low-distance parking of the vehicles, low-distance parking control is achieved.

[0076] Furthermore, when there is a vehicle ahead, the motion state S of the vehicle ahead t This includes the following situations:

[0077] In multiple consecutive t0s, the state of the preceding vehicle satisfies S t ={0, 0, x t}, indicating that the leading vehicle has completely stopped and the following vehicle starts to slow down at a certain distance, triggering a low-clearance stop;

[0078] In multiple consecutive t0s, the status of the preceding vehicle satisfies Indicates that the leading vehicle is in the deceleration phase, and a low-clearance stop is triggered when the following vehicle starts to decelerate at a certain distance;

[0079] Low-interval start system triggering conditions: When Indicates that the leading vehicle has started to move, triggering the low-gap start of the following vehicle.

[0080] The present invention provides a low-distance parking and starting control system for intelligent connected vehicles, comprising:

[0081] Optimize the speed module, preset the minimum stopping distance, and based on the driving information of intelligent connected vehicles in different driving scenarios, optimize the speed model to enable the vehicle to complete the movement process of low-distance parking and starting, and obtain the vehicle's driving speed, displacement curve and acceleration curve in different driving scenarios;

[0082] The expected distance calculation module is used to calibrate the distance-speed relationship during low-clearance parking and starting based on the vehicle acceleration, speed, and position data obtained from the optimized speed model, and to construct an expected distance model for low-clearance parking and starting in different driving scenarios;

[0083] The desired distance control algorithm module is used to preset the trigger conditions of the low-distance stop and start system according to different driving scenarios based on the status information of the preceding vehicle, signal information and the road ahead;

[0084] The execution module is used to perform low-distance parking and starting control on the vehicle based on the expected distance model corresponding to the current driving scenario if the low-distance parking and starting system triggering conditions are met, and otherwise no control will be performed.

[0085] Furthermore, the expected distance calculation module also includes a low-distance parking and starting control device, including: an acquisition module for acquiring the acceleration, speed and position information of the front and rear vehicles and the information transmitted by the expected distance calculation module; a judgment module for judging whether to control the vehicle based on the information obtained by the acquisition module and the low-distance parking and starting trigger conditions; further, the expected distance calculation module has an ecological driving module interface for vehicles that can implement speed guidance, so as to achieve the goals of increasing road traffic efficiency and reducing fuel consumption from the perspective of vehicle-road collaboration; it should be noted that the execution module can realize the low-distance parking and starting of the vehicle by controlling the braking acceleration and deceleration of the vehicle calculated by the expected distance control algorithm module, including throttle drive control and brake control, and controlling the vehicle by adjusting the throttle opening angle and brake pressure.

[0086] The present invention provides a preferred embodiment for performing simulation verification on a vehicle implementing low-clearance stop and start control, wherein the simulation verification includes the various driving scenarios.

[0087] To verify the impact of low-interval stopping and starting on road capacity and vehicle travel time, a simulation platform was used in the simulation software. The experimental section was set as follows: from the entry point to the stop line at the signalized intersection, the total vehicle travel distance was approximately 500 meters. The hourly traffic volume was set at 3,700 vehicles per hour, and the signal light duration was set to 134 seconds for green, 0 seconds for yellow, and 83 seconds for red. Two simulation scenarios were simulated, with the stopping distance set at 0.6 meters and 2 meters. In both scenarios, all vehicles stopped and started according to the set stopping distance. The vehicle simulation operation scenarios included most of the driving scenarios described.

[0088] The driving scenarios mainly include the following situations:

[0089] (1) When the vehicle is the lead vehicle, the stop line is stationary relative to the vehicle, and the only restriction ahead is the stop line at the signalized intersection. The expected distance model for low-distance parking and starting in this scenario is used to calculate the expected distance during the vehicle's deceleration and parking process in real time.

[0090] When the vehicle is the lead vehicle, the calibrated expected spacing model for low-spacing parking is:

[0091] d v =0.394v 2 -0.0002v+0.601;

[0092] Among them, d v is the expected distance between the following vehicles, and v is the speed of the following vehicle. If the remaining red light of the traffic light ahead is 50 seconds, the vehicle cannot pass through the intersection smoothly with speed guidance. At this time, the controlled vehicle is 160m away from the stop line, with an initial speed of 50km / h. It starts to decelerate at the current distance. According to the expected distance model, the running speed and expected distance curve of the vehicle from the start of deceleration to the stop are calculated in real time (solid line). Compared with the case where the vehicle stops and starts with a distance of about 2 meters without low distance stopping and starting (dashed line), the speed and expected distance curves differ as shown below. Figure 2 As shown, the vehicle adopting the low-distance stop and start control can maintain a lower desired distance at the same speed. When the final speed is reduced to 0, the control method proposed in the present invention can effectively shorten the stopping distance to 0.601 meters.

[0093] (2) If the leading vehicle has not stopped, the following vehicle is controlled to stop and start at a low distance. At this time, the leading and trailing vehicles decelerate and stop at the same time. The expected distance of the vehicle during the deceleration and stopping process is calculated in real time through the calibrated low-distance stopping and starting expected distance model for this scenario. In this scenario, the calibrated expected distance model for the following vehicle is:

[0094]

[0095] Among them, d v is the expected distance between the following vehicles, v is the speed of the following vehicle, t is the time of the deceleration phase of the following vehicle, and t1 is the end time of the deceleration of the leading vehicle, that is, before t1, the leading and trailing vehicles are both in the deceleration phase, after t1, the leading vehicle has stopped, and the trailing vehicle is still decelerating. If the current vehicle and the leading vehicle start to decelerate and stop at the same time with a distance of 20m, the initial speed is 50km / h, the deceleration and stop time of the leading vehicle is 16s, and the deceleration and stop time of the following vehicle is 17s, according to the expected distance model, the running speed and expected distance curve of the vehicle from the start of deceleration and stopping to the stop of this section are calculated in real time. Compared with the case where the vehicle stops at a distance of about 2 meters without low-distance parking and starting, the speed and expected distance curves differ as follows: Figure 4 As shown, the vehicle adopting the low-distance stop and start control can maintain a lower desired distance at the same speed. When the final speed is reduced to 0, the control method proposed in the present invention can effectively shorten the stopping distance to 0.546 meters.

[0096] (3) If the front and rear vehicles restart and stop from a stable parking state, the speed of the controlled vehicle gradually increases from zero and then decreases to zero. The expected distance of the vehicle during the deceleration and parking process is calculated in real time through the calibrated low-distance parking and starting expected distance model for this scenario. In this scenario, the calibrated expected distance model for the following vehicle is:

[0097]

[0098] Among them, d v is the expected distance between the following vehicles, v is the speed of the following vehicle, t is the time of the following vehicle stopping, and t2 is the time when the following vehicle starts to decelerate. That is, before t2, the vehicle is in the acceleration and starting stage, and after t2, it is in the deceleration and stopping stage. If the current vehicle and the preceding vehicle start to accelerate and start again with a distance of 1m between them and then decelerate and stop, the maximum speed is 10km / h, the preceding vehicle decelerates and stops for 2s, and the following vehicle starts to accelerate and start for 1s, according to the expected distance model, the running speed and expected distance curve of the vehicle from the start of deceleration and stopping to the stop are calculated in real time. Compared with the case where the vehicle stops and starts with a distance of about 1m without low distance, the speed and expected distance curves differ as follows: Figure 4 As shown, the vehicle adopting the low-distance parking and starting control can maintain a lower desired distance at the same speed. When the final speed is reduced to 0, the control method proposed in the present invention can effectively shorten the parking distance to 0.5 meters.

[0099] (4) If the following vehicle receives information from the information sensing module that the traffic light is red and the vehicle can pass through the signalized intersection without stopping by speed guidance, or the traffic light is green, the following vehicle does not need to stop and wait. The low-headroom stop and start triggering condition is not met, and therefore, the low-headroom stop and start device is not activated.

[0100] It should be noted that the present invention does not invent the vehicle speed guidance, which is a device system that the vehicle itself needs to have.

[0101] Finally, simulation results show that the 0.6-meter parking spacing scenario allows 81 more vehicles to pass through within an hour than the 2-meter spacing scenario, reducing the average travel time per vehicle by 4.5 seconds. This also significantly increases the average vehicle speed. This demonstrates that smaller stopping distances can effectively increase the capacity of signalized intersections, reducing travel time and ultimately reducing fuel consumption.

[0102] In another embodiment of the present invention, a computer device is provided, which includes a processor and a memory, wherein the memory is used to store a computer program, the computer program includes program instructions, and the processor is used to execute the program instructions stored in the computer storage medium. The processor may be a central processing unit (CPU), or may be other general-purpose processors, digital signal processors (DSP), application-specific integrated circuits (ASIC), field-programmable gate arrays (FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. It is the computing core and control core of the terminal, which is suitable for implementing one or more instructions, specifically suitable for loading and executing one or more instructions in the computer storage medium to implement the corresponding method flow or corresponding function; the processor described in the embodiment of the present invention can be used for the operation of the low-distance parking and starting control method of intelligent connected vehicles.

[0103] In another embodiment of the present invention, the present invention further provides a storage medium, specifically a computer-readable storage medium (Memory), which is a memory device in a computer device for storing programs and data. It is understandable that the computer-readable storage medium here can include both built-in storage media in the computer device and, of course, extended storage media supported by the computer device. The computer-readable storage medium provides a storage space, which stores the operating system of the terminal. In addition, one or more instructions suitable for being loaded and executed by the processor are also stored in the storage space. These instructions can be one or more computer programs (including program codes). It should be noted that the computer-readable storage medium here can be a high-speed RAM memory or a non-volatile memory, such as at least one disk memory. The processor can load and execute one or more instructions stored in the computer-readable storage medium to implement the corresponding steps of the low-distance parking and starting control method for intelligent connected vehicles in the above embodiment.

[0104] It will be understood by those skilled in the art that embodiments of the present invention may be provided as methods, systems, or computer program products. Thus, the present invention may take the form of an entirely hardware embodiment, an entirely software embodiment, or an embodiment combining software and hardware. Furthermore, the present invention may take the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to magnetic disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0105] The present invention is described with reference to flowcharts and / or block diagrams of methods, devices (systems), and computer program products according to embodiments of the present invention. It should be understood that each process and / or block in the flowcharts and / or block diagrams, as well as combinations of processes and / or blocks in the flowcharts and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to produce a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowcharts and / or block diagrams. Figure 1 a process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0106] These computer program instructions may also be stored in a computer readable memory that can direct a computer or other programmable data processing device to work in a specific manner, so that the instructions stored in the computer readable memory produce an article of manufacture comprising an instruction device, which implements the process Figure 1 a process or multiple processes and / or boxes Figure 1 The function specified in one or more boxes.

[0107] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operational steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing the instructions executed on the computer or other programmable device for implementing the process. Figure 1 a process or multiple processes and / or boxes Figure 1 A step that specifies a function in one or more boxes.

[0108] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or replace some or all of the technical features therein with equivalents. However, these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. A low-distance parking and starting control method for an intelligent connected vehicle, characterized in that: The following steps are involved: S1: Based on the preset minimum stopping distance and the driving information of the intelligent connected vehicle in different driving scenarios, the speed model is optimized to enable the vehicle to complete the movement process of short-distance parking and starting. The driving speed, displacement curve and acceleration curve of the vehicle in different driving scenarios are obtained; Driving scenarios include: When there is no vehicle ahead, the first vehicle to arrive at the signalized intersection will decelerate at a certain distance with different initial speeds to the set stop position in front of the stop line; When the vehicle ahead has come to a complete stop, the following vehicle begins to decelerate at a certain distance with different initial speeds to a parking position set behind the vehicle ahead and stops; The vehicle ahead has stopped, and the following vehicle first starts to decelerate at different initial speeds at a certain distance. Before the vehicle ahead stops completely, the vehicle ahead restarts, and the following vehicle changes speed and stops at a different position. The vehicles ahead and behind have both stopped. The vehicle ahead needs to start again due to external factors and then stop and drive forward for a certain distance. The following vehicle determines whether to start and stop again based on the distance traveled by the vehicle ahead. If the vehicle ahead doesn't stop, the vehicles ahead and behind will initially follow each other at a certain initial speed. Then the vehicle ahead will slow down, and the following vehicle will slow down as well. Both vehicles will stop at the set stopping distance. S2: Based on the vehicle acceleration, speed, and position data obtained from the optimized speed model, the distance-speed relationship during low-gap parking and starting is calibrated to construct the expected distance model for low-gap parking and starting in different driving scenarios. Building the expected distance model under different driving scenarios includes the following steps: T1: Based on the definition of the expected spacing and speed relationship: ； in, is the set minimum stopping distance, is the speed of the following vehicle, is the desired distance between the following vehicle and the preceding vehicle, 、 It is a parameter that needs to be calibrated; T2: Set the minimum parking distance based on the measured vehicle parking distance data ; T3: Calibrate the parameters of the above model using vehicle motion state data under different driving scenarios to obtain the expected clearance model for low-clearance parking and starting corresponding to different driving scenarios; S3: Preset trigger conditions for the low-clearance stop and go system based on the preceding vehicle status, traffic light information, and road ahead information for different driving scenarios; S4: If the low-clearance parking and starting system triggering conditions are met, the vehicle will be controlled to park and start at a low distance based on the expected distance model corresponding to the current driving scenario; otherwise, no control will be performed.

2. The low-distance parking and starting control method for an intelligent connected vehicle according to claim 1, characterized in that: The minimum stopping distance is 0.6±δm, where δ is the fluctuation distance of the control process.

3. The low-distance parking and starting control method for an intelligent connected vehicle according to claim 1, characterized in that: The triggering conditions of the low-distance parking and starting system include: When there are no vehicles ahead, the traffic light status and traffic light duration are judged to determine whether the vehicle needs to stop and wait. If the vehicle must stop and wait, the expected distance model mechanism is triggered when the vehicle starts to decelerate; When there is a vehicle ahead, the vehicle's motion status is detected in real time, and the information perception module is set to obtain data at intervals. , detect the movement state of the vehicle in front , corresponding to the acceleration, speed and position information of the preceding vehicle respectively; by judging the motion state of the preceding vehicle and planning the desired distance for low-distance parking of the vehicles, low-distance parking control is achieved.

4. The low-distance parking and starting control method for an intelligent connected vehicle according to claim 3, characterized in that: When there is a vehicle in front, the vehicle's motion state This includes the following situations: Multiple consecutive The status of the preceding vehicle satisfies , indicating that the preceding vehicle has completely stopped and the following vehicle begins to slow down at a certain distance, triggering a low-clearance stop; Multiple consecutive The status of the preceding vehicle satisfies , indicating that the leading vehicle is in the deceleration stage, and the low-clearance parking is triggered when the following vehicle starts to decelerate at a certain distance; Low-interval start system triggering conditions: When , indicating that the leading vehicle starts to move, triggering the low-gap start of the following vehicle.

5. The low-distance parking and starting control system for intelligent connected vehicles is characterized by: A low-distance parking and starting control method for an intelligent connected vehicle according to any of claims 1 to 4, comprising: Optimize the speed module, preset the minimum stopping distance, and based on the driving information of intelligent connected vehicles in different driving scenarios, optimize the speed model to enable the vehicle to complete the movement process of low-distance parking and starting, and obtain the vehicle's driving speed, displacement curve and acceleration curve in different driving scenarios; The expected distance calculation module is used to calibrate the distance-speed relationship during low-clearance parking and starting based on the vehicle acceleration, speed, and position data obtained from the optimized speed model, and to construct an expected distance model for low-clearance parking and starting in different driving scenarios; The desired distance control algorithm module is used to preset the trigger conditions of the low-distance stop and start system according to different driving scenarios based on the status information of the preceding vehicle, signal information and the road ahead; The execution module is used to perform low-distance parking and starting control on the vehicle based on the expected distance model corresponding to the current driving scenario if the low-distance parking and starting system triggering conditions are met, and otherwise no control will be performed.

6. A computer device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein: When the processor executes the computer program, the steps of the low-distance parking and starting control method for an intelligent connected vehicle as described in any one of claims 1 to 4 are implemented.

7. A computer-readable storage medium storing a computer program, characterized in that: When the computer program is executed by a processor, the steps of the low-distance parking and starting control method for an intelligent connected vehicle as described in any one of claims 1 to 4 are implemented.

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