Vehicle traffic control method, device, equipment and storage medium

Abstract

The present invention discloses a vehicle traffic control method, device, equipment and storage medium. The method comprises: if a target vehicle is detected to enter an intersection-related area, the position data and speed data of the target vehicle are obtained; according to the position data and speed data of the target vehicle, a control strategy of the target vehicle is determined according to a predetermined traffic rule to control the traffic trajectory of the target vehicle in the intersection; wherein the traffic rule is obtained by jointly designing the geometric layout of the intersection and the traffic control strategy of the vehicle. This technical solution solves the problem of low traffic efficiency at the intersection, and can improve the lane utilization rate while improving the traffic efficiency at the intersection.

Description

Technical Field

[0001] The present invention relates to the technical field of traffic control, and in particular to a vehicle traffic control method, device, equipment and storage medium. Background Art

[0002] Autonomous driving technology has the advantages of high control accuracy, fast response speed, and strong information reception and transmission capabilities, bringing new possibilities for alleviating current urban traffic problems and building a safe and efficient road environment. With the help of vehicle-road collaborative technology, vehicle-to-infrastructure information communication and vehicle-to-infrastructure information communication can be realized, and vehicle dynamic information within a certain area of ​​the intersection can be obtained, so as to make joint decisions on the control of the autonomous driving vehicle and the control of the intersection's traffic strategy to improve vehicle traffic efficiency and safety.

[0003] At present, in order to reduce the cost of traffic, the traffic control strategy at the intersection usually requires a wider lane layout to expand the traffic capacity and achieve a smaller vehicle delay time. Therefore, it is difficult for the existing technology to achieve efficient use of lanes, which easily leads to low efficiency of traffic control at the intersection. Summary of the invention

[0004] The present invention provides a vehicle traffic control method, device, equipment and storage medium to solve the problem of low traffic efficiency at an intersection, and can improve the traffic efficiency at the intersection while improving the lane utilization rate.

[0005] According to one aspect of the present invention, a vehicle traffic control method is provided, the method comprising:

[0006] If the target vehicle is detected to enter the intersection-related area, the position data and speed data of the target vehicle are obtained;

[0007] According to the position data and speed data of the target vehicle and in accordance with the predetermined traffic rules, a control strategy for the target vehicle is determined to control the traffic trajectory of the target vehicle in the intersection;

[0008] The traffic rules are obtained by jointly designing the geometric layout of the intersection and the traffic control strategy of the vehicle.

[0009] According to another aspect of the present invention, there is provided a vehicle traffic control device, the device comprising:

[0010] A data acquisition module is used to acquire the position data and speed data of the target vehicle if it is detected that the target vehicle enters the intersection-related area;

[0011] A control strategy determination module is used to determine the control strategy of the target vehicle according to the position data and speed data of the target vehicle and the predetermined traffic rules, so as to control the traffic trajectory of the target vehicle in the intersection;

[0012] The traffic rules are obtained by jointly designing the geometric layout of the intersection and the traffic control strategy of the vehicle.

[0013] According to another aspect of the present invention, an electronic device is provided, the electronic device comprising:

[0014] at least one processor; and

[0015] a memory communicatively connected to the at least one processor; wherein,

[0016] The memory stores a computer program that can be executed by the at least one processor, and the computer program is executed by the at least one processor so that the at least one processor can execute the vehicle traffic control method described in any embodiment of the present invention.

[0017] According to another aspect of the present invention, a computer-readable storage medium is provided, wherein the computer-readable storage medium stores computer instructions, and the computer instructions are used to enable a processor to implement the vehicle traffic control method described in any embodiment of the present invention when executed.

[0018] The technical solution of the embodiment of the present invention obtains the position data and speed data of the target vehicle after detecting that the target vehicle enters the intersection-related area, and determines the control strategy of the target vehicle according to the position data and speed data of the target vehicle and the traffic rules pre-designed and determined according to the geometric layout of the intersection and the traffic control strategy of the vehicle, so as to control the traffic trajectory of the target vehicle in the intersection. This technical solution solves the problem of low traffic efficiency at the intersection, and can improve the traffic efficiency of the intersection while improving the lane utilization rate.

[0019] It should be understood that the contents described in this section are not intended to identify the key or important features of the embodiments of the present invention, nor are they intended to limit the scope of the present invention. Other features of the present invention will become easily understood through the following description. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0021] Figure 1A is a flow chart of a vehicle traffic control method provided according to Embodiment 1 of the present invention;

[0022] Figure 1Bis a schematic diagram of a four-lane intersection provided according to an embodiment of the present invention;

[0023] Figure 2A is a flow chart of a vehicle traffic control method provided according to Embodiment 2 of the present invention;

[0024] Figure 2B is a schematic diagram of the relationship between the lengths of a left-turn section and a straight section provided according to an embodiment of the present invention;

[0025] Figure 2C is a schematic diagram of a first angle relationship of conflict areas provided according to an embodiment of the present invention;

[0026] Figure 2D is a schematic diagram of a second angle relationship of a conflict area provided according to an embodiment of the present invention;

[0027] Figure 2E is a schematic diagram of the relationship between the lengths of conflicting areas provided according to an embodiment of the present invention;

[0028] Figure 3 is a schematic structural diagram of a vehicle traffic control device provided according to Embodiment 3 of the present invention;

[0029] Figure 4 It is a schematic diagram of the structure of an electronic device for implementing the vehicle traffic control method according to an embodiment of the present invention. DETAILED DESCRIPTION

[0030] In order to enable those skilled in the art to better understand the scheme of the present invention, the technical scheme in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are 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 creative work should fall within the scope of protection of the present invention.

[0031] It should be noted that the terms "first", "second", etc. in the specification 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 data used in this way can be interchangeable 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 of their variations 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 that are clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices. The acquisition, storage, use, processing, etc. of data in the technical solution of this application comply with the relevant provisions of national laws and regulations.

[0032] Embodiment 1

[0033] Figure 1A A flow chart of a vehicle traffic control method is provided for the first embodiment of the present invention. This embodiment is applicable to the traffic control of vehicles at intersections in an autonomous driving scenario. The method can be executed by a vehicle traffic control device, which can be implemented in the form of hardware and / or software and can be configured in an electronic device. Figure 1A As shown, the method includes:

[0034] S110: If it is detected that the target vehicle enters the intersection-related area, the position data and speed data of the target vehicle are obtained.

[0035] This solution can be executed by the traffic control platform, and the traffic control platform can communicate with the autonomous driving vehicle to obtain the position data and speed data of the autonomous driving vehicle within the management scope in real time. The autonomous driving vehicle can determine the position data and speed data of the vehicle through sensing devices such as radar and camera. Among them, the position data may include information such as the position, position coordinates and lane of the autonomous driving vehicle, and the speed data may include information such as speed magnitude, speed direction and acceleration magnitude. The autonomous driving vehicle can periodically report the position data and speed data of the vehicle to the traffic control platform, or report the position data and speed data of the vehicle when the autonomous driving vehicle detects a triggering event. The triggering event may be the autonomous driving vehicle arriving at the intersection-related area, or the number of moving targets in the driving environment exceeds a preset number, or the autonomous driving vehicle detects an abnormality in the vehicle.

[0036] According to the position data of the target vehicle, the traffic control platform can determine whether the target vehicle has reached the intersection-related area. The target vehicle can be one or more, and multiple target vehicles in the same driving direction can form a fleet. The intersection-related area can be an area near the intersection, such as an area 100 to 150 meters away from the intersection. If the target vehicle is detected to enter the intersection-related area, the traffic control platform can obtain the current position data and speed data of the target vehicle.

[0037] S120: Determine a control strategy for the target vehicle based on the position data and speed data of the target vehicle and in accordance with predetermined traffic rules to control the traffic trajectory of the target vehicle in the intersection.

[0038] The traffic rules are obtained by jointly designing the geometric layout of the intersection and the traffic control strategy of the vehicle. The geometric layout of the intersection may include the length design of each type of road section in the intersection, and the traffic control strategy of the vehicle may include the design of the time when the target vehicle enters the intersection, the time it takes to pass the intersection, and the speed at which the vehicle passes the intersection. Figure 1B is a schematic diagram of a four-lane intersection provided according to an embodiment of the present invention, such as Figure 1B As shown, the point on the intersection boundary is a boundary point, which can be set based on lanes in each direction, and the point in the intersection is a conflict point, indicating that there may be a traffic conflict when a vehicle travels to this position. The types of sections in the intersection can include the first type, the second type, the third type and the fourth type. The first type of section is the section involved in the intersection boundary endpoint, the second type of section is the section involved in the intersection boundary middle point, the third type of section is the section between the conflict point and the boundary point in the intersection, and the fourth type of section is the section between the conflict points in the intersection. Figure 1B The intersection shown is a four-lane intersection. This solution is also applicable to intersections with other numbers of lanes, such as six lanes and eight lanes.

[0039] The traffic rules may include rules such as traffic speed, traffic time, and traffic trajectory. The traffic control platform may determine the predicted traffic trajectory of the target vehicle in the intersection based on the position data and speed data of the target vehicle. Based on the predicted traffic trajectory, the traffic control platform may determine whether the target vehicle complies with the traffic rules. If not, the target position and target speed of the target vehicle are determined, and the target vehicle is controlled to move to the target position and adjusted to the target speed before reaching the intersection, so that the target vehicle passes through the intersection according to a specific traffic trajectory.

[0040] This technical solution obtains the position data and speed data of the target vehicle after detecting that the target vehicle enters the intersection-related area, and determines the control strategy of the target vehicle according to the position data and speed data of the target vehicle and the traffic rules pre-designed and determined based on the geometric layout of the intersection and the traffic control strategy of the vehicle, so as to control the traffic trajectory of the target vehicle in the intersection. This technical solution solves the problem of low traffic efficiency at intersections, and can improve the traffic efficiency of intersections while improving the utilization rate of lanes.

[0041] Embodiment 2

[0042] Figure 2A This is a flow chart of a vehicle traffic control method provided by Embodiment 2 of the present invention. This embodiment is based on the above embodiment and is refined. Figure 2A As shown, the method includes:

[0043] S210: Determine a target relationship according to a signal control cycle, a preset travel speed, and a lane width.

[0044] In this solution, the target relationship is sTv, where s represents the adjustment coefficient, T represents the signal control cycle, and v represents the travel speed. The travel speed v can be a preset safe travel speed at the intersection, the signal control cycle T can be the signal control cycle of the intersection signal light, the adjustment coefficient s can be to be determined, and the target relationship can represent the planned width of the intersection.

[0045] S220: Determine traffic rules according to the fleet size of each lane, the traffic cycle ratio of each lane, and the traffic speed of each lane when the target relationship meets the preset joint design conditions.

[0046] Among them, the fleet size, traffic cycle ratio and traffic speed are pre-set; the fleet size may include information such as the number of fleet rows, the number of columns and the interval distance between vehicles; the traffic cycle ratio may be the ratio of the traffic cycles of lanes in different directions, such as the ratio of the traffic cycles of the straight lane and the left turn lane. The signal control cycle may be the least common multiple of each traffic cycle. The traffic speeds of each lane may be the same or different, and the traffic control platform may set the traffic speed of each lane according to the traffic direction.

[0047] According to the pre-set fleet size of each lane, the traffic cycle ratio of each lane, and the traffic speed of each lane, the traffic control platform can determine the minimum planned intersection width when the target relationship meets the joint design conditions. According to the minimum planned intersection width, the traffic control platform can determine the length of each type of intersection section and the relative entry time of the fleet within the signal control cycle, and then determine the traffic rules. The joint design conditions may include entry time constraints, collision avoidance constraints, lane geometry constraints, and target relationship value constraints.

[0048] The entry time constraint may include:

[0049]

[0050]

[0051]

[0052]

[0053]

[0054]

[0055] Where i represents the fleet index, represents the fleet set, e i represents the relative entry time of fleet i at the intersection, T represents the signal control cycle, κ represents the time adjustment parameter, l represents the lane index, P i,l represents the i-th convoy on lane l, represents the set of convoys on lane l, represents the lane set, j represents the conflict point index, represents the set of conflict points involved in convoy i, represents the relative arrival time of convoy i at conflict point j, represents the arrival time of fleet i at conflict point j relative to the signal control cycle, k represents the road section index, L k represents the length of road segment k, Indicates that team i enters point N i The set of road sections from s to conflict point j, k is the scaling factor of road segment k, Represents the conversion parameter, which is used to Convert to

[0056] It should be noted that 0≤e i≤T-κ means that the relative entry time of fleet i at the intersection should be within one signal control cycle, and κ can be a sufficiently small constant, such as 0.00001. It means that the relative entry time sequence of the convoy is consistent with the sequence in which the convoy arrives at the intersection. It means that the time when the convoy arrives at the conflict point is consistent with the relative entry time and the travel time on each road segment. and Indicates the relationship between the arrival time relative to the signal control period and the relative arrival time.

[0057] This solution constrains the time for the convoy to enter the intersection, which is conducive to efficient time planning and saves the time cost of passing through the intersection.

[0058] Optionally, the collision avoidance constraint may include:

[0059]

[0060]

[0061]

[0062]

[0063]

[0064]

[0065] Where (l,l′) represents the index of the conflicting lane pair, (i l ,i l′ ) represents the conflict point pair index, represents the set of conflicting lane pairs, represents the set of conflict point pairs between lane l and lane l′, M represents the relationship adjustment parameter, p and q represent the fleet index, l p represents the convoy p,l′ on lane l q represents the convoy q on lane l′, It means that the convoy p on lane l is at the conflict point i l The arrival time relative to the signal control period, Indicates that the convoy q on lane l′ is at the conflict point i l′ Relative to the arrival time of the signal control cycle, Indicates the size relationship description parameter, used to indicate and The size relationship, represents the periodic description parameter, t l represents the travel time of the convoy on lane l, t l′represents the travel time of the convoy on lane l′.

[0066] In this scheme, the collision avoidance constraint can indicate that two convoys passing through any conflict point need to meet the shortest safe distance, which is conducive to ensuring the safety of the convoys passing through the intersection.

[0067] In a preferred solution, the lane geometry constraints may include:

[0068] s=2s 1 +s 2 ;

[0069] α 1 (s 1 +s 2 )≤2s 3 +s 4 ≤α 2 (s 1 +s 2 );

[0070] s 2 +κ≤α 3 s 3 ;

[0071] s 3 ≤α 4 s 2 ;

[0072]

[0073] s 1 +κ≥α 6 s 4 ;

[0074] s 2 ,s 3 ≥α 7 ;

[0075]

[0076]

[0077]

[0078] Where s represents the scaling factor, s 1 Represents the scaling factor of the first type of road segment, s 2 Represents the scaling factor of the second type of road segment, s 3 Indicates the scaling factor of the third type of road segment, s 4α represents the scaling factor of the fourth type of road section, the first type of road section is the road section involved in the intersection boundary endpoint, the second type of road section is the road section involved in the intersection boundary midpoint, the third type of road section is the road section between the conflict point and the boundary point in the intersection, and the fourth type of road section is the road section between the conflict points in the intersection; 1 , α 2 , α 3 , α 4 , α 5 , α 6 and α 7 Indicates the preset experience parameters, is the number of lateral vehicles in the convoy on the straight lane, is the number of lateral vehicles in the convoy on the left-turn lane, w l is the lane width, w is the width of the vehicle, δ represents the safe distance between vehicles, l l Indicates the lateral distance between vehicles in the convoy. Indicates the minimum width of the intersection. Indicates the maximum width of the intersection.

[0079] like Figure 1B As shown, in a four-lane intersection, the sum of the widths of two first-type road sections and one second-type road section is equal to the planned intersection width. Under the condition that the traffic speed and signal control cycle are consistent, there exists a scaling factor that satisfies s=2s 1 +s 2 . Figure 2B Schematic diagram of the relationship between the lengths of the left-turn section and the straight section provided according to an embodiment of the present invention. Figure 2B As shown, α 1 (s 1 +s 2 )≤2s 3 +s 4 ≤α 2 (s 1 +s 2 ) can represent the length relationship between the left-turn section and the straight section, where the empirical coefficient α 1 With α 2 The values ​​can be 1.45 and Empirical coefficient α 3 and α 4 Can take values ​​separately and 1.5. Figure 2C 2 is a schematic diagram of the first angle relationship of the conflict area provided according to an embodiment of the present invention. Figure 2C As shown, s 2 and 3 Can satisfy 2 +κ≤α 3 s 3 ,s3 ≤α 4 s 2 . Empirical coefficient α 5 The value can be 0.95, the empirical coefficient α 6 The possible values ​​are Figure 2D 2 is a schematic diagram of the second angle relationship of the conflict area provided according to an embodiment of the present invention. Figure 2D As shown, s 1 、s 2 、s 3 and 4 Can satisfy Figure 2E is a schematic diagram of the relationship between the lengths of the conflicting regions provided according to an embodiment of the present invention. Figure 2E As shown, s 1 and 4 Can satisfy 1 +κ≥α 6 s 4 . Empirical coefficient α 7 The possible values ​​are s 2 and 3 Satisfaction 2 ,s 3 ≥α 7 .

[0080] Easy to understand, Indicates the average width of left-turning convoys and straight-moving convoys with a safe distance between convoys. represents the width of the left-turning convoy with a safe interval, w l Indicates the width of the road. Indicates that the width of the first type of road segment is greater than or equal to the width of the vehicle convoy and greater than or equal to the road width. Indicates that the width of the fourth type of road section is greater than or equal to the width of the convoy and greater than or equal to the road width.

[0081] The above scheme can constrain the scaling coefficients of various types of road sections, which is conducive to the reasonable planning of lanes, saving travel costs and improving lane utilization.

[0082] In this solution, optionally, the target relationship expression value constraint is determined based on the sorting result of each calculation result of the target relationship expression; wherein each calculation result of the target relationship expression satisfies the entry time constraint, the collision avoidance constraint and the lane geometry constraint.

[0083] The target relational expression value constraint may be the minimum value that the target relational expression can obtain while satisfying the entry time constraint, the collision avoidance constraint, and the lane geometry constraint. The traffic control platform may sort the target relational expression calculation results that satisfy the entry time constraint, the collision avoidance constraint, and the lane geometry constraint. The traffic control platform may determine the minimum calculation result from the sorted results of each calculation result, and determine the traffic rules according to the intersection planning width corresponding to the minimum calculation result, the length of each type of road section in the intersection, the signal control cycle of each lane, and the relative entry time of each convoy within the signal control cycle.

[0084] This solution can jointly design the geometric layout of the intersection and the vehicle traffic control strategy, which is beneficial to improving the lane utilization while improving the traffic efficiency of the intersection.

[0085] In a feasible solution, according to the fleet size of each lane, the traffic cycle ratio of each lane and the traffic speed of each lane, when the target relationship meets the preset joint design conditions, the traffic rules are determined, including:

[0086] Determine at least two candidate values ​​of the signal control period according to the preset period step from small to large, and substitute the candidate values ​​of the signal control period into the target relational expression in sequence to obtain at least two candidate target relational expressions;

[0087] According to the fleet size of each lane, the traffic cycle ratio of each lane and the traffic speed of each lane, when each candidate target relationship meets the preset joint design conditions, the planned intersection width, the length of each type of road section in the intersection, the signal control cycle of each lane and the relative entry time of each fleet within the signal control cycle are determined;

[0088] The traffic rules are determined based on the target values ​​of the traffic speed of each lane, the planned width of the intersection, the length of each type of road section in the intersection, the signal control cycle of each lane, and the relative entry time of each fleet within the signal control cycle.

[0089] According to the preset fleet size of each lane, the traffic cycle ratio of each lane, and the traffic speed of each lane, the traffic control platform can determine multiple candidate values ​​of the signal control cycle from small to large according to the preset cycle step. For example, if the cycle step is 10s, the minimum value of the signal control cycle is limited to 20s and the maximum value is 60s, and the candidate values ​​of the signal control cycle may include 20s, 30s, 40s, 50s, and 60s.

[0090] The traffic control platform can sequentially substitute the candidate values ​​of the signal control cycle into the target relational expression to obtain the candidate target relational expression that matches each candidate value. The traffic control platform can solve each candidate target relational expression and the matching joint design condition as a mixed integer programming problem. Substitute the determined data such as the fleet size of each lane, the travel cycle ratio of each lane, and the travel speed of each lane into the mixed integer programming problem to determine the planned width of the intersection, the length of each type of road section in the intersection, the signal control cycle of each lane, and the relative entry time of each fleet within the signal control cycle.

[0091] According to the speed of each lane, the planned width of the intersection, the length of each type of road section in the intersection, the signal control cycle of each lane, and the target value of the relative entry time of each fleet in the signal control cycle, the traffic control platform can determine the speed, travel time and travel trajectory of each vehicle at the intersection, thereby obtaining the traffic rules. Specifically, the traffic control platform can determine whether the planned width of the intersection is reasonable based on the planned width of the intersection and the actual width of the intersection obtained in advance. If the planned width of the intersection is less than or equal to the actual width of the intersection, the traffic control platform can determine the travel distance of the vehicle at the intersection based on the length of each type of road section in the intersection, and based on the travel distance and travel speed, the traffic control platform can calculate the travel time of the vehicle. According to the signal control cycle of each lane and the target value of the relative entry time of each fleet in the signal control cycle, the traffic control platform can determine the travel time of the vehicle at the intersection.

[0092] It is easy to understand that for each candidate value, the solution of the mixed integer programming problem may have a solution or no solution. When there is no solution, the traffic control platform can discard the current candidate value and continue to calculate the next candidate value until it is determined that the current candidate value has a solution.

[0093] In a specific example, the traffic control platform can set evaluation conditions to screen the above joint design results. The joint design results may include the width of each type of road section, the time for the convoy on each lane to enter the intersection, the traffic cycle of each lane, and the size of the convoy on each lane. The evaluation conditions may include: l represents the lane index, represents the lane set, represents the number of rows of the convoy in lane l, T l represents the traffic cycle of lane l, d l represents the traffic demand of lane l.

[0094] If all joint design results cannot meet the evaluation conditions, the traffic control platform can use lane capacity as a basis to determine the joint design results that meet the needs. Specifically, the traffic control platform can use The minimum joint design result is taken as the joint design result that meets the requirements, where d l is the traffic demand of lane l, c l is the capacity of lane l, γ>1 is the penalty coefficient,

[0095] If at least one of the joint design results meets the evaluation condition, the traffic control platform can determine the joint design result that meets the requirements based on the average delay time. The minimum joint design result is taken as the joint design result that meets the requirements. In the formula, is the headway time between vehicles in the convoy, is the headway time between the last vehicle in the convoy on lane i and the first vehicle in the next convoy. It should be noted that the calculation of the average delay time in the above formula assumes that the arrival of vehicles in each lane follows a mutually independent Poisson distribution.

[0096] S230: If it is detected that the target vehicle enters the intersection-related area, the position data and speed data of the target vehicle are obtained.

[0097] S240: Determine a control strategy for the target vehicle based on the position data and speed data of the target vehicle and in accordance with predetermined traffic rules to control the traffic trajectory of the target vehicle in the intersection.

[0098] This technical solution obtains the position data and speed data of the target vehicle after detecting that the target vehicle enters the intersection-related area, and determines the control strategy of the target vehicle according to the position data and speed data of the target vehicle and the traffic rules pre-designed and determined based on the geometric layout of the intersection and the traffic control strategy of the vehicle, so as to control the traffic trajectory of the target vehicle in the intersection. This technical solution solves the problem of low traffic efficiency at intersections, and can improve the traffic efficiency of intersections while improving the utilization rate of lanes.

[0099] Embodiment 3

[0100] Figure 3 This is a schematic diagram of the structure of a vehicle traffic control device provided by Embodiment 3 of the present invention. Figure 3 As shown, the device comprises:

[0101] The data acquisition module 310 is used to acquire the position data and speed data of the target vehicle if it is detected that the target vehicle enters the intersection associated area;

[0102] A control strategy determination module 320 is used to determine the control strategy of the target vehicle according to the position data and speed data of the target vehicle and the predetermined traffic rules, so as to control the traffic trajectory of the target vehicle in the intersection;

[0103] The traffic rules are obtained by jointly designing the geometric layout of the intersection and the traffic control strategy of the vehicle.

[0104] In this solution, optionally, the device further includes a traffic rule determination module, and the traffic rule determination module includes:

[0105] A relationship determination unit, used to determine a target relationship according to a signal control cycle, a preset passing speed, and a lane width;

[0106] A traffic rule determination unit, used to determine the traffic rule according to the fleet size of each lane, the traffic cycle ratio of each lane and the traffic speed of each lane when the target relationship meets the preset joint design conditions;

[0107] Among them, the fleet size, traffic cycle ratio and traffic speed are pre-set; the joint design conditions include entry time constraints, collision avoidance constraints, lane geometry constraints and target relationship value constraints.

[0108] Based on the above solution, optionally, the entry time constraint includes:

[0109]

[0110]

[0111]

[0112]

[0113]

[0114]

[0115] Where i represents the fleet index, represents the fleet set, e i represents the relative entry time of fleet i at the intersection, T represents the signal control cycle, κ represents the time adjustment parameter, l represents the lane index, P i,l represents the i-th convoy on lane l, represents the set of convoys on lane l, represents the lane set, j represents the conflict point index, represents the set of conflict points involved in convoy i, represents the relative arrival time of convoy i at conflict point j, represents the arrival time of fleet i at conflict point j relative to the signal control cycle, k represents the road section index, L k represents the length of road segment k, Indicates that team i enters point N i The set of road sections from s to conflict point j, k is the scaling factor of road segment k, Represents the conversion parameter, which is used to Convert to

[0116] In a feasible solution, the collision avoidance constraints include:

[0117]

[0118]

[0119]

[0120]

[0121]

[0122]

[0123] Where (l,l′) represents the index of the conflicting lane pair, (i l ,i l′ ) represents the conflict point pair index, represents the set of conflicting lane pairs, represents the set of conflict point pairs between lane l and lane l′, M represents the relationship adjustment parameter, p and q represent the fleet index, l p represents the convoy p,l′ on lane l q represents the convoy q on lane l′, It means that the convoy p on lane l is at the conflict point i l The arrival time relative to the signal control period, Indicates lane l ′ The convoy q on the conflict point i l′ Relative to the arrival time of the signal control cycle, Indicates the size relationship description parameter, used to indicate and The size relationship, represents the periodic description parameter, t l represents the travel time of the convoy on lane l, t l′ Indicates lane l ′ The passage time of the convoy on the road.

[0124] In another feasible solution, the lane geometry constraint includes:

[0125] s=2s 1 +s 2 ;

[0126] α 1 (s 1 +s 2 )≤2s 3 +s 4 ≤α 2 (s 1 +s 2 );

[0127] s 2 +κ≤α 3 s 3 ;

[0128] s 3 ≤α 4 s 2 ;

[0129]

[0130] s 1 +κ≥α 6 s 4 ;

[0131] s 2 ,s 3 ≥α 7 ;

[0132]

[0133]

[0134]

[0135] Where s represents the scaling factor, s 1 Represents the scaling factor of the first type of road segment, s 2 Represents the scaling factor of the second type of road segment, s 3 Indicates the scaling factor of the third type of road segment, s 4 α represents the scaling factor of the fourth type of road section, the first type of road section is the road section involved in the intersection boundary endpoint, the second type of road section is the road section involved in the intersection boundary midpoint, the third type of road section is the road section between the conflict point and the boundary point in the intersection, and the fourth type of road section is the road section between the conflict points in the intersection; 1 , α 2 , α 3 , α 4 , α 5 , α 6 and α 7 Indicates the preset experience parameters, is the number of lateral vehicles in the convoy on the straight lane, is the number of lateral vehicles in the convoy on the left-turn lane, w lis the lane width, w is the vehicle width, l l represents the lateral distance between vehicles in the convoy, δ represents the safe distance between vehicles, Indicates the minimum width of the intersection. Indicates the maximum width of the intersection.

[0136] In a preferred solution, the target relationship is sTv, where s represents the scaling factor, T represents the signal control period, and v represents the travel speed;

[0137] The target relational expression value constraint is determined according to the sorting result of each calculation result of the target relational expression;

[0138] Among them, each calculation result of the target relationship equation satisfies the entry time constraint, the collision avoidance constraint and the lane geometry constraint.

[0139] Based on the above solution, optionally, the traffic rule determination unit is specifically used to:

[0140] Determine at least two candidate values ​​of the signal control period according to the preset period step from small to large, and substitute the candidate values ​​of the signal control period into the target relational expression in sequence to obtain at least two candidate target relational expressions;

[0141] According to the fleet size of each lane, the traffic cycle ratio of each lane and the traffic speed of each lane, when each candidate target relationship meets the preset joint design conditions, the planned intersection width, the length of each type of road section in the intersection, the signal control cycle of each lane and the relative entry time of each fleet within the signal control cycle are determined;

[0142] The traffic rules are determined based on the target values ​​of the traffic speed of each lane, the planned width of the intersection, the length of each type of road section in the intersection, the signal control cycle of each lane, and the relative entry time of each fleet within the signal control cycle.

[0143] The vehicle traffic control device provided in the embodiment of the present invention can execute the vehicle traffic control method provided in any embodiment of the present invention, and has the corresponding functional modules and beneficial effects of the execution method.

[0144] Embodiment 4

[0145] Figure 4A schematic diagram of an electronic device 410 that can be used to implement an embodiment of the present invention is shown. The electronic device is intended to represent various forms of digital computers, such as laptop computers, desktop computers, workstations, personal digital assistants, servers, blade servers, mainframe computers, and other suitable computers. The electronic device may also represent various forms of mobile devices, such as personal digital processing, cellular phones, smart phones, wearable devices (such as helmets, glasses, watches, etc.) and other similar computing devices. The components shown herein, their connections and relationships, and their functions are merely examples and are not intended to limit the implementation of the present invention described and / or required herein.

[0146] like Figure 4 As shown, the electronic device 410 includes at least one processor 411, and a memory connected to the at least one processor 411 in communication, such as a read-only memory (ROM) 412, a random access memory (RAM) 413, etc., wherein the memory stores a computer program that can be executed by at least one processor, and the processor 411 can perform various appropriate actions and processes according to the computer program stored in the read-only memory (ROM) 412 or the computer program loaded from the storage unit 418 to the random access memory (RAM) 413. In the RAM 413, various programs and data required for the operation of the electronic device 410 can also be stored. The processor 411, the ROM 412, and the RAM 413 are connected to each other via a bus 414. An input / output (I / O) interface 415 is also connected to the bus 414.

[0147] Multiple components in the electronic device 410 are connected to the I / O interface 415, including: an input unit 416, such as a keyboard, a mouse, etc.; an output unit 417, such as various types of displays, speakers, etc.; a storage unit 418, such as a disk, an optical disk, etc.; and a communication unit 419, such as a network card, a modem, a wireless communication transceiver, etc. The communication unit 419 allows the electronic device 410 to exchange information / data with other devices through a computer network such as the Internet and / or various telecommunication networks.

[0148] The processor 411 may be a variety of general and / or special processing components with processing and computing capabilities. Some examples of the processor 411 include, but are not limited to, a central processing unit (CPU), a graphics processing unit (GPU), various special artificial intelligence (AI) computing chips, various processors running machine learning model algorithms, a digital signal processor (DSP), and any appropriate processor, controller, microcontroller, etc. The processor 411 executes the various methods and processes described above, such as a vehicle traffic control method.

[0149] In some embodiments, the vehicle traffic control method may be implemented as a computer program, which is tangibly contained in a computer-readable storage medium, such as a storage unit 418. In some embodiments, part or all of the computer program may be loaded and / or installed on the electronic device 410 via the ROM 412 and / or the communication unit 419. When the computer program is loaded into the RAM 413 and executed by the processor 411, one or more steps of the vehicle traffic control method described above may be performed. Alternatively, in other embodiments, the processor 411 may be configured to execute the vehicle traffic control method in any other appropriate manner (e.g., by means of firmware).

[0150] Various implementations of the systems and techniques described above herein can be implemented in digital electronic circuit systems, integrated circuit systems, field programmable gate arrays (FPGAs), application specific integrated circuits (ASICs), application specific standard products (ASSPs), systems on chips (SOCs), load programmable logic devices (CPLDs), computer hardware, firmware, software, and / or combinations thereof. These various implementations can include: being implemented in one or more computer programs that can be executed and / or interpreted on a programmable system including at least one programmable processor, which can be a special purpose or general purpose programmable processor that can receive data and instructions from a storage system, at least one input device, and at least one output device, and transmit data and instructions to the storage system, the at least one input device, and the at least one output device.

[0151] Computer programs for implementing the methods of the present invention may be written in any combination of one or more programming languages. These computer programs may be provided to a processor of a general-purpose computer, a special-purpose computer, or other programmable data processing device, so that when the computer program is executed by the processor, the functions / operations specified in the flow chart and / or block diagram are implemented. The computer program may be executed entirely on the machine, partially on the machine, partially on the machine and partially on a remote machine as a stand-alone software package, or entirely on a remote machine or server.

[0152] In the context of the present invention, a computer-readable storage medium may be a tangible medium that may contain or store a computer program for use by or in combination with an instruction execution system, device or equipment. A computer-readable storage medium may include, but is not limited to, electronic, magnetic, optical, electromagnetic, infrared, or semiconductor systems, devices or equipment, or any suitable combination of the foregoing. Alternatively, a computer-readable storage medium may be a machine-readable signal medium. A more specific example of a machine-readable storage medium may include an electrical connection based on one or more lines, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.

[0153] To provide interaction with a user, the systems and techniques described herein may be implemented on an electronic device having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to the user; and a keyboard and a pointing device (e.g., a mouse or trackball) through which the user can provide input to the electronic device. Other types of devices may also be used to provide interaction with the user; for example, the feedback provided to the user may be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user may be received in any form (including acoustic input, voice input, or tactile input).

[0154] The systems and techniques described herein may be implemented in a computing system that includes backend components (e.g., as a data server), or a computing system that includes middleware components (e.g., an application server), or a computing system that includes frontend components (e.g., a user computer with a graphical user interface or a web browser through which a user can interact with implementations of the systems and techniques described herein), or a computing system that includes any combination of such backend components, middleware components, or frontend components. The components of the system may be interconnected by any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include: a local area network (LAN), a wide area network (WAN), a blockchain network, and the Internet.

[0155] A computing system may include a client and a server. The client and the server are generally remote from each other and usually interact through a communication network. The client and server relationship is generated by computer programs running on the corresponding computers and having a client-server relationship with each other. The server may be a cloud server, also known as a cloud computing server or cloud host, which is a host product in the cloud computing service system to solve the defects of difficult management and weak business scalability in traditional physical hosts and VPS services.

[0156] It should be understood that the various forms of processes shown above can be used to reorder, add or delete steps. For example, the steps described in the present invention can be executed in parallel, sequentially or in different orders, as long as the desired results of the technical solution of the present invention can be achieved, and this document does not limit this.

[0157] The above specific implementations do not constitute a limitation on the protection scope of the present invention. It should be understood by those skilled in the art that various modifications, combinations, sub-combinations and substitutions can be made according to design requirements and other factors. Any modification, equivalent substitution and improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. A vehicle traffic control method, characterized in that: The method comprises: If the target vehicle is detected to enter the intersection-related area, the position data and speed data of the target vehicle are obtained; According to the position data and speed data of the target vehicle and in accordance with the predetermined traffic rules, a control strategy for the target vehicle is determined to control the traffic trajectory of the target vehicle in the intersection; The traffic rules are obtained by jointly designing the geometric layout of the intersection and the traffic control strategy of the vehicle; The process of determining the general rules includes: Determine the target relationship according to the signal control cycle, the preset speed and the lane width; According to the fleet size of each lane, the traffic cycle ratio of each lane and the traffic speed of each lane, the traffic rules are determined when the target relationship meets the preset joint design conditions; The fleet size, traffic cycle ratio and traffic speed are preset; the joint design conditions include entry time constraints, collision avoidance constraints, lane geometry constraints and target relation value constraints; The entry time constraints include: 0≤e i ≤T-κ, Where i represents the fleet index, represents the fleet set, e i represents the relative entry time of fleet i at the intersection, T represents the signal control cycle, κ represents the time adjustment parameter, l represents the lane index, P i,l represents the i-th convoy on lane l, represents the set of convoys on lane l, represents the lane set, j represents the conflict point index, represents the set of conflict points involved in convoy i, represents the relative arrival time of convoy i at conflict point j, represents the arrival time of fleet i at conflict point j relative to the signal control cycle, k represents the road section index, L k represents the length of road segment k, Indicates that team i enters point N i The set of road sections from s to conflict point j, k is the scaling factor of road segment k, Represents the conversion parameter, which is used to Convert to The collision avoidance constraints include: Where (l,l′) represents the index of the conflicting lane pair, (i l ,i l′ ) represents the conflict point pair index, represents the set of conflicting lane pairs, represents the set of conflict point pairs between lane l and lane l′, M represents the relationship adjustment parameter, p and q represent the fleet index, l p represents the convoy p,l′ on lane l q represents the convoy q on lane l′, It means that the convoy p on lane l is at the conflict point i l The arrival time relative to the signal control period, Indicates that the convoy q on lane l′ is at the conflict point i l′ Relative to the arrival time of the signal control cycle, Indicates the size relationship description parameter, used to indicate and The size relationship, represents the periodic description parameter, t l represents the travel time of the convoy on lane l, t l′ represents the travel time of the convoy on lane l′; The lane geometry constraints include: s=2s1+s2; α1(s1+s2)≤2s3+s4≤α2(s1+s2); s2+κ≤α3s3; s3≤α4s2; s1+κ≥α6s4; s2,s3≥α7; Wherein, s represents the scaling factor, s1 represents the scaling factor of the first type of road section, s2 represents the scaling factor of the second type of road section, s3 represents the scaling factor of the third type of road section, s4 represents the scaling factor of the fourth type of road section, the first type of road section is the road section involved in the intersection boundary endpoint, the second type of road section is the road section involved in the intersection boundary midpoint, the third type of road section is the road section between the conflict point and the boundary point in the intersection, and the fourth type of road section is the road section between the conflict points in the intersection; α1, α2, α3, α4, α5, α6 and α7 represent preset empirical parameters, is the number of lateral vehicles in the convoy on the straight lane, is the number of lateral vehicles in the convoy on the left-turn lane, w l is the lane width, w is the vehicle width, l l represents the lateral distance between vehicles in the convoy, δ represents the safe distance between vehicles, Indicates the minimum width of the intersection. Indicates the maximum width of the intersection; The target relationship is sTv, where s represents the scaling factor, T represents the signal control period, and v represents the passing speed; The target relational expression value constraint is determined according to the sorting result of each calculation result of the target relational expression; Among them, each calculation result of the target relationship equation satisfies the entry time constraint, the collision avoidance constraint and the lane geometry constraint.

2. The method according to claim 1, characterized in that The traffic rules are determined according to the fleet size of each lane, the traffic cycle ratio of each lane, and the traffic speed of each lane when the target relationship meets the preset joint design conditions, including: Determine at least two candidate values ​​of the signal control period according to the preset period step from small to large, and substitute the candidate values ​​of the signal control period into the target relational expression in sequence to obtain at least two candidate target relational expressions; According to the fleet size of each lane, the traffic cycle ratio of each lane and the traffic speed of each lane, when each candidate target relationship meets the preset joint design conditions, the planned intersection width, the length of each type of road section in the intersection, the signal control cycle of each lane and the relative entry time of each fleet within the signal control cycle are determined; The traffic rules are determined based on the target values ​​of the traffic speed of each lane, the planned width of the intersection, the length of each type of road section in the intersection, the signal control cycle of each lane, and the relative entry time of each fleet within the signal control cycle.

3. A vehicle traffic control device, characterized in that: include: A data acquisition module is used to acquire the position data and speed data of the target vehicle if it is detected that the target vehicle enters the intersection-related area; A control strategy determination module is used to determine the control strategy of the target vehicle according to the position data and speed data of the target vehicle and the predetermined traffic rules, so as to control the traffic trajectory of the target vehicle in the intersection; The traffic rules are obtained by jointly designing the geometric layout of the intersection and the traffic control strategy of the vehicle; The device also includes a traffic rule determination module, and the traffic rule determination module includes: A relationship determination unit, used to determine a target relationship according to a signal control cycle, a preset passing speed, and a lane width; A traffic rule determination unit, used to determine the traffic rule according to the fleet size of each lane, the traffic cycle ratio of each lane and the traffic speed of each lane when the target relationship meets the preset joint design conditions; The fleet size, traffic cycle ratio and traffic speed are preset; the joint design conditions include entry time constraints, collision avoidance constraints, lane geometry constraints and target relation value constraints; The entry time constraints include: 0≤e i ≤T-κ, Where i represents the fleet index, represents the fleet set, e i represents the relative entry time of fleet i at the intersection, T represents the signal control cycle, κ represents the time adjustment parameter, l represents the lane index, P i,l represents the i-th convoy on lane l, represents the set of convoys on lane l, represents the lane set, j represents the conflict point index, represents the set of conflict points involved in convoy i, represents the relative arrival time of convoy i at conflict point j, represents the arrival time of fleet i at conflict point j relative to the signal control cycle, k represents the road section index, L k represents the length of road segment k, Indicates that team i enters point N i The set of road sections from s to conflict point j, k is the scaling factor of road segment k, Represents the conversion parameter, which is used to Convert to The collision avoidance constraints include: Where (l,l′) represents the index of the conflicting lane pair, (i l ,i l′ ) represents the conflict point pair index, represents the set of conflicting lane pairs, represents the set of conflict point pairs between lane l and lane l′, M represents the relationship adjustment parameter, p and q represent the fleet index, l p represents the convoy p,l′ on lane l q represents the convoy q on lane l′, It means that the convoy p on lane l is at the conflict point i l The arrival time relative to the signal control period, Indicates that the convoy q on lane l′ is at the conflict point i l′ Relative to the arrival time of the signal control cycle, Indicates the size relationship description parameter, used to indicate and The size relationship, represents the periodic description parameter, t l represents the travel time of the convoy on lane l, t l′ represents the travel time of the convoy on lane l′; The lane geometry constraints include: s=2s1+s2; α1(s1+s2)≤2s3+s4≤α2(s1+s2); s2+κ≤α3s3; s3≤α4s2; s1+κ≥α6s4; s2,s3≥α7; Wherein, s represents the scaling factor, s1 represents the scaling factor of the first type of road section, s2 represents the scaling factor of the second type of road section, s3 represents the scaling factor of the third type of road section, s4 represents the scaling factor of the fourth type of road section, the first type of road section is the road section involved in the intersection boundary endpoint, the second type of road section is the road section involved in the intersection boundary midpoint, the third type of road section is the road section between the conflict point and the boundary point in the intersection, and the fourth type of road section is the road section between the conflict points in the intersection; α1, α2, α3, α4, α5, α6 and α7 represent preset empirical parameters, is the number of lateral vehicles in the convoy on the straight lane, is the number of lateral vehicles in the convoy on the left-turn lane, w l is the lane width, w is the vehicle width, l l represents the lateral distance between vehicles in the convoy, δ represents the safe distance between vehicles, Indicates the minimum width of the intersection. Indicates the maximum width of the intersection; The target relationship is sTv, where s represents the scaling factor, T represents the signal control period, and v represents the passing speed; The target relational expression value constraint is determined according to the sorting result of each calculation result of the target relational expression; Among them, each calculation result of the target relationship equation satisfies the entry time constraint, the collision avoidance constraint and the lane geometry constraint.

4. An electronic device, characterized in that: The electronic device comprises: at least one processor; and a memory communicatively connected to the at least one processor; wherein, The memory stores a computer program executable by the at least one processor, and the computer program is executed by the at least one processor so that the at least one processor can execute the vehicle traffic control method according to any one of claims 1 to 2.

5. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores computer instructions, and the computer instructions are used to enable a processor to implement the vehicle traffic control method according to any one of claims 1-2 when executed.

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