A mixed dispatching method for connected vehicles and pedestrians at intersections

Abstract

The present invention discloses a method for mixed scheduling and passing of connected vehicles and pedestrians at intersections. By interacting with connected motor vehicles and connected non-motor vehicles, it fully utilizes the reservation messages and location information of several types of scheduling units, namely motor vehicles, non-motor vehicles, and pedestrians, received to calculate lane weights and authorized scheduling. While considering motor vehicles, it also takes into account the scheduling of non-motor vehicles and pedestrians, solving the task of mixed scheduling and passing of connected vehicles and pedestrians. First, mixed scheduling initialization is performed, and then the lane weights are calculated based on the location information and priorities of traffic units in the reservation messages, so as to execute scheduling operations according to the type of the unscheduled item with the maximum weight. Finally, the mixed scheduling and passing of connected vehicles and pedestrians at intersections is realized, improving the passing efficiency of intersections and proving the practicability of a method for mixed scheduling and passing of connected vehicles and pedestrians at intersections.

Description

Technical Field

[0001] The present invention belongs to the field of intelligent transportation, and relates to a method for jointly dispatching and passing networked vehicles and pedestrians at intersections, in particular to a method for dispatching and passing networked motor vehicles, non-motor vehicles and pedestrians deployed in a dispatching computer at intersections. Background Art

[0002] With the continuous growth of urban population density and the continuous increase in the number of motor vehicles, the urban traffic pressure is constantly increasing, and the problem of road congestion has become an important aspect of urban governance. Alleviating traffic congestion through vehicle networking, vehicle-road / vehicle-cloud and traffic big data has become an important technical direction and development trend in the traffic field.

[0003] In the entire traffic system, intersections are the necessary places for the convergence and evacuation of vehicles and pedestrians. They are the bottleneck of vehicle passage in the entire traffic system and also high-incidence areas of accidents. Therefore, even if vehicles can improve traffic efficiency on normal roads, if a good dispatching strategy cannot be adopted in the intersection area, the entire traffic system, like the "barrel effect", will still form congestion in specific areas, thereby reducing the overall passing efficiency. Therefore, improving the dispatching strategy of intersections through technologies such as vehicle networking, vehicle-road / vehicle-cloud and traffic big data has become an important entry point for improving the traffic congestion problem. In recent years, many researchers have conducted targeted research on this issue.

[0004] The literature "Research on Vehicle Induction and Optimization System at Unsignalized Intersections Based on Petri Nets, Li Jiapeng, Software Guide, Volume 8, Issue 8, 2018" studied how to improve road safety and passing efficiency, and proposed a control scheme for unsignalized intersections based on Petri nets. The literature "Research on Intelligent Vehicle Dispatching at Unsignalized Intersections Based on Enhanced Dijkstra Algorithm, Sun Ning, Wu Weihao, Zhao Fengcai, Xiao Guangbing, Application Research of Computers, Volume 39, Issue 1, 2022" studied how to improve passing efficiency by dynamically planning the paths of motor vehicles passing through intersections and proposed a dispatching scheme based on the enhanced Dijkstra algorithm. However, the above methods focus on the management of motor vehicles, and non-motor vehicles and pedestrians, as important participants in traffic, are not taken into consideration. Summary of the Invention

[0005] To overcome the deficiencies in the prior art, the present invention provides a method for mixed scheduling and passing of networked vehicles and pedestrians at intersections. The method is applied to a networked intersection controller (NIC) at an intersection to perform mixed scheduling of several types of scheduling units, namely motor vehicles, non-motor vehicles, and pedestrians. By fully utilizing factors such as the scheduling unit identification number, priority, and quantity in the reservation messages and location information sent by the scheduling units to calculate weights and perform authorized scheduling on them, the mixed scheduling and passing of networked vehicles and pedestrians at intersections are ultimately achieved, overcoming the defects in the prior art that do not consider non-motor vehicles and pedestrians and fail to achieve mixed scheduling of motor vehicles, non-motor vehicles, and pedestrians. It can achieve efficient scheduling of the passing units at the intersection, contribute to improving the passing efficiency of intersections, and thus also provide effective support for reducing the accident rate and energy consumption.

[0006] To make the content of the present invention more clearly expressed, the definitions involved in the present invention are explained below:

[0007] The present invention first divides motor vehicles, non-motor vehicles, and pedestrians into two categories according to the scheduling method: networked motor vehicle category, denoted as NMV (Networked Motor Vehicle), including emergency motor vehicles and non-emergency motor vehicles. Non-motor vehicles and pedestrians are uniformly classified into the networked non-motor vehicle and pedestrian category, denoted as NNVAP (Networked Non-motor Vehicle and Pedestrian).

[0008] In the present invention, NMV has multiple priorities, and different priorities correspond to different influence factors.

[0009] In the present invention, the motor vehicle critical area, waiting area, and mixed critical area are defined as follows:

[0010] Motor vehicle critical area: The intersection area of the motor vehicle lanes at the intersection is divided into a group of adjacent and non-overlapping road surface areas. At the same time, no more than one lane of vehicles can enter each area, so it is called the motor vehicle critical area, denoted as γ. This type of critical area is mainly used for motor vehicle passing.

[0011] Waiting area: Waiting areas are set at both ends of each sidewalk, denoted as WR. The function of this area is similar to that of motor vehicle lanes. The networked non-motor vehicle NNVAP can wait for authorization in this area before passing through the intersection.

[0012] Mixed critical area: A group of adjacent and non-overlapping road surface areas are divided on each sidewalk according to the lane width and sidewalk width. At the same time, no motor vehicles and non-motor vehicles are allowed to enter each area simultaneously, which is called the mixed critical area, denoted as γ′.

[0013] Among them, traffic objects such as network-connected motor vehicles (NMV) and network-connected non-motor vehicles (NNVAP) need to apply for the required critical areas before passing through the intersection, and can only pass after authorization.

[0014] It should be noted that due to the obvious differences in the behavior patterns between network-connected non-motor vehicles (NNVAP) and network-connected motor vehicles (NMV), the method of the present invention uses a group method to uniformly schedule network-connected non-motor vehicles (NNVAP). According to the characteristics of network-connected non-motor vehicles (NNVAP) in terms of speed, forward state, and spatial distribution, network-connected non-motor vehicles (NNVAP) in the same waiting area (WR) can be divided into multiple NNVAP groups according to the way they pass through the intersection. Units in the same NNVAP group do not need to consider their front-back relationship in space like network-connected motor vehicles (NMV) during scheduling. Therefore, the method of the present invention directly schedules network-connected non-motor vehicles (NNVAP) in a group manner.

[0015] In the present invention, the reserved positions initiated by network-connected motor vehicles (NMV), the reserved positions initiated by network-connected non-motor vehicles (NNVAP), and the reservation messages are defined as follows:

[0016] Reserved position initiated by network-connected motor vehicle (NMV): After the network-connected motor vehicle (NMV) is less than a fixed distance d from the intersection center, it needs to send a reservation message to the NIC, and then wait for authorization. After obtaining authorization, it will pass through the intersection through the authorized motor vehicle critical area.

[0017] Reserved position initiated by network-connected non-motor vehicle (NNVAP): The network-connected non-motor vehicle (NNVAP) needs to send a reservation message to the NIC after entering the waiting area (WR), and then wait for authorization.

[0018] Reservation message: The reservation message includes the identification number of the scheduling unit, the priority, the number of the motor vehicle lane or the waiting area (WR) where it is located, and the information of the motor vehicle critical area γ or the mixed critical area β′ required to pass through the intersection.

[0019] It should be noted that after sending the reservation message, the unit to be scheduled will cyclically send its own position information to the network-connected intersection controller (NIC) for the network-connected intersection controller (NIC) to use. During the process of passing through the intersection, after the network-connected intersection controller (NIC) detects that a certain unit leaves the motor vehicle critical area γ or the mixed critical area γ′, the NIC will remove the unit from the authorized queue or authorized array corresponding to the motor vehicle critical area γ or the mixed critical area γ′.

[0020] In the present invention, special definitions are made for emergency vehicles:

[0021] To ensure that emergency vehicles are given priority in dispatching, a larger influence factor is set for emergency vehicles to ensure that when calculating weights, the lane weights of lanes with emergency vehicles are much greater than those of other motor vehicle lanes and the NNVAP group. And when it is detected that there are emergency vehicles to be dispatched at an intersection, the networked intersection controller NIC will stop authorizing units in other motor vehicle lanes and the NNVAP group to pass through the intersection until it is detected that the critical areas required by the emergency vehicle to be dispatched that is farthest from the center of the intersection in the lane and all the connected motor vehicles NMVs in front of it in the same lane are available. Then the networked intersection controller NIC will authorize the emergency vehicle and all the connected motor vehicles NMVs in front of it to pass through the intersection, and then start dispatching other units.

[0022] It should be noted that to make it more intuitive whether authorization is obtained, traffic lights are configured for each motor vehicle lane entering the intersection and each NNVAP group. The configured traffic lights only display the status, including allowing passage (green light), waiting (yellow light), and prohibiting passage (red light), but do not display the remaining time of the status.

[0023] After the networked intersection controller NIC authorizes a certain motor vehicle lane or NNVAP group, it will set the corresponding traffic light to green.

[0024] When the networked intersection controller NIC detects that the last authorized unit in a certain motor vehicle lane is about to leave the motor vehicle lane, or the last authorized unit in a certain NNVAP group is about to leave the waiting area WR, the NIC will set the corresponding traffic light to yellow, and set the traffic light to red after the last authorized unit leaves the motor vehicle lane or the waiting area WR and enters the mixed critical area γ'.

[0025] To make the content of the hybrid dispatching process of the present invention more clearly expressed, the following terms involved are explained:

[0026] (1) Number N of connected motor vehicles NMV: To improve the dispatching and traffic efficiency, the present invention sets the number N of connected motor vehicles NMV. After the networked intersection controller NIC calculates the maximum weight each time, if it is a motor vehicle lane, it tries to authorize the first N connected motor vehicles NMVs in the lane to pass through the intersection.

[0027] (2) Reservation queue BQ of connected motor vehicles NMV NMV,j : A queue used to store the information of NMVs to be dispatched in the motor vehicle lane numbered j.

[0028] (3) Reservation array BA of connected non-motor vehicles NNVAP NNVAP,k : An array used to store the information of connected non-motor vehicles NNVAP to be dispatched in the NNVAP group numbered k.

[0029] (4) Authorized queue AQ of the critical area γ of motor vehicles m : A queue for storing information of networked motor vehicles NMVs authorized to occupy the critical area γ of motor vehicles numbered m.

[0030] (5) Authorized array AA of the hybrid critical area γ′ n : An array for storing information of networked non-motor vehicles NNVAPs and networked motor vehicles NMVs authorized to occupy the critical area γ′ numbered n.

[0031] (6) t0 / t1: To avoid a certain motor vehicle lane or NNVAP group not being authorized for a long time, set the limit times t0 and t1. When the lane or group still has not been authorized after exceeding the corresponding limit time, give priority to authorizing the lane / group.

[0032] (7) Critical area unavailable: That is, the critical area is occupied by other units.

[0033] (8) Weight LW of motor vehicle lane j / Weight GW of NNVAP group k : A non-negative floating-point number expressing the congestion degree and blocking time of this NNVAP group or motor vehicle lane. The calculation method is as follows:

[0034] To record the cumulative duration of blockage of each networked motor vehicle NMV and NNVAP group from the time of reservation to the time of obtaining authorization, introduce the waiting time WT from the time of initiating the reservation to the time of calculating the weight i (i is the number of the networked motor vehicle NMV or NNVAP group, an integer greater than or equal to 1), and the calculation formula is as follows:

[0035] WT i =t c -t a (i)

[0036] Among them, t c is the current system time; t a (i) is the time when this networked motor vehicle NMV initiates the reservation or the time when the unit that earliest joins the NNVAP group initiates the reservation.

[0037] For any motor vehicle lane, the networked intersection controller NIC calculates the current weight LW of this lane based on the following j :

[0038]

[0039] Among them, j is the number of the motor vehicle lane, an integer greater than or equal to 1; the first item on the right side of the formula is the lane urgency, and the second item is the lane blockage degree; β1 and β2 are non - negative floating - point proportional constants for each item. For the first item in, n is the number of priorities, an integer greater than or equal to 1; x is the priority number, an integer greater than or equal to 1; P x is the influence factor constant corresponding to the priority of number x, a non - negative floating - point number; Q j (x) represents the number of connected motor vehicles NMVs in the motor vehicle lane numbered j at priority number x; for the second item in, |BQ NMV,j | is the number of NMVs to be scheduled recorded in the connected motor vehicle NMV reservation queue BQ NMV,j , and WT i is the waiting time of the i - th NMV.

[0040] The group weight GW of NNVAP k is calculated as follows:

[0041] GW k =β3×|BA NNVAP,k | + β4×WT k

[0042] where k is the number of the NNVAP group, an integer greater than or equal to 1; β3 and β4 are non - negative floating - point proportional constants; |BA NNVAP,k | is the number of NNVAPs to be scheduled recorded in the NNVAP reservation array BA NMV,j , and WT k is the group waiting time.

[0043] The technical solution of the present invention is as follows:

[0044] A method for mixed scheduling and passing of connected vehicles and pedestrians at an intersection, which is implemented by a connected intersection controller. It is characterized in that

[0045] the connected intersection controller NIC includes a device supporting message sending and receiving functions, which is used to receive reservation messages sent by each scheduling unit. At the same time, the connected intersection controller performs mixed scheduling by calculating weights; in the present invention, all scheduling objects need to send reservation messages to the NIC at the intersection before arriving at the intersection; the NIC calculates weights according to factors such as the type, priority, and quantity of the scheduling units sending reservation messages, and authorizes scheduling for them;

[0046] The scheduling entities include networked motor vehicles (NMV) and networked non-motor vehicles and pedestrians (NNVAP); among them, networked motor vehicles (NMV) include emergency motor vehicles and non-emergency motor vehicles, and networked non-motor vehicles and pedestrians (NNVAP) include non-motor vehicles and pedestrians; traffic objects of networked motor vehicles (NMV) and networked non-motor vehicles and pedestrians (NNVAP) need to apply for the required critical areas before passing through intersections, and can only pass after obtaining authorization; due to the obvious differences in the behavior patterns between networked non-motor vehicles and pedestrians (NNVAP) and networked motor vehicles (NMV), this method uses a group approach to uniformly schedule networked non-motor vehicles and pedestrians (NNVAP); according to the characteristics of networked non-motor vehicles and pedestrians (NNVAP) in terms of speed, forward state, and spatial distribution, networked non-motor vehicles and pedestrians (NNVAP) in the same waiting area (WR) can be divided into multiple NNVAP groups according to the way they pass through the intersection.

[0047] The method for mixed scheduling and passing of networked vehicles and pedestrians at intersections includes the following steps:

[0048] Step 1, perform mixed scheduling initialization according to the current intersection situation.

[0049] Step 2, calculate weights and start scheduling, which specifically includes the following sub-steps;

[0050] Step 2.1, calculate weights to prepare for the scheduling operation according to the received reservation messages and the position information cyclically sent by the scheduling entities, mark each motor vehicle lane and NNVAP group as unscheduled, calculate the weights of each motor vehicle lane and NNVAP group and store them.

[0051] Step 2.2, if the maximum weight in the unscheduled items is 0, re-execute Step 2; if the maximum weight in the unscheduled items is not 0, execute Step 3.

[0052] Step 3, perform the scheduling operation according to the type of the unscheduled item with the maximum weight, which specifically includes the following sub-steps:

[0053] Step 3.1, if the unscheduled item with the maximum weight is a motor vehicle lane, perform motor vehicle lane scheduling and authorize the first N networked motor vehicles (NMV) in this lane to pass through the intersection.

[0054] Step 3.2, if the unscheduled item with the maximum weight is an NNVAP group, perform NNVAP group scheduling.

[0055] Step 4, post-scheduling processing. After the scheduling operation is executed, mark the scheduled items as scheduled and determine whether there are unscheduled items; if there are no unscheduled items, return to execute Step 2; if there are unscheduled items, return to execute Step 2.2.

[0056] Step 5, repeatedly execute Step 2, Step 3, and Step 4 until the system shuts down, to achieve mixed scheduling and passing of networked vehicles and pedestrians at intersections.

[0057] Furthermore, the initialization of the hybrid scheduling specifically includes:

[0058] Obtain the distribution information of the motor vehicle critical area γ, waiting area WR, and hybrid critical area γ′ according to the situation of the current intersection, and set each traffic signal to red;

[0059] Establish mapping relationships between the waiting area WR and the NNVAP group, between the motor vehicle lanes and the traffic signals, and between the NNVAP group and the traffic signals;

[0060] Prepare the corresponding NMV reservation queue BQ for the connected motor vehicles according to the number of motor vehicle lanes entering the intersection NMV,j , and prepare the corresponding NNVAP reservation array BA according to the number of NNVAP groups at the current intersection NNVAP,k ; Prepare the authorization array AA according to the number of hybrid critical areas γ′ at the current intersection n , and prepare the authorization queue AQ according to the number of motor vehicle critical areas γ at the current intersection m ; Prepare a message queue to store the received reservation messages; Initialize all queues and arrays to empty; Initialize the weights LW of each motor vehicle lane j and the weight GW of the NNVAP group k to 0;

[0061] At the same time, set the limit time t0 for the motor vehicle lanes and the limit time t1 for the NNVAP group.

[0062] Furthermore, the reservation message includes the scheduling unit identification number, priority, the number of the motor vehicle lane or waiting area WR where it is located, and the critical area information required to pass through the intersection, which is used for the connected intersection controller to use and calculate. The specific time to send the reservation message is:

[0063] The connected motor vehicle NMV needs to send a reservation message to the connected intersection controller after the distance from the intersection center is less than the fixed distance d;

[0064] The connected non-motor vehicle NNVAP needs to send a reservation message to the connected intersection controller after entering the waiting area WR.

[0065] Furthermore, the weights of the motor vehicle lanes and the NNVAP group are specifically:

[0066] The weights of the motor vehicle lanes and the NNVAP group are used to represent the congestion degree and blocking time of the motor vehicle lanes or the NNVAP group;

[0067] To record the cumulative duration of blockage of each networked motor vehicle (NMV) and the NNVAP group from the time of sending a reservation message until authorization is obtained, the waiting time WT from after sending the reservation message until calculating the weight is introduced. i , where i is the number of the NMV or NNVAP group, an integer greater than or equal to 1, and WT i The calculation formula is as follows:

[0068] WT i = t c - t a (i)

[0069] Among them, t c is the current system time, and t a (o) is the time when the NMV initiates a reservation or the time when the earliest unit to join the NNVAP group initiates a reservation;

[0070] Calculation process of motor vehicle lane weight:

[0071] For any motor vehicle lane, the networked intersection controller calculates the motor vehicle lane weight LW of this lane based on the following formula j , where j is the number of the motor vehicle lane, an integer greater than or equal to 1, and its specific calculation formula is:

[0072]

[0073] Among them, the first item on the right side of the formula is the lane urgency, and the second item is the lane blockage degree; β1 and β2 are non - negative floating - point proportional constants for each item respectively;

[0074] For the first item , n is the number of priorities, an integer greater than or equal to 1; x is the priority number, an integer greater than or equal to 1; P x is the influence factor constant corresponding to the priority of number x, a non - negative floating - point number; Q j (x) represents the number of NMVs located at priority number x on the motor vehicle lane numbered j;

[0075] For the second item , |BQ NMV,j | is the number of networked motor vehicles NMVs to be scheduled recorded in the NMV reservation queue BQ NMV,j , and WT i is the waiting time of the i - th NMV;

[0076] The calculation formula for the weight of the NNVAP group is:

[0077] GWk = β3 × |BA NNVAP,k | + β4 × WT k

[0078] Where k is the number of the NNVAP group, which is an integer greater than or equal to 1; β3 and β4 are non - negative floating - point proportional constants; |BA NNVAP,k | is the number of network - connected non - motor vehicles NNVAP to be scheduled recorded in the NNVAP reservation array BA NMV,j , and WT k is the waiting time of the NNVAP group.

[0079] Furthermore, the scheduling of the motor vehicle lane specifically includes the following sub - steps:

[0080] Step 3.1.1, check whether there is an emergency vehicle in the NMV reservation queue of this motor vehicle lane and make a handling;

[0081] If there is no emergency vehicle in the NMV reservation queue of this motor vehicle lane, execute Step 3.1.2;

[0082] If there is an emergency vehicle in this motor vehicle lane, loop and wait until the motor vehicle critical area γ and the mixed critical area γ′ required by the emergency vehicle and all the network - connected motor vehicles NMV in front of it are available. Then, the network - connected intersection controller authorizes the motor vehicle critical area γ and the mixed critical area γ′ required by the emergency vehicle and all the network - connected motor vehicles NMV in front of it, removes the authorized scheduling units from the NMV reservation queue, sets the traffic signal corresponding to this motor vehicle lane to allow passage, and then execute Step 4;

[0083] Step 3.1.2, attempt to authorize the first network - connected motor vehicle NMV in this motor vehicle lane;

[0084] When there is no emergency vehicle in the reservation queue of this motor vehicle lane, set the number K of the currently authorized network - connected motor vehicles NMV to 0, and then check whether both the motor vehicle critical area γ and the mixed critical area γ′ required by the first network - connected motor vehicle NMV in this motor vehicle lane are available;

[0085] If both the motor vehicle critical area γ and the mixed critical area γ′ required by this network - connected motor vehicle NMV are available, execute Step 3.1.4;

[0086] If there is an unavailable critical area, check the waiting time WT i of the first network - connected motor vehicle NMV; if the waiting time is less than t0, execute Step 4; if the waiting time is not less than t0, judge whether there is an emergency vehicle to be scheduled at this intersection. If there is, execute Step 2; if not, re - execute Step 3.1.2;

[0087] Step 3.1.3: Check the situation of the next Networked Motor Vehicle (NMV) and make corresponding handling;

[0088] If there is no next Networked Motor Vehicle (NMV), execute Step 4;

[0089] If there is a next Networked Motor Vehicle (NMV), then determine whether the number K of currently authorized Networked Motor Vehicles (NMVs) is less than N; if not less, execute Step 4; if less, then determine whether both the motor vehicle critical area γ and the mixed critical area γ′ required by the next Networked Motor Vehicle (NMV) are available;

[0090] If both are available, execute Step 3.1.3; if there is an unavailable motor vehicle critical area γ or mixed critical area γ′, then determine whether the unavailable critical areas are all occupied by the previously authorized K Networked Motor Vehicles (NMVs); if not occupied, execute Step 4, if occupied, then execute Step 3.1.4;

[0091] Step 3.1.4: Authorize the Networked Motor Vehicle (NMV);

[0092] Grant the critical area permissions required by this Networked Motor Vehicle (NMV), then increment K by 1, and return to execute Step 3.1.3.

[0093] Furthermore, the NNVAP group scheduling specifically includes:

[0094] Check whether all the required mixed critical areas γ′ of this NNVAP group are available;

[0095] If all the required mixed critical areas γ′ are available, then authorize all the required mixed critical areas γ′ of this NNVAP group and the opposite NNVAP group, remove the authorized NNVAP units from the corresponding NNVAP reservation arrays, set the traffic lights corresponding to the two NNVAP groups to allow passage, and then execute Step 4;

[0096] If there are unavailable mixed critical areas γ′, then check the waiting time of this NNVAP group; if the waiting time is less than t1, execute Step 4; if the waiting time is not less than t1, determine whether there are emergency vehicles to be scheduled at this intersection, if there are emergency vehicles to be scheduled, execute Step 2.1, if there are no emergency vehicles to be scheduled, re - execute Step 3.2.

[0097] Furthermore, the emergency vehicle has a higher priority, which is used to ensure that the weight of the motor vehicle lane with an emergency vehicle is much greater than the weights of other motor vehicle lanes and the NNVAP group. When it is detected that there is an emergency vehicle to be dispatched at an intersection, the networked intersection controller NIC will stop authorizing units in other motor vehicle lanes and the NNVAP group to pass through the intersection until it is detected that the critical areas required by the emergency vehicle to be dispatched that is farthest from the center of the intersection in the lane and all the NMVs in front of it in the same lane are available. Then the networked intersection controller NIC will authorize the emergency vehicle and all the NMVs in front of it to pass through the intersection. Only then will the dispatching of other units to be dispatched begin.

[0098] Furthermore, the specific operation of the networked intersection controller after a certain motor vehicle lane or the NNVAP group is authorized is as follows:

[0099] To make it more intuitive whether a dispatching unit is authorized, traffic lights are configured for each motor vehicle lane entering the intersection and each NNVAP group. The configured traffic lights only display the status, including allowing passage (green light), waiting (yellow light), and prohibiting passage (red light), but do not display the remaining time of the status;

[0100] After the networked intersection controller authorizes a certain motor vehicle lane or the NNVAP group, it will set the corresponding traffic light to green;

[0101] When the networked intersection controller NIC detects that the last authorized dispatching unit in a certain motor vehicle lane is about to leave the motor vehicle lane, or the last authorized dispatching unit in a certain NNVAP group is about to leave the waiting area WR, the networked intersection controller NIC will set the corresponding traffic light to yellow;

[0102] When the last authorized dispatching unit leaves the motor vehicle lane or the waiting area WR and enters the mixed critical area γ′, the traffic light is set to red.

[0103] Compared with the prior art, the beneficial effects of the present invention are as follows:

[0104] According to the movement rules of three types of dispatching units, namely motor vehicles, non-motor vehicles, and pedestrians, when passing through an intersection, the present invention divides the intersection into a motor vehicle critical area, a waiting area, and a mixed critical area. Through the above three area divisions, the safety of each dispatching unit when passing through the intersection is ensured.

[0105] For emergency vehicles, the present invention sets a higher priority and calculates the weights of unscheduled emergency vehicles preferentially to ensure that emergency vehicles can pass through the intersection as soon as possible. When there are multiple unscheduled emergency vehicles on the same emergency lane, the method described in the present invention directly determines the emergency vehicle that is farthest from the center of the intersection, improving the passing speed of emergency vehicles.

[0106] By determining whether the motor vehicle critical area or the mixed critical area where the current unscheduled connected motor vehicle is unavailable is occupied by the connected motor vehicle ahead, the present invention can authorize the passing right of the partial critical area when the connected motor vehicle ahead has not completely passed through the intersection but has left the partial motor vehicle critical area or the mixed critical area required by the unscheduled connected motor vehicle, improving the passing efficiency of the connected motor vehicle.

[0107] The present invention calculates weights based on the received reservation messages and location information of connected motor vehicles and connected non-motor vehicles, and then performs motor vehicle lane scheduling or NNVAP group scheduling through the obtained motor vehicle lane weights or NNVAP group weights. Considering motor vehicles, it also takes into account the scheduling problems of non-motor vehicles and pedestrians, realizing the mixed scheduling and passing of connected vehicles and people. Meanwhile, on the premise of ensuring the safe passing of each scheduling unit, it improves the efficiency of the mixed scheduling and passing of connected vehicles and people, demonstrating the practicality of a method for the mixed scheduling and passing of connected vehicles and people at intersections. BRIEF DESCRIPTION OF THE DRAWINGS

[0108] Figure 1 It is a schematic diagram of NIC, waiting area, motor vehicle critical area, mixed critical area, NMV initiation reservation position and traffic signal set at the intersection in the embodiment of the present invention.

[0109] Figure 2 It is a flowchart of a method for the mixed scheduling and passing of connected vehicles and people at intersections described in the embodiment of the present invention. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0110] To make the above objects, features and advantages of the present invention more obvious and understandable, the present invention will be further described in detail below with reference to the drawings and specific embodiments. It should be emphasized that the described embodiments are only a part of the embodiments of the present invention, not all of the embodiments of the present invention. The listed embodiments do not limit the scope of the power protection of the present application.

[0111] Embodiment

[0112] At the crossroads as shown in Figure 1 a method for the mixed scheduling and passing of connected vehicles and people at intersections as shown in Figure 2 is implemented by the connected intersection controller NIC to realize the mixed scheduling and passing of connected vehicles and people at the intersection, including the following steps:

[0113] Step 1: Initialization

[0114] First, obtain the distribution information of the critical areas of each motor vehicle, the mixed critical area, and the waiting area according to the situation of this intersection, and set each traffic signal to red; then establish the mapping relationships between the waiting area and the NNVAP group, and between the motor vehicle lanes, the NNVAP group and the traffic signals; prepare the corresponding NMV reservation queues according to the number of motor vehicle lanes entering the intersection, prepare the corresponding NNVAP reservation arrays according to the number of NNVAP groups at this intersection, prepare the authorization arrays according to the number of mixed critical areas γ' at this intersection, and prepare the authorization queues according to the number of motor vehicle critical areas γ at this intersection; prepare a message queue to store the received reservation messages; initialize all queues and arrays to empty; initialize the weights of each motor vehicle lane and NNVAP group to 0.

[0115] In Figure 1 In the typical crossroads environment shown, 8 NMV reservation queues, 8 NNVAP reservation arrays, 16 authorization arrays for the mixed critical area γ', and 16 authorization queues for the motor vehicle critical area γ need to be set up.

[0116] It should be emphasized that Figure 1 The situation shown is only for reference, and the data such as the positions, shapes, and sizes of the critical areas of each motor vehicle, the mixed critical area, and the waiting area can be adjusted according to the actual situation, such as the type of intersection. For example, the critical areas of motor vehicles, the mixed critical area, and the waiting area can be rectangles, parallelograms, or triangles to adapt to various intersections in the real situation.

[0117] In this step, an authorization array instead of a queue is selected for the mixed critical area γ' because there is no strict front-to-back relationship among the NNVAP group scheduling units passing through the mixed critical area γ', and it is not suitable to use a queue for storage.

[0118] Step 2: Calculate weights and start scheduling

[0119] Step 2.1: Calculate and store the weights of each motor vehicle lane and the NNVAP group

[0120] Initialize each motor vehicle lane and the NNVAP group as unscheduled, calculate the weights of each motor vehicle lane and the NNVAP group, and store them.

[0121] Step 2.2: Perform scheduling according to the weight situation

[0122] Judge whether the maximum weight among the unscheduled items is 0. If it is 0, return to execute Step 2.1; if it is not 0, judge which type the unscheduled item with the maximum weight is. If this item is a motor vehicle lane, execute Step 3.1; if this item is an NNVAP group, execute Step 3.2.

[0123] If it is detected in this step that the maximum weight of all unscheduled items is 0, it means that there are no units to be scheduled for the remaining unscheduled items, and thus the weights can be recalculated to start a new round of scheduling.

[0124] Step 3: Perform corresponding operations according to the type of the unscheduled item with the maximum weight

[0125] Step 3.1: Processing flow when the unscheduled item with the maximum weight is a motor vehicle lane

[0126] Step 3.1.1: Check whether there is an emergency vehicle in the reservation queue of this motor vehicle lane and make corresponding handling

[0127] If there is no emergency vehicle in the reservation queue of this motor vehicle lane, execute Step 3.1.2; if there is an emergency vehicle, loop and wait until the motor vehicle critical area or mixed critical area required by the emergency vehicle and all the connected motor vehicles (NMVs) in front of it are available, authorize the motor vehicle critical area or mixed critical area required by the emergency vehicle and all the connected motor vehicles (NMVs) in front of it and remove these units from the queue, set the traffic signal corresponding to this motor vehicle lane to allow passage, and then execute Step 4.

[0128] This step handles the emergency vehicle to ensure that the emergency vehicle can pass through the intersection as soon as possible. At the same time, if there are multiple emergency vehicles to be scheduled on the same emergency lane, the networked intersection controller (NIC) will directly judge the emergency vehicle that is farthest from the center of the intersection to improve the passing speed of the emergency vehicle.

[0129] Step 3.1.2: Try to authorize the first connected motor vehicle (NMV) in this motor vehicle lane

[0130] If there is no emergency vehicle in the reservation queue of this motor vehicle lane, set K (the number of connected motor vehicles (NMVs) authorized this time) to 0; then check whether the motor vehicle critical area and mixed critical area required by the first connected motor vehicle (NMV) in this lane are both available. If the motor vehicle critical area and mixed critical area required by this connected motor vehicle (NMV) are both available, execute Step 3.1.4; if there is an unavailable motor vehicle critical area or mixed critical area, check the waiting time of the first connected motor vehicle (NMV) (i.e., the current time - the time when this unit initiated the reservation). If the waiting time is less than t0, execute Step 4; if the waiting time is not less than t0, judge whether there is an emergency vehicle to be scheduled at this intersection. If there is, execute Step 2.1; if not, re-execute Step 3.1.2.

[0131] In this step, the judgment on whether the waiting time of the first networked motor vehicle NMV exceeds t0 is to handle the situation where a certain motor vehicle lane cannot obtain authorization for a long time, and the networked motor vehicles NMV in this lane cannot obtain authorization all the time. Once the networked intersection controller NIC detects this situation, it will keep waiting and repeatedly try to authorize the networked motor vehicles NMV in this lane. However, to avoid that emergency vehicles cannot obtain authorization in the first place due to waiting, once the networked intersection controller NIC detects a to-be-dispatched emergency vehicle during the waiting process, it will stop waiting and recalculate the weights.

[0132] Step 3.1.3: Check the situation of the next networked motor vehicle NMV and make corresponding handling

[0133] If there is no next networked motor vehicle NMV, execute Step 4; if there is a next networked motor vehicle NMV, then judge whether K is less than N. If it is not less, execute Step 4; if it is less, then judge whether both the motor vehicle critical area and the mixed critical area required by the next networked motor vehicle NMV are available. If both are available, execute Step 3.1.3; if there is an unavailable motor vehicle critical area or mixed critical area, then judge whether the unavailable critical areas are all occupied by the previously authorized K networked motor vehicles NMV. If not, execute Step 4; if so, execute Step 3.1.4.

[0134] In this step, the judgment on whether the unavailable motor vehicle critical area or mixed critical area is occupied by the previous K networked motor vehicles NMV is to enable the subsequent networked motor vehicles NMV to use the critical areas that the previous networked motor vehicles NMV have left before they have completely passed through the intersection, avoiding the situation where only when all the motor vehicle critical areas and mixed critical areas required by the subsequent networked motor vehicles NMV are available can they obtain authorization, so as to improve the traffic efficiency.

[0135] Step 3.1.4: Authorize the networked motor vehicle NMV

[0136] Grant the motor vehicle critical area and mixed critical area permissions required by this networked motor vehicle NMV, and then increment K by 1. Return to execute Step 3.1.3.

[0137] Step 3.2: Processing flow when the item with the maximum weight not yet dispatched is the NNVAP group

[0138] If the item is an NNVAP group, check whether all the required mixing critical areas for this group are available. If all are available, authorize the required mixing critical areas for all NNVAPs in the NNVAP group and the opposite NNVAP group, remove the authorized NNVAP units from the corresponding NNVAP reservation array, set the traffic lights corresponding to the two NNVAP groups to allow passage, and then execute Step 4; if there are unavailable mixing critical areas, check the waiting time of this NNVAP group (i.e., the current time - the reservation initiation time of the earliest reserved unit in this group). If the waiting time is less than t1, execute Step 4. If the waiting time is not less than t1, determine whether there are emergency vehicles to be scheduled at this intersection. If there are, execute Step 2.1; if not, re-execute Step 3.2.

[0139] The judgment in this step on whether the waiting time of the NNVAP group exceeds t1 is to handle the situation where a certain NNVAP group cannot obtain authorization for a long time. Once the networked intersection controller NIC discovers this situation, it will keep waiting and repeatedly attempt to authorize this group. However, to prevent emergency vehicles from not being able to obtain authorization in the first place due to waiting, once the networked intersection controller NIC discovers emergency vehicles to be scheduled during the waiting process, it will stop waiting and recalculate the weights.

[0140] Step 4: Post-scheduling processing

[0141] Mark this item as scheduled, and determine whether there are unscheduled items. If not, return to execute Step 2.1; if there are, return to execute Step 2.2.

[0142] Step 5: Loop and execute Steps 2, 3, and 4 until the system shuts down;

[0143] In this method, there are multiple ways to obtain the unique scheduling unit identification numbers of each networked motor vehicle NMV and networked non-motor vehicle NNVAP. In addition to being assigned by the traffic cloud, the networked intersection controller NIC can also assign temporary scheduling unit identification numbers. These temporary scheduling unit identification numbers are only valid when the unit passes through the intersection. Once the unit leaves the intersection area, the networked intersection controller NIC will recycle the scheduling unit identification number and assign it to subsequent units.

[0144] Specific examples are used in this article to elaborate on the principles and implementation schemes of the present invention. The descriptions of the above embodiments are only used to help understand the method of the present invention and its core idea; at the same time, for those of ordinary skill in the art, based on the idea of the present invention, there will be changes in the specific implementation manners and application scopes. In summary, the content of this specification should not be construed as a limitation of the present invention.

Claims

1. A method for mixed scheduling and passing of networked vehicles and pedestrians at intersections, which is implemented by a networked intersection controller. The method is characterized in that the networked intersection controller includes a device supporting message sending and receiving functions, which is used to receive reservation messages sent by each scheduling unit. At the same time, the networked intersection controller performs mixed scheduling by calculating weights; the scheduling units include networked motor vehicles NMV and networked non-motor vehicles NNVAP; among them, networked motor vehicles NMV include emergency motor vehicles and non-emergency motor vehicles, and networked non-motor vehicles NNVAP include non-motor vehicles and pedestrians; at the same time, networked non-motor vehicles NNVAP are divided into multiple NNVAP groups; the method for mixed scheduling and passing of networked vehicles and pedestrians at intersections includes the following steps: Step 1, perform mixed scheduling initialization according to the current intersection situation; Step 2, calculate weights and start scheduling, which specifically includes the following sub-steps; Step 2.1, according to the received reservation messages and the position information cyclically sent by the scheduling units, calculate weights to prepare for scheduling operations, mark each motor vehicle lane and NNVAP group as unscheduled, calculate the weights of each motor vehicle lane and NNVAP group and store them; Step 2.2, if the maximum weight in the unscheduled items is 0, re-execute Step 2; if the maximum weight in the unscheduled items is not 0, execute Step 3; Step 3, perform scheduling operations according to the type of the unscheduled item with the maximum weight, which specifically includes the following sub-steps: Step 3.1, if the unscheduled item with the maximum weight is a motor vehicle lane, perform motor vehicle lane scheduling and authorize the first N networked motor vehicles NMV in this lane to pass through the intersection; Step 3.2, if the unscheduled item with the maximum weight is an NNVAP group, perform NNVAP group scheduling; Step 4, post-scheduling processing. After the scheduling operation is executed, mark the scheduled items as scheduled and judge whether there are unscheduled items; if there are no unscheduled items, return to execute Step 2; if there are unscheduled items, return to execute Step 2.2; Step 5, cyclically execute Step 2, Step 3, and Step 4 until the system shuts down to realize the mixed scheduling and passing of networked vehicles and pedestrians at intersections.

2. The method for mixed scheduling and passing of networked vehicles and pedestrians at an intersection according to claim 1, wherein The specific content of the mixed scheduling initialization includes: Obtain the distribution information of the motor vehicle critical area γ, waiting area WR, and mixed critical area γ′ according to the current intersection situation, and set each traffic signal to red; Establish the mapping relationships between the waiting area WR and NNVAP groups, between motor vehicle lanes and traffic signals, and between NNVAP groups and traffic signals; Prepare the corresponding NMV reservation queue BQ according to the number of motor vehicle lanes entering the intersection NMV，j , prepare the corresponding NNVAP reservation array BA according to the number of the NNVAP group at the current intersection NNVAP，k ; prepare the authorization array AA according to the number of the mixed critical areas γ′ at the current intersection n , prepare the authorization queue AQ according to the number of the motor vehicle critical areas γ at the current intersection m ; prepare the message queue to store the received reservation messages; initialize all queues and arrays to empty; initialize the weight LW of each motor vehicle lane j and the weight GW of the NNVAP group k to 0: At the same time, set the limit time t0 of the motor vehicle lane and the limit time t1 of the NNVAP group.

3. The method for jointly dispatching and passing of networked vehicles and pedestrians at an intersection according to claim 2, characterized in that, The reservation message includes the scheduling unit identification number, priority, the number of the motor vehicle lane or waiting area WR where it is located, and the critical area information required to pass through the intersection. The specific time for sending the reservation message is: The networked motor vehicle NMV needs to send a reservation message to the networked intersection controller after the distance from the intersection center is less than the fixed distance d; The networked non-motor vehicle NNVAP needs to send a reservation message to the networked intersection controller after entering the waiting area WR.

4. The method for jointly dispatching and passing of networked vehicles and pedestrians at an intersection according to claim 3, wherein, The motor vehicle lane weight and the NNVAP group weight are specifically as follows: The motor vehicle lane weight and the NNVAP group weight are used to represent the congestion degree and blocking time of the motor vehicle lane or the NNVAP group; To record the cumulative duration of blockage of each network-connected motor vehicle (NMV) and the NNVAP group from the time of sending a reservation message until authorization is obtained, the waiting time WT from after sending the reservation message until calculating the weight is introduced i , where i is the number of the NMV or NNVAP group, which is an integer greater than or equal to 1, and WT i is calculated as follows: WT i = t c -t a (i) where t c is the current time of the system, and t a (i) is the time when the network-connected motor vehicle NMV initiates a reservation or the time when the unit that first joined the NNVAP group initiates a reservation; Calculation process of the motor vehicle lane weight: For any motor vehicle lane, the networked intersection controller calculates the motor vehicle lane weight LW of the lane based on the following formula j , where j is the number of the motor vehicle lane, which is an integer greater than or equal to 1, and its specific calculation formula is: Among them, the first term on the right side of the formula is the lane emergency level, and the second term is the lane blockage degree; β1 and β2 are non - negative floating - point proportional constants for each term respectively; The first item where n is the number of priorities, an integer greater than or equal to 1; x is the priority number, an integer greater than or equal to 1; P x is the influence factor constant corresponding to the priority of number x, a non - negative floating - point number; Q j (x) represents the number of NMVs in the motor vehicle lane numbered j at priority number x; The second item In it, |BQ NMV，j | is the number of networked motor vehicles (NMVs) to be scheduled recorded in the NMV reservation queue BQ NMV，j WT is the waiting time of the i-th NMV; i WT is the waiting time of the i-th NMV; The calculation formula for the NNVAP group weight is: GW k = β3 × |BA NNVAP，k | + β4 × WT k where k is the number of the NNVAP group, which is an integer greater than or equal to 1; β3 and β4 are non - negative floating - point proportional constants; |BA NNVAP，k | is the number of NNVAPs to be scheduled recorded in the NNVAP reservation array BA NMV，j , WT k is the waiting time of the NNVAP group.

5. The method for mixed scheduling and passing of networked vehicles and pedestrians at an intersection according to claim 4, characterized in that, The motor vehicle lane scheduling specifically includes the following sub-steps: Step 3.1.1, check whether there is an emergency vehicle in the NMV reservation queue of this motor vehicle lane and make a handling; If there is no emergency vehicle in the NMV reservation queue of this motor vehicle lane, execute Step 3.1.2; If there is an emergency vehicle in this motor vehicle lane, then loop and wait until the motor vehicle critical area γ and the mixed critical area γ′ required by the emergency vehicle and all the connected motor vehicles NMV in front of it are available. Then, the connected intersection controller authorizes the motor vehicle critical area γ and the mixed critical area γ′ required by the emergency vehicle and all the connected motor vehicles NMV in front of it, removes the authorized scheduling units from the NMV reservation queue, sets the traffic signal corresponding to this motor vehicle lane to allow passage, and then executes Step 4; Step 3.1.2, attempt to authorize the first connected motor vehicle NMV in this motor vehicle lane; When there is no emergency vehicle in the reservation queue of this motor vehicle lane, set the number K of the currently authorized connected motor vehicles NMV to 0, and then check whether the motor vehicle critical area γ and the mixed critical area γ′ required by the first connected motor vehicle NMV in this motor vehicle lane are both available; If the motor vehicle critical area γ and the mixed critical area γ′ required by this connected motor vehicle NMV are both available, execute Step 3.1.4; If there is an unavailable critical section, check the waiting time WT of the first connected motor vehicle NMV i ; if the waiting time is less than t0, execute step 4; if the waiting time is not less than t0, determine whether there is an emergency vehicle to be dispatched at this intersection. If there is, execute step 2; if not, re-execute step 3.1.2; Step 3.1.3: Check the situation of the next connected motor vehicle NMV and make corresponding handling; If there is no next connected motor vehicle NMV, execute Step 4; If there is a next connected motor vehicle NMV, then judge whether the number K of the currently authorized connected motor vehicles NMV is less than N; if it is not less than, execute Step 4; if it is less than, then judge whether the motor vehicle critical area γ and the mixed critical area γ′ required by the next connected motor vehicle NMV are both available; If both are available, execute Step 3.1.3; if there is a motor vehicle critical area γ or a mixed critical area γ′ that is unavailable, then judge whether the unavailable critical areas are all occupied by the previously authorized K connected motor vehicles NMV; if not occupied, execute Step 4, if occupied, then execute Step 3.1.4; Step 3.1.4: Authorize the connected motor vehicle NMV; Grant the critical area permission required by this connected motor vehicle NMV, then increment K by 1, and return to execute Step 3.1.

3.

6. The method for mixed scheduling and passing of networked vehicles and pedestrians at an intersection according to claim 4, wherein, The NNVAP group scheduling specifically includes: Check whether all the required mixed critical areas γ′ of this NNVAP group are available; If all the required mixed critical areas γ′ are available, then authorize the mixed critical areas γ′ required by all the NNVAPs in this NNVAP group and the opposite NNVAP group, remove the authorized NNVAP units from the corresponding NNVAP reservation array, set the traffic signals corresponding to the two NNVAP groups to allow passage, and then execute Step 4; If there is an unavailable hybrid critical section γ′, check the waiting time of this NNVAP group; if the waiting time is less than t1, execute step 4; if the waiting time is not less than t1, determine whether there is an emergency vehicle to be scheduled at this intersection. If there is an emergency vehicle to be scheduled, execute step 2.

1. If there is no emergency vehicle to be scheduled, re-execute step 3.

2.

7. The method for mixed scheduling and passing of networked vehicles and pedestrians at an intersection according to claim 5 or 6, characterized in that The emergency vehicle has a higher priority, which is used to ensure that the weight of the motor vehicle lane with an emergency vehicle is much greater than the weights of other motor vehicle lanes and the NNVAP group.

8. The method for mixed scheduling and passing of networked vehicles and pedestrians at an intersection according to claim 5 or 6, characterized in that, The specific operation of the connected intersection controller after a certain motor vehicle lane or NNVAP group is authorized is as follows: After the connected intersection controller authorizes a certain motor vehicle lane or NNVAP group, it will set the corresponding traffic signal to green. When the connected intersection controller NIC detects that the last authorized scheduling unit in a certain motor vehicle lane is about to leave the motor vehicle lane, or the last authorized scheduling unit in a certain NNVAP group is about to leave the waiting area WR, the connected intersection controller NIC will set the corresponding traffic signal to yellow. When the last authorized scheduling unit leaves the motor vehicle lane or the waiting area WR and enters the hybrid critical section γ′, the traffic signal is set to red.

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