A method for managing and controlling a special lane for automatic driving on a highway

Abstract

The application can make full use of the existing facilities and equipment of the expressway, effectively guarantee the driving safety of the automatic driving vehicle, improve the space-time utilization rate and passing efficiency of the expressway, and effectively reduce the investment cost of the expressway automatic driving vehicle control. It comprises: (1) calculating the average speed of the automatic driving vehicle and the average speed of the manual driving vehicle in the one-way expressway channel through the expressway ETC gate data, comparing the average speed of the automatic driving vehicle with the average speed of the manual driving vehicle, and determining whether to increase or reduce the number of automatic driving special lanes; (2) providing the control scheme when the number of automatic driving special lanes is increased and the control scheme when the number of automatic driving special lanes is reduced, respectively; (3) obtaining the control scheme of the automatic driving special channel according to the lane state change and change time of each road section obtained above.

Description

Technical Field

[0001] This invention belongs to the technical field of intelligent transportation, and specifically relates to a method for managing dedicated lanes for automated driving on highways. Background Technology

[0002] With the development of new technologies such as 5G, cloud computing, big data, and the Internet of Things, the autonomous driving industry has ushered in a great opportunity and achieved breakthrough progress, leading to a gradual increase in the number of autonomous vehicles on the road. Research shows that the increase in the proportion of autonomous vehicles will impact road capacity, potentially improving it. Autonomous vehicles, due to their greater number of sensors and artificial intelligence algorithms, have faster reaction times and significantly shorter safe headway compared to manually driven vehicles. Therefore, when lanes are dedicated to autonomous driving, road efficiency and safety can be greatly improved. For a considerable period in the future, autonomous vehicles and manually driven vehicles will coexist, resulting in mixed traffic on roads. To improve highway driving safety and efficiency, some highway operators have begun to deploy dedicated autonomous driving lanes. Therefore, in addition to answering the question of "how many dedicated autonomous driving lanes should be built," it is also urgent to solve the problem of how to efficiently manage these lanes.

[0003] Currently, my country's expressways have implemented ETC network toll collection, and a large number of ETC gantry systems have been deployed. ETC gantries are deployed between adjacent toll stations, between toll stations and interchanges, and between interchanges. Moreover, the accuracy rate of vehicle detection data from the ETC gantry system is over 95%. Therefore, it is possible to accurately obtain the average driving speed and cross-sectional flow data of different types of vehicles, which lays the data foundation for this invention.

[0004] Currently, the management methods for dedicated lanes for autonomous driving mostly rely on additional detection or control facilities and equipment, such as installing smart road studs on lane lines and deploying integrated radar and video surveillance systems on the roadside, which increases the economic burden on highway operators. This invention fully utilizes existing highway facilities and equipment, proposing a management method for dedicated lanes for autonomous driving on highways. While ensuring the driving safety of autonomous vehicles, it effectively reduces the probability of congestion on bottleneck sections caused by management, improving the time and space utilization and traffic efficiency of highways. This method is characterized by low investment, simplicity, and ease of implementation, and has practical value for widespread application. Summary of the Invention

[0005] The technical problem solved by this invention is to make full use of existing highway facilities and equipment, overcome the shortcomings of existing technologies, and provide a method for managing dedicated lanes for autonomous driving on highways. This method effectively ensures the driving safety of autonomous vehicles, improves the time and space utilization and traffic efficiency of highways, and greatly reduces the investment cost of managing autonomous vehicles on highways.

[0006] The technical solution of this invention is: a method for managing dedicated lanes for automated driving on highways, which includes the following steps:

[0007] (1) Determining the increase or decrease of the number of lanes in dedicated autonomous driving lanes on highways: Assuming that the starting point, toll stations, interchanges, and ending points of a one-way highway lane are taken as nodes, the one-way highway lane is divided into M segments. The segments are numbered from low to high along the direction of traffic flow. The starting point of the lane is the traffic flow inflow point, and the first segment is numbered 1. The segments are numbered 2, 3, ..., M along the direction of traffic flow. Using highway ETC gantry data, the average speed of autonomous vehicles and the average speed of manually driven vehicles in the one-way highway lane are calculated. The average speed of autonomous vehicles is compared. Average speed of manually driven vehicles The relationship between these factors determines whether to increase or decrease the number of dedicated lanes for autonomous driving.

[0008] (2) Construction of a control model for dedicated lanes for autonomous driving on highways: Control schemes are given when the number of lanes in dedicated lanes for autonomous driving increases and when the number of lanes in dedicated lanes for autonomous driving decreases. For the above two schemes, the calculation methods for the closing, opening or lane state transition of each lane segment that needs to be controlled under different circumstances are given.

[0009] (3) Determination of the control scheme for dedicated lanes for autonomous driving on highways: Based on the lane status changes and change times of each road segment obtained above, the control scheme for dedicated lanes for autonomous driving is derived.

[0010] This invention proposes a management and control method for each section of a dedicated autonomous driving lane based on the dynamic changes in traffic operation status of different types of vehicles and the number of autonomous vehicles in highway corridors. It makes full use of the facilities and equipment of the highway ETC network toll collection system, effectively ensuring the driving safety of autonomous vehicles while reducing the probability of congestion on bottleneck sections caused by management and control, improving the time and space utilization and traffic efficiency of highways, and significantly reducing carbon emissions and fuel consumption. This method is characterized by low investment and ease of implementation, and has practical value that can be widely applied. Attached Figure Description

[0011] Figure 1 This is a flowchart of the highway autonomous driving dedicated lane management method according to the present invention. Detailed Implementation

[0012] like Figure 1 As shown, this method for managing dedicated lanes for autonomous driving on highways includes the following steps:

[0013] (1) Determining the increase or decrease of the number of lanes in dedicated autonomous driving lanes on highways: Assuming that the starting point, toll stations, interchanges, and ending points of a one-way highway lane are taken as nodes, the one-way highway lane is divided into M segments. The segments are numbered from low to high along the direction of traffic flow. The starting point of the lane is the traffic flow inflow point, and the first segment is numbered 1. The segments are numbered 2, 3, ..., M along the direction of traffic flow. Using highway ETC gantry data, the average speed of autonomous vehicles and the average speed of manually driven vehicles in the one-way highway lane are calculated. The average speed of autonomous vehicles is compared. Average speed of manually driven vehicles The relationship between these factors determines whether to increase or decrease the number of dedicated lanes for autonomous driving.

[0014] (2) Construction of a control model for dedicated lanes for autonomous driving on highways: Control schemes are given when the number of lanes in dedicated lanes for autonomous driving increases and when the number of lanes in dedicated lanes for autonomous driving decreases. For the above two schemes, the calculation methods for the closing, opening or lane state transition of each lane segment that needs to be controlled under different circumstances are given.

[0015] (3) Determination of the control scheme for dedicated lanes for autonomous driving on highways: Based on the lane status changes and change times of each road segment obtained above, the control scheme for dedicated lanes for autonomous driving is derived.

[0016] This invention proposes a management and control method for each section of a dedicated autonomous driving lane based on the dynamic changes in traffic operation status of different types of vehicles and the number of autonomous vehicles in highway corridors. It makes full use of the facilities and equipment of the highway ETC network toll collection system, effectively ensuring the driving safety of autonomous vehicles while reducing the probability of congestion on bottleneck sections caused by management and control, improving the time and space utilization and traffic efficiency of highways, and significantly reducing carbon emissions and fuel consumption. This method is characterized by low investment and ease of implementation, and has practical value that can be widely applied.

[0017] Preferably, in step (1), when OD traffic demand changes or the penetration rate of autonomous vehicles changes, the traffic operation status on the main highway changes, thus requiring an update to the autonomous driving lane layout scheme. Using highway ETC gantry data, the average speed of autonomous vehicles and the average speed of manually driven vehicles in a one-way highway lane are calculated. The average speed of autonomous vehicles is then compared... Average speed of manually driven vehicles The relationship is used to determine whether to increase or decrease the number of dedicated lanes for autonomous driving.

[0018] Preferably, in step (1), when When α is in the range of [0.7, 1], the number of lanes for dedicated autonomous driving lanes should be increased; when When β is used, it is recommended that the value range be [1, 1.3] to reduce the number of lanes in the dedicated lanes for autonomous driving.

[0019] Preferably, in step (2), it is assumed that the controlled passage of the highway contains a total of M road segments. Each lane at the starting section of each road segment is equipped with a lane status display, which can display four states: lane closed, automatic driving lane, manual driving lane, and lane open. It is assumed that when the automatic driving lane is open, all automatic driving vehicles select the automatic driving lane, and the remaining lanes are manual driving lanes.

[0020] Preferably, in step (2), the length of the i-th road segment is L. i The maximum and minimum speeds of autonomous vehicles are denoted as max V. c and min V c The maximum and minimum speeds of a manually driven vehicle are denoted as max V. h and min V h .

[0021] Preferably, in step (2), the control model when the number of lanes in the dedicated autonomous driving lane is reduced is as follows:

[0022] (2.1) When the number of dedicated lanes for autonomous driving is reduced, and the remaining number of autonomous driving lanes is greater than 0,

[0023] Once the first lane is opened, if the fastest time a manually driven vehicle can reach the downstream lane that is not yet cleared is greater than or equal to the time it takes for the downstream lane to clear, the lane status of the first lane will be changed from closed to manually driven; the specific calculation formula is as follows:

[0024]

[0025] Once the first upstream lane is opened as a manual lane, it will not affect any uncleared autonomous vehicles in the downstream autonomous driving lane.

[0026] The time it takes for the lane in the first road segment to switch from a closed state to a manual driving state is denoted as T1. The time for the automatic driving lane to switch to a manual driving lane in the second road segment and subsequent road segments should satisfy the following formula:

[0027]

[0028] (2.2) After the number of lanes for autonomous driving is reduced, when the number of lanes for autonomous driving is 0, the information of canceling the dedicated lanes for autonomous driving is issued to the autonomous vehicles through the roadside unit or traffic control center. After a certain time interval, the lane display of all road sections will show that the lanes are open.

[0029] Preferably, the control model for the increase in the number of lanes in the dedicated autonomous driving lane in step (2) is as follows:

[0030] (2.3) When changing from a lane without dedicated lanes for autonomous driving to a lane with dedicated lanes for autonomous driving,

[0031] Let the time when the i-th road segment closes be denoted as . The following is the method for calculating the lane closure time of downstream road sections:

[0032]

[0033] When the following formula is met, the lane status of the first road segment will be switched to an autonomous driving lane.

[0034]

[0035] Once the first lane in the upstream section is opened as an autonomous driving lane, there will be no spatial intersection between the upstream autonomous driving vehicles and the downstream mixed traffic vehicles. Vehicles that have not been cleared in the downstream mixed traffic section will not affect the upstream autonomous driving vehicles. The time from when the first lane in the upstream section is closed to when it is opened as an autonomous driving lane is recorded as T1.

[0036] The time required for lanes on the second and subsequent road segments to transition to autonomous driving lanes after the road is cleared satisfies the following formula:

[0037]

[0038] (2.4) When increasing the number of dedicated lanes for autonomous driving based on existing dedicated lanes, the time when the i-th road segment is closed is denoted as...

[0039]

[0040] When the following formula is met, the lane status of the first road segment will be changed from closed to automated driving lane.

[0041]

[0042] After the upstream lane is opened to manual lane, it will not affect vehicles that have not been cleared in the downstream autonomous driving lane. The time from the first lane being closed to the manual driving lane is recorded as T1.

[0043] The time required for the second road segment and its downstream segment to transition from a closed state to an automated driving lane satisfies the following formula:

[0044]

[0045] Preferably, in step (3), each controlled lane of a road segment can obtain a time-lane state vector, where time is the time when the lane state changes, and the lane states are four states: lane closed, autonomous driving lane, manual driving lane, and lane open (autonomous driving vehicles and manual driving vehicles can mix). Let the time state vector of the controlled lane of the i-th road segment be S. i =(s i ) 4×1 Therefore, the time-lane state vectors of each road segment are combined to obtain the lane control scheme for the highway autonomous driving lane as S:

[0046] S = [s1, s2, ... s M ] 4×M .

[0047] The present invention will now be described in more detail.

[0048] A method for managing dedicated lanes for automated driving on highways includes three parts: first, determining the increase or decrease in the number of lanes for dedicated automated driving lanes; second, a management model for dedicated automated driving lane sections, specifically including management models for both increases and decreases in the number of lanes; and third, determining the management scheme for dedicated automated driving lanes. The management process for dedicated automated driving lanes on highways is as follows: Figure 1 The specific implementation method is as follows:

[0049] Step 1: Determining the increase or decrease in the number of lanes in the dedicated autonomous driving lanes on highways;

[0050] Assuming that the starting point, toll stations, interchanges, and ending points of a one-way highway corridor are used as nodes, the one-way highway corridor is divided into M segments. The segments are numbered from low to high along the direction of traffic flow, that is, the starting point of the corridor is the traffic flow inflow point, the first segment is numbered as 1, and the segments are numbered sequentially as 2, 3, ..., M along the direction of traffic flow.

[0051] When OD (Original Demand) traffic demand changes or the penetration rate of autonomous vehicles changes, the traffic operation status on highway main roads changes, thus requiring an update to the layout plan for dedicated autonomous driving lanes. By using highway ETC gantry data, the average speed of autonomous vehicles and the average speed of manually driven vehicles in one-way highway lanes are calculated. The average speed of autonomous vehicles is then compared... Average speed of manually driven vehicles The relationship is used to determine whether to increase or decrease the number of dedicated lanes for autonomous driving.

[0052] when When α is used, it is recommended that the value range be [0.7, 1], and the number of lanes for dedicated autonomous driving lanes be increased;

[0053] when When β is used, it is recommended that the value range be [1, 1.3] to reduce the number of lanes in the dedicated lanes for autonomous driving.

[0054] Step 2: Construction of a management model for dedicated lanes for autonomous driving on highways;

[0055] Control schemes are given for the decrease and increase of the number of lanes in the dedicated autonomous driving lanes, respectively.

[0056] Assume the controlled highway corridor comprises M sections. At the starting point of each section, lane status displays are installed in each lane, showing four states: lane closed, automated driving lane, manual driving lane, and lane open (automated and manual vehicles can mix). Furthermore, assume that when the automated driving lane is open, all automated vehicles choose the automated driving lane, and the remaining lanes are manual driving lanes.

[0057] Let the length of the i-th road segment be L. i The maximum and minimum speeds of autonomous vehicles are denoted as maxV. c and min V c The maximum and minimum speeds of a manually driven vehicle are denoted as max V. h and min V h .

[0058] (1) Control model when the number of lanes in a dedicated autonomous driving lane is reduced

[0059] When reducing the number of lanes in a dedicated autonomous driving lane, there are two scenarios: one is that the number of autonomous driving lanes after the reduction is still greater than 0, meaning that there are dedicated autonomous driving lanes in the lane; the other is that the number of autonomous driving lanes after the reduction is 0, meaning that there are no dedicated autonomous driving lanes in the lane.

[0060] 1) When the number of lanes in the dedicated autonomous driving lane is reduced, and the remaining number of autonomous driving lanes is greater than 0;

[0061] When it is necessary to reduce the number of lanes in the dedicated autonomous driving lane, the lane display is first used to turn the autonomous driving lane status of the first section of the lane to the closed state, and the autonomous driving lane status is maintained in subsequent sections. The autonomous driving vehicles in the dedicated autonomous driving lane are cleared after a certain period of time.

[0062] When the controlled highway corridor is long, simply closing lane entrances to clear the lanes will take a considerable amount of time, resulting in upstream lanes being idle for extended periods. To fully utilize road space, dynamic control measures are adopted, dynamically adjusting the status of lanes in each section. After clearing a section of lanes, the upstream closed lanes are dynamically opened without interfering with downstream autonomous driving vehicles, gradually transitioning subsequent lanes from autonomous driving lanes to manual driving lanes. The opening times of the first closed lane in a given section are shown below.

[0063] When the first lane is opened, if the fastest time a manually driven vehicle can reach the downstream lane that is not yet cleared is greater than or equal to the time it takes for the downstream lane to clear, the lane status of the first lane will be changed from closed to manually driven. The specific calculation formula is as follows:

[0064]

[0065] In other words, opening the first lane upstream to a manual lane will not affect the autonomous vehicles that have not been cleared in the downstream autonomous driving lane.

[0066] The time it takes for the lane in the first road segment to switch from a closed state to a manual driving state is denoted as T1. The time for the automatic driving lane to switch to a manual driving lane in the second and subsequent road segments should satisfy the following formula:

[0067]

[0068] 2) When the number of lanes in the dedicated autonomous driving lane is reduced to 0;

[0069] When the number of lanes for autonomous driving is reduced to zero, meaning the dedicated lanes for autonomous driving are eliminated from highways, the highway traffic flow changes from separate lanes for manually driven and autonomous vehicles to a mixed flow of both. In this case, information about the cancellation of the dedicated lanes for autonomous driving is sent to the autonomous vehicles via roadside units or the traffic control center. After a certain time interval (related to the reaction time of the autonomous vehicles, usually the longest reaction time among all vehicles), the lane displays on all road sections will show the lane as open.

[0070] (2) Control model when the number of lanes in a dedicated autonomous driving lane increases

[0071] When increasing the number of dedicated lanes for autonomous driving, there are two scenarios: one is from having no dedicated lanes for autonomous driving to having dedicated lanes; the other is increasing the number of dedicated lanes for autonomous driving based on existing dedicated lanes for autonomous driving.

[0072] 1) When moving from a lane without dedicated lanes for autonomous driving to a lane with dedicated lanes for autonomous driving;

[0073] When it is necessary to add a dedicated lane for autonomous driving, the lane to be added is first gradually closed using the lane display. After a period of time, the lane is cleared of both human-driven and autonomous vehicles. Then, when it is ensured that vehicles in the downstream section will not interfere with vehicles in the upstream dedicated lane for autonomous driving, the lane status of the upstream section is gradually changed from closed to autonomous driving lane status.

[0074] Let the time when the i-th road segment closes be denoted as . The following is the method for calculating the lane closure time of downstream road sections:

[0075]

[0076] The closing time of the first road segment is usually given, so the closing time of the downstream road segments can be calculated sequentially.

[0077] To make fuller use of road space, after clearing a section of lanes, and when mixed traffic in downstream lanes will not interfere with autonomous vehicles in upstream lanes, a dynamic lane opening and closing mechanism is adopted, sequentially switching the upstream lane status from closed to autonomous driving lane. The opening times for the first lane section are given below.

[0078] When the following formula is met, the lane status of the first road segment will be switched to an autonomous driving lane.

[0079]

[0080] That is, after the first lane in the upstream section is opened as an autonomous driving lane, there will be no spatial intersection between the upstream autonomous driving vehicles and the downstream mixed traffic vehicles, and the vehicles that have not been cleared in the downstream mixed traffic section will not affect the upstream autonomous driving vehicles. The time from the first lane section changing from a closed state to an autonomous driving lane state is recorded as T1.

[0081] The time required for lanes on the second and subsequent road segments to transition to autonomous driving lanes after the road is cleared satisfies the following formula:

[0082]

[0083] 2) When increasing the number of dedicated lanes for autonomous driving based on existing dedicated lanes for autonomous driving.

[0084] Adding dedicated lanes for autonomous driving, which involves converting some manual driving lanes into autonomous driving lanes, requires the following steps: First, lane displays are used to gradually close the lanes to be added for autonomous driving. This process clears the lanes of manually driven vehicles from the lanes over a period of time. Then, ensuring that the downstream road conditions do not interfere with vehicles in the upstream dedicated lanes for autonomous driving, the upstream lanes are gradually switched from closed to autonomous driving lane status.

[0085] Let the time when the i-th road segment closes be denoted as . The following is a method for calculating the lane closure time of downstream road sections.

[0086]

[0087] The closing time of the first road segment is usually given, so the closing time of the downstream road segments can be calculated sequentially.

[0088] To make fuller use of road space, after clearing a section of road, downstream lanes can be gradually opened, provided it does not interfere with upstream autonomous vehicles, thus transitioning the lane status of the road segment from closed to autonomous driving lane status. The opening times for the first road segment are given below.

[0089] When the following formula is met, the lane status of the first road segment will be changed from closed to an autonomous driving lane.

[0090]

[0091] That is, opening the upstream lanes to manual driving lanes will not affect vehicles that have not been cleared in the downstream autonomous driving lanes. The time it takes for the first lane to switch from a closed state to a manual driving lane state is recorded as T1.

[0092] The time required for the second road segment and its downstream segment to transition from a closed state to an automated driving lane satisfies the following formula:

[0093]

[0094] Step 3: Determine the management plan for dedicated lanes for automated driving on highways.

[0095] Based on the lane status changes and change times of each road segment obtained above, a control scheme for dedicated autonomous driving lanes is derived.

[0096] Based on the above calculations, each controlled lane in a road segment can obtain a time-lane state vector, where time represents the time when the lane state changes. Lane states include four types: lane closed, autonomous driving lane, manual driving lane, and lane open (autonomous and manual vehicles can mix). Let S be the time state vector of the controlled lane in the i-th road segment. i =(s i ) 4×1 Therefore, the time-lane state vectors of each road segment are combined to obtain the lane control scheme for the highway autonomous driving lane, which is S. The specific S is shown below:

[0097] S = [s1, s2, ..., s] M ] 4×M .

[0098] The above description is merely a preferred embodiment of the present invention and is not intended to limit the present invention in any way. Any simple modifications, equivalent changes, and alterations made to the above embodiments based on the technical essence of the present invention shall still fall within the protection scope of the present invention.

Claims

1. A method for managing dedicated lanes for automated driving on highways, characterized in that: The method comprises the following steps: (1) The determination of the increase or decrease of the number of automatic driving special lane of expressway: taking the starting point, the passing toll station, the interchange hub and the terminal point of the one-way expressway lane as the node, the one-way expressway lane is divided into M road sections, and the road sections are numbered from low to high along the direction of traffic flow, the starting point of the lane is the traffic inflow point, the first road section passing through is numbered as 1, and the road sections are numbered as 2, 3, …, M in turn along the direction of traffic flow; the average speed of automatic driving vehicles and the average speed of manual driving vehicles in the one-way expressway lane are calculated through the expressway ETC portal data, and it is judged whether the number of automatic driving special lane is increased or decreased by comparing the relationship between the average speed of automatic driving vehicles and the average speed of manual driving vehicles ;​ (2) Highway automatic driving dedicated lane section control model construction: the control scheme when the number of automatic driving dedicated lanes increases and the control scheme when the number of automatic driving dedicated lanes decreases are given respectively, and the calculation method of the closing, opening or lane state change time of each lane section that needs to be controlled in different situations in each scheme is given; (3) Highway automatic driving dedicated lane control scheme determination: the lane state change and change time of each section obtained above are used to obtain the control scheme of the automatic driving dedicated lane; The step (2) is to let the length of the i-th road segment be , the maximum and minimum speeds of the autonomous vehicle are respectively denoted as and , and the maximum and minimum speeds of the manually driven vehicle are respectively denoted as and ; The control model when the number of automatic driving dedicated lanes decreases is as follows: (2.1) When the number of automatic driving lanes after the number of automatic driving dedicated lanes decreases is greater than 0, When the fastest time of the manually driven vehicle to reach the downstream non-empty lane after the first section lane is opened is greater than or equal to the time of emptying the downstream lane, the lane state of the first section is changed from the closed state to the manually driven lane state; The specific calculation formula is as follows: ， After the first upstream section lane is opened as a manually driven lane, it will not affect the automatic driving vehicles in the downstream automatic driving section that are not emptied; The time from the closed state to the manual driving lane state of the first road section is recorded as The time when the automatic driving lane of the second road section and subsequent road sections is converted to the manual driving lane should satisfy the following formula: ； (2.2) When the number of automatic driving lanes after the number of automatic driving dedicated lanes decreases is 0, The information of canceling the automatic driving dedicated lane is issued to the automatic driving vehicle through the roadside unit or the traffic control center, and after a certain time interval, the lane display of all sections is displayed as an open state; The control model when the number of automatic driving dedicated lanes increases in step (2) is as follows: (2.3) From no automatic driving dedicated lane to automatic driving dedicated lane, Let the time when the ith link is closed be denoted as The calculation method of the closing time of the downstream link lane is given as follows: ， When the following formula is satisfied, the lane state of the first section is changed to an automatic driving lane ， After the first upstream lane is opened as an autonomous driving lane, the upstream autonomous driving vehicle does not intersect with the downstream mixed driving vehicle, and the vehicle not cleared from the downstream mixed driving section does not affect the upstream autonomous driving vehicle. The time from the first lane being closed to being converted to the autonomous driving lane state is recorded as ; The time of changing the second section and the subsequent sections to an automatic driving lane after being emptied satisfies the following formula: ， (2.4) On the basis of the existing automatic driving dedicated lane, the number of automatic driving dedicated lanes is increased, Let the time at which the ith link is closed be denoted by , ， When the following formula is satisfied, the lane state of the first section is changed from the closed state to the automatic driving lane ， After the upstream lane is opened as a manual lane, it will not affect the vehicles that have not been emptied on the downstream automatic driving section. The time from when the first lane is closed to when it is converted to a manual driving lane is recorded as ; The time of changing the second section and the downstream sections from the closed state to the automatic driving lane satisfies the following formula: 。 2.The expressway autonomous driving exclusive lane management method of claim 1, wherein: In step (1), when the OD traffic demand changes or the penetration rate of autonomous vehicles changes, the traffic operation status on the main highway changes. Therefore, it is necessary to update the layout scheme of the dedicated autonomous driving lanes. Using highway ETC gantry data, the average speed of autonomous vehicles and the average speed of manually driven vehicles in one-way highway lanes are calculated. By comparing the average speed of autonomous vehicles... Average speed of manually driven vehicles The relationship is used to determine whether to increase or decrease the number of dedicated lanes for autonomous driving. 3.The method according to claim 2, characterized in that: In step (1), when hour, The range of values ​​is Increase the number of lanes in dedicated lanes for autonomous driving; when hour, The range of values ​​is Reduce the number of lanes in dedicated lanes for autonomous driving. 4.The method according to claim 3, characterized in that: In step (2), the controlled channel of the highway comprises M sections, each section has a lane state display at the start section, which displays four states of lane closing, automatic driving lane, manually driven lane and lane opening, when the automatic driving lane is opened, all automatic driving vehicles select the automatic driving lane, and the remaining lanes are manually driven lanes. 5.The expressway autonomous driving exclusive lane management method of claim 4, wherein: In step (3), each road section gets a time-lane state vector, where time is the time when the lane state changes, and lane state is the four states of lane closed, autonomous driving lane, manual driving lane, and lane open. The time state vector of the managed lane of the first road section is Therefore, the combination of the time-lane state vectors of each road section gives the highway autonomous driving lane management scheme as : 。

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