Cooperative vehicle ramp merging method, device, computer equipment and storage medium

Abstract

The present application relates to a method, device, computer equipment, storage medium and computer program product for collaborative vehicle ramp merging. The method includes: for a target vehicle to be merged on the ramp, according to the relative position relationship between at least two reference vehicles, determining the current merging scene type; according to the current position and current speed of the target vehicle and the reference vehicle, predicting the reference merging time difference between every two adjacent vehicles arriving at the merging point, and the reference relative distance between every two adjacent reference vehicles when the target vehicle arrives at the merging point; based on the current merging scene type, adjusting the merging speed of the target vehicle and the first type of reference vehicle according to the reference merging time difference and the reference relative distance. Collaborative decision-making is performed through the surrounding vehicle information provided by the road end and the vehicle information obtained through the vehicle-road collaborative technology to obtain the vehicle's merging timing and merging speed, ensure driving safety, and improve the traffic efficiency at the ramp merging point.

Description

Technical Field

[0001] The present application relates to the field of intelligent transportation technology, and in particular to a method, device, computer equipment, storage medium and computer program product for cooperative vehicle ramp merging. Background Art

[0002] With the continuous development of highways and urban expressways, people's travel is becoming more and more convenient, but at the same time, some problems have also emerged. Among them, ramp vehicle merging is a major factor affecting road traffic efficiency. At present, the ways to improve the traffic efficiency of ramp sections are mainly divided into exploratory methods for single-vehicle intelligence, which is independent of other vehicles. Based on the on-board sensors, it obtains environmental information around the vehicle itself and autonomously makes avoidance, merging and other behaviors. Due to the limitation of the sensor perception distance, the range of information obtained is small. Only based on this information, autonomous exploration and decision-making to complete the ramp merging leads to low decision-making effect, which cannot significantly improve the traffic efficiency of highway and urban expressway ramps. Summary of the invention

[0003] Based on this, it is necessary to provide a method, device, computer equipment, computer-readable storage medium and computer program product that can accurately and effectively integrate into a collaborative vehicle ramp in order to solve the above-mentioned technical problems.

[0004] In a first aspect, the present application provides a method for cooperative vehicle ramp merging. The method comprises:

[0005] For a target vehicle to be merged on a ramp and at least two reference vehicles to be merged on a main road, the current merging scene type is determined according to the relative position relationship between the at least two reference vehicles; the at least two reference vehicles include at least one first-type reference vehicle capable of exchanging information with the target vehicle;

[0006] According to the current positions and current vehicle speeds of the target vehicle and the reference vehicle on the corresponding lanes, a reference merging time difference between every two adjacent vehicles arriving at the merging point is predicted, and a reference relative distance between every two adjacent vehicles in the vehicle queue formed by the reference vehicle and the target vehicle when the target vehicle arrives at the merging point;

[0007] Based on the current merging scenario type, the merging speeds of the target vehicle and the first type of reference vehicle are adjusted according to the reference merging time difference and the reference relative distance.

[0008] In one embodiment, according to the current positions and current speeds of the target vehicle and the reference vehicle in the corresponding lanes, predicting the reference merging time difference between every two adjacent vehicles arriving at the merging point includes:

[0009] Determine a first travel distance of each vehicle according to the current position of the target vehicle and the reference vehicle on the corresponding lane and the position of the merging point;

[0010] Determine the driving time of each vehicle according to the first driving distance and the current speed of each of the target vehicle and the reference vehicle;

[0011] According to the corresponding driving time of each vehicle, a reference merging time difference between every two adjacent vehicles arriving at the merging point is determined.

[0012] In one embodiment, according to the current positions and current speeds of the target vehicle and the reference vehicle on the corresponding lanes, predicting the reference relative distance between each two adjacent vehicles in the vehicle queue formed by the reference vehicle and the target vehicle when the target vehicle arrives at the merging point includes:

[0013] Determine the initial relative distance between every two reference vehicles according to the current positions of the reference vehicles on the main road;

[0014] Predicting the first travel time of the target vehicle based on the current position, current speed and merging point position of the target vehicle on the ramp;

[0015] predicting a second driving distance of each reference vehicle based on the current vehicle speed and the first driving time of each reference vehicle on the main road;

[0016] A reference relative distance between every two adjacent reference vehicles is determined according to the initial relative distance between every two reference vehicles and the second travel distance of each reference vehicle.

[0017] In one embodiment, determining the type of the current incoming scene based on the relative position relationship between at least two reference vehicles includes:

[0018] Determine the number of leading vehicles on the ramp, waiting to merge into the main road, and ahead of the target vehicle;

[0019] Determining a relative positional relationship between first-type reference vehicles in at least two reference vehicles;

[0020] According to the number of leading vehicles in the ramp and the relative position relationship between the first type of reference vehicles, the current merging scene type of the target vehicle is determined.

[0021] In one embodiment, the at least two reference vehicles include a first reference vehicle and a second reference vehicle, and the current merging scene type is used to indicate that the first reference vehicle is ahead of the second reference vehicle and the second reference vehicle is a first-type reference vehicle and the number of reference vehicles in the ramp is 0; accordingly, based on the current merging scene type, according to the reference merging time difference and the reference relative distance, adjusting the merging speeds of the target vehicle and the first-type reference vehicle includes:

[0022] Determine an initial merging order according to a reference merging time difference between each two vehicles among the target vehicle, the first reference vehicle, and the second reference vehicle;

[0023] According to the preset duration and the preset distance, the reference import time difference and the reference relative distance are judged, and the initial import sequence is adjusted according to the judgment result to obtain the target import sequence;

[0024] Based on the target merging order, the merging speed of the target vehicle and the merging speed of the second reference vehicle are adjusted.

[0025] In one embodiment, the initial merging order is that the first reference vehicle merges first, the target vehicle merges second, and the second reference vehicle merges third; accordingly, according to the preset duration and the preset distance, the reference merging time difference and the reference relative distance are judged to determine the target merging order, including:

[0026] When the reference relative distance between the first reference vehicle and the second reference vehicle is less than a preset distance, changing the merging order of the target vehicle and the second reference vehicle;

[0027] When the reference relative distance between the first reference vehicle and the second reference vehicle is not less than the preset distance and the merging time difference between the target vehicle and the first reference vehicle is less than the preset time duration and the merging time difference between the second reference vehicle and the target vehicle is less than the preset time duration, the merging order of the target vehicle and the second reference vehicle is changed.

[0028] In one embodiment, adjusting the merging speed of the target vehicle and the merging speed of the second reference vehicle based on the target merging order includes:

[0029] Using the current speed of the second reference vehicle as the merging speed of the second reference vehicle;

[0030] The merging speed of the target vehicle is calculated based on the merging speed of the second reference vehicle and the preset time.

[0031] In a second aspect, the present application also provides a cooperative vehicle ramp merging device. The device comprises:

[0032] A scene judgment module is used to determine the current merging scene type for a target vehicle to be merged on the ramp and at least two reference vehicles to be merged on the main road, according to the relative position relationship between the at least two reference vehicles; the at least two reference vehicles include at least one first-type reference vehicle that can exchange information with the target vehicle;

[0033] A sequence prediction module is used to predict a reference merging time difference between every two adjacent vehicles arriving at the merging point according to the current positions and current vehicle speeds of the target vehicle and the reference vehicle on the corresponding lanes, and a reference relative distance between every two adjacent vehicles in the vehicle queue formed by the reference vehicle and the target vehicle when the target vehicle arrives at the merging point;

[0034] The vehicle speed determination module is used to adjust the merging speeds of the target vehicle and the first type of reference vehicle based on the current merging scene type, according to the reference merging time difference and the reference relative distance.

[0035] In a third aspect, the present application further provides a computer device. The computer device includes a memory and a processor, the memory stores a computer program, and the processor implements the following steps when executing the computer program:

[0036] For a target vehicle to be merged on a ramp and at least two reference vehicles to be merged on a main road, the current merging scene type is determined according to the relative position relationship between the at least two reference vehicles; the at least two reference vehicles include at least one first-type reference vehicle capable of exchanging information with the target vehicle;

[0037] According to the current positions and current vehicle speeds of the target vehicle and the reference vehicle on the corresponding lanes, a reference merging time difference between every two adjacent vehicles arriving at the merging point is predicted, and a reference relative distance between every two adjacent vehicles in the vehicle queue formed by the reference vehicle and the target vehicle when the target vehicle arrives at the merging point;

[0038] Based on the current merging scenario type, the merging speeds of the target vehicle and the first type of reference vehicle are adjusted according to the reference merging time difference and the reference relative distance.

[0039] In a fourth aspect, the present application further provides a computer-readable storage medium. The computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the following steps are implemented:

[0040] For a target vehicle to be merged on a ramp and at least two reference vehicles to be merged on a main road, the current merging scene type is determined according to the relative position relationship between the at least two reference vehicles; the at least two reference vehicles include at least one first-type reference vehicle capable of exchanging information with the target vehicle;

[0041] According to the current positions and current vehicle speeds of the target vehicle and the reference vehicle on the corresponding lanes, a reference merging time difference between every two adjacent vehicles arriving at the merging point is predicted, and a reference relative distance between every two adjacent vehicles in the vehicle queue formed by the reference vehicle and the target vehicle when the target vehicle arrives at the merging point;

[0042] Based on the current merging scenario type, the merging speeds of the target vehicle and the first type of reference vehicle are adjusted according to the reference merging time difference and the reference relative distance.

[0043] In a fifth aspect, the present application further provides a computer program product. The computer program product includes a computer program, and when the computer program is executed by a processor, the following steps are implemented:

[0044] For a target vehicle to be merged on a ramp and at least two reference vehicles to be merged on a main road, the current merging scene type is determined according to the relative position relationship between the at least two reference vehicles; the at least two reference vehicles include at least one first-type reference vehicle capable of exchanging information with the target vehicle;

[0045] According to the current positions and current vehicle speeds of the target vehicle and the reference vehicle on the corresponding lanes, a reference merging time difference between every two adjacent vehicles arriving at the merging point is predicted, and a reference relative distance between every two adjacent vehicles in the vehicle queue formed by the reference vehicle and the target vehicle when the target vehicle arrives at the merging point;

[0046] Based on the current merging scenario type, the merging speeds of the target vehicle and the first type of reference vehicle are adjusted according to the reference merging time difference and the reference relative distance.

[0047] The above-mentioned cooperative vehicle ramp merging method, device, computer equipment, storage medium and computer program product determine the current merging scene type according to the relative position relationship between the at least two reference vehicles for the target vehicle to be merged on the ramp and the at least two reference vehicles to be merged on the main road; the at least two reference vehicles include at least one first-class reference vehicle that can exchange information with the target vehicle; according to the current position and current speed of the target vehicle and the reference vehicle on the corresponding lane, predict the reference merging time difference between every two adjacent vehicles arriving at the merging point, and the reference relative distance between every two adjacent vehicles in the vehicle queue formed by the reference vehicle and the target vehicle when the target vehicle arrives at the merging point; based on the current merging scene type, adjust the merging speed of the target vehicle and the first-class reference vehicle according to the reference merging time difference and the reference relative distance. Through the surrounding vehicle information provided by the road end and the vehicle information obtained through the vehicle-road cooperative technology, a collaborative decision is made to obtain the merging time and merging speed of the vehicle, ensure driving safety, and improve the traffic efficiency at the ramp merging point. BRIEF DESCRIPTION OF THE DRAWINGS

[0048] Figure 1 A diagram of an application environment of a cooperative vehicle ramp merging method in one embodiment;

[0049] Figure 2 A schematic diagram of a process of a cooperative vehicle ramp merging method in one embodiment;

[0050] Figure 3 A schematic diagram of vehicle distribution of the first imported scene type in one embodiment;

[0051] Figure 4 A schematic diagram of a process flow of a cooperative vehicle ramp merging method in another embodiment;

[0052] Figure 5 A schematic diagram of a travel of a reference vehicle in one embodiment;

[0053] Figure 6 A schematic diagram of vehicle distribution of a second merging scene type in one embodiment;

[0054] Figure 7 A schematic diagram of vehicle distribution of the third imported scene type in one embodiment;

[0055] Figure 8 A schematic diagram of vehicle distribution of a fourth imported scene type in an embodiment;

[0056] Fig. 9 A structural block diagram of a cooperative vehicle ramp merging device in one embodiment;

[0057] Fig.10 FIG. 4 is a diagram showing the internal structure of a computer device in one embodiment. DETAILED DESCRIPTION

[0058] In order to make the purpose, technical solution and advantages of the present application more clearly understood, the present application is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and are not used to limit the present application.

[0059] The cooperative vehicle ramp merging method provided in the embodiment of the present application is applied to Figure 1 In the application environment shown. Among them, the terminal 102 communicates with the server 104 through the network. Specifically, the terminal can be a road-side device to collect vehicle status information. The terminal can also be a data collection device for intelligent networked vehicles. In short, the terminal 102 is used to collect vehicle trial operation status data and send the collected data to the server 104. The server 104 processes the data to determine the vehicle's merging time and merging speed, and completes the collaborative vehicle ramp planning. The data storage system can store the data that the server 104 needs to process. The data storage system can be integrated on the server 104, or it can be placed on the cloud or other network servers.

[0060] The terminal 102 may be, but is not limited to, various personal computers, laptops, smart phones, tablet computers, IoT devices, and portable wearable devices. The IoT devices may be smart speakers, smart TVs, smart air conditioners, smart car-mounted devices, etc. The portable wearable devices may be smart watches, smart bracelets, head-mounted devices, etc. The server 104 may be implemented as an independent server or a server cluster consisting of multiple servers.

[0061] In one embodiment, Figure 2 As shown, a cooperative vehicle ramp merging method is provided, and the method is applied to Figure 1 Taking the server 104 in the example as an example, the following steps are included:

[0062] Step 202, for a target vehicle to be merged on a ramp and at least two reference vehicles to be merged on a main road, determining a current merging scene type according to a relative position relationship between the at least two reference vehicles; the at least two reference vehicles include at least one first type reference vehicle that can exchange information with the target vehicle;

[0063] Among them, the target vehicle refers to the vehicle that is about to merge on the ramp at a certain merging point. This vehicle can exchange information with the first type of reference vehicle, and the information exchange between vehicles is completed through information. The type of the target vehicle can be the same as or different from the type of the first type of reference vehicle. The reference vehicle refers to the vehicle that is about to pass this merging point. It can be understood that both the reference vehicle and the target vehicle need to pass this merging point. Therefore, the merging state of the target vehicle is predicted and adjusted according to the driving state of the reference vehicle, such as the merging speed and merging time.

[0064] In the embodiment of the present application, it can be understood that among the at least two reference vehicles to be merged on the main road, there must be a vehicle that can exchange information with the target vehicle. The purpose of the information interaction is to complete the collaborative vehicle merging control. For example, the target vehicle and one of the reference vehicles are both intelligent connected vehicles, which can share the operating status of the vehicle through the network, improve the vehicle's perception and decision-making capabilities, and achieve better control over the vehicle.

[0065] Specifically, when the target vehicle is about to merge, it sends a merge request to the edge computing unit MEC (Mobile Edge Computing), which receives vehicle information obtained from the on-board unit OBU (Onboard Unit) and the road side unit RSU (Road Side Unit) of the target vehicle and the first type of reference vehicle, and determines the current merge scene type of the target vehicle based on the vehicle information of all vehicles involved. Vehicle information includes information such as vehicle position and vehicle speed. The merge scene type refers to the distribution of all vehicles involved when the target vehicle merges. For example, in one embodiment, it includes the target vehicle EV (Ego Vehicle), the first type of reference vehicle ICV2, and the remaining reference vehicles NV1 and NV2, so the merge scene types include:

[0066] (1): ICV2 is before NV1 on the main road (no NV2),

[0067] (2): NV1 is in front of ICV2 on the main road (no NV2),

[0068] (3): There is NV2 in front of the ramp and ICV2 is in front of NV1 on the main road.

[0069] (4): There is NV2 in front of the ramp and NV1 is in front of ICV2 on the main road.

[0070] Step 204, predicting a reference merging time difference between every two adjacent vehicles arriving at the merging point, and a reference relative distance between every two adjacent vehicles in the vehicle queue formed by the reference vehicle and the target vehicle when the target vehicle arrives at the merging point, according to the current positions and current vehicle speeds of the target vehicle and the reference vehicle on the corresponding lanes;

[0071] The current positions of the target vehicle and the first type of reference vehicle are obtained through the vehicle-mounted unit of the vehicle, which can be obtained by obtaining the position coordinates of the vehicle and the confluence point in the map to calculate the distance; or the distance between the vehicle and the confluence point can be directly obtained through the sensor. For reference vehicles other than the first type of reference vehicles, the current position and speed of the vehicle are detected by the sensors of the roadside unit, for example, by analyzing the collected images, and the vehicle position and speed can also be detected by laser radar.

[0072] Among them, the reference merging time difference refers to the time difference for each vehicle to arrive at the merging point without adjusting the speed of all vehicles. The time or required time for each vehicle to arrive at the merging point can be calculated by the distance between the current position of each vehicle and the position of the merging point and the current speed, thereby obtaining the reference merging time difference for every two vehicles. It should be noted that in the embodiment of the present application, in order to facilitate calculation and analysis, the driving process of all vehicles is considered to be a uniform driving process. If it is necessary to adjust the merging speed of the target vehicle in real time, it can be controlled in real time through the collaborative vehicle ramp merging method of the present application. In addition, for the reference vehicle, considering the complex driving conditions and relevant regulations at the ramp entrance, the status of all reference vehicles at the ramp entrance is considered to be that there is no overtaking situation.

[0073] The reference relative distance refers to the relative distance between every two reference vehicles when the target vehicle reaches the merging point at the current speed. It is used as one of the conditions to determine whether the target vehicle can merge between two reference vehicles.

[0074] Step 206 , based on the current merging scene type, adjusting the merging speeds of the target vehicle and the first type of reference vehicles according to the reference merging time difference and the reference relative distance.

[0075] The reference merging time difference and the reference relative distance can both reflect whether the merging status of all vehicles is safe without adjusting the current speeds of all vehicles. Therefore, by referring to the merging time difference and the reference relative distance, combined with the merging scenario type of the target vehicle at the current moment, the speed of the target vehicle or the first type of reference vehicle is adjusted so that the target vehicle can merge safely into the main road.

[0076] Specifically, in one embodiment, in order to conveniently represent the import result, t 1 ,t 2 ,t NV1 ,t NV2 It indicates the time required for the target vehicle EV or ICV1, the first-class reference vehicle ICV2, and the non-first-class reference vehicles NV1 and NV2 to reach the merging point at the current speed. Then: Where d is the distance between the current position of each vehicle and the merging point, and v is the current speed of each vehicle.

[0077] Based on the required time, the reference merging time difference between every two vehicles can be calculated:

[0078]

[0079] In the formula, x and y represent the vehicle that arrives at the meeting point later and earlier respectively; Δt represents the time difference between the two vehicles arriving at the meeting point. The speed of a vehicle can be changed by adjusting the value.

[0080] Specifically adjust the process, for Figure 3 For the merging scenario type shown in the figure, ICV2 is ahead of NV1 on the main road (there is no NV2). In this scenario:

[0081] Δd=(d NV1 -d 2 )+(v 2 -v NV1 )×t 1 ;

[0082] The following table shows the adjustment calculation process based on the reference merging time difference and the reference relative distance. In the table, ICV1 merging [front / middle / back] represents the relative position of the vehicle after merging into the main road; acceleration, constant speed, and deceleration represent the vehicle behavior results of the cooperative merging algorithm.

[0083] Table 1 Cooperative vehicle merging decision method (ICV2 before NV1)

[0084]

[0085]

[0086] In the method provided in the above embodiment, for the target vehicle to be merged on the ramp and at least two reference vehicles to be merged on the main road, the current merging scene type is determined according to the relative position relationship between the at least two reference vehicles; the at least two reference vehicles include at least one first-class reference vehicle that can exchange information with the target vehicle; according to the current position and current speed of the target vehicle and the reference vehicle on the corresponding lane, the reference merging time difference between every two adjacent vehicles arriving at the merging point and the reference relative distance between every two adjacent vehicles in the vehicle queue formed by the reference vehicle and the target vehicle when the target vehicle arrives at the merging point are predicted; based on the current merging scene type, the merging speeds of the target vehicle and the first-class reference vehicle are adjusted according to the reference merging time difference and the reference relative distance. The surrounding vehicle information provided by the road end and the vehicle information obtained by the vehicle-road cooperative technology are used to make collaborative decisions to obtain the merging timing and merging speed of the vehicle, ensure driving safety, and improve the traffic efficiency at the ramp merging point.

[0087] In one embodiment, see Figure 4 , according to the current position and current speed of the target vehicle and the reference vehicle in the corresponding lane, the reference merging time difference between every two adjacent vehicles arriving at the merging point is predicted, including:

[0088] Step 402, determining a first travel distance of each vehicle according to the current position of the target vehicle and the reference vehicle on the corresponding lane and the position of the merging point;

[0089] Step 404, determining the driving time of each vehicle according to the first driving distance and the current speed of each of the target vehicle and the reference vehicle;

[0090] Step 406 , determining a reference merging time difference between every two adjacent vehicles arriving at the merging point according to the driving time corresponding to each vehicle.

[0091] According to the definition of reference merging time difference, reference merging time difference refers to the difference between the times when all vehicles arrive at the merging point without changing their speed. The first driving distance of each vehicle is determined by obtaining the coordinate position of each vehicle in the title map at the current moment and the distance between the coordinate position of the merging point. For example, if the road between each vehicle and the merging point is approximately regarded as straight, the first driving distance is calculated directly through the distance formula between the coordinates; and when the road at this merging point has an arc, the first driving distance of each vehicle can be accurately calculated by combining the curvature of the road recorded in the map and other information, combined with the coordinate position of each vehicle and the coordinate position of the merging point. The embodiment of the present application does not specifically limit the calculation method of the first driving distance.

[0092] After determining the distance, the driving time of each vehicle at the merging point can be calculated according to the current speed of each vehicle and the uniform speed, and then the reference merging time difference between every two vehicles arriving at the merging point can be calculated. By using the distance-speed formula, the reference merging time difference can be calculated simply and quickly, improving the efficiency of vehicle planning and decision-making.

[0093] In one embodiment, according to the current positions and current speeds of the target vehicle and the reference vehicle on the corresponding lanes, predicting the reference relative distance between each two adjacent vehicles in the vehicle queue formed by the reference vehicle and the target vehicle when the target vehicle arrives at the merging point includes:

[0094] Determine the initial relative distance between every two reference vehicles according to the current positions of the reference vehicles on the main road;

[0095] Predicting the first travel time of the target vehicle based on the current position, current speed and merging point position of the target vehicle on the ramp;

[0096] predicting a second driving distance of each reference vehicle based on the current vehicle speed and the first driving time of each reference vehicle on the main road;

[0097] A reference relative distance between every two adjacent reference vehicles is determined according to the initial relative distance between every two reference vehicles and the second travel distance of each reference vehicle.

[0098] The initial relative distance refers to the relative distance between every two reference vehicles at the current moment, which can be calculated by the current position of the reference vehicle. The reference relative distance refers to the relative distance between every two reference vehicles when the target vehicle arrives at the merging point without changing the speed of all vehicles. The first driving duration is calculated by the current position of the target vehicle, the merging point position and the current speed, and the driving process of the target vehicle is considered to be a uniform speed.

[0099] The second driving distance of the reference vehicle refers to the driving distance of each reference vehicle within the first driving time of the target vehicle driving at the current speed to the merging point. The reference relative distance between each two reference vehicles can be calculated by the driving distance of each vehicle and the initial relative distance. In one embodiment, the second driving distance, the initial relative distance and the reference relative distance are directly related by Figure 5 .

[0100] In the above embodiment, the distance relationship between the reference vehicles is analyzed by kinematic principle to determine whether the target vehicle can merge into two reference vehicles, thereby improving the accuracy of vehicle collaborative decision-making, improving the efficiency of ramp traffic, and ensuring vehicle safety.

[0101] In one embodiment, determining the type of the current incoming scene based on the relative position relationship between at least two reference vehicles includes:

[0102] Determine the number of leading vehicles on the ramp, waiting to merge into the main road, and ahead of the target vehicle;

[0103] Determining a relative positional relationship between first-type reference vehicles in at least two reference vehicles;

[0104] According to the number of leading vehicles in the ramp and the relative position relationship between the first type of reference vehicles, the current merging scene type of the target vehicle is determined.

[0105] It should be noted that there may be a vehicle ahead of the target vehicle on the ramp that needs to participate in the merging decision of the target vehicle, but the vehicle type of this reference vehicle on the ramp should not be a first-category vehicle type, because if the preceding vehicle is a first-category reference vehicle, then this reference vehicle is a "new target vehicle", and the decision unit will give priority to the merging request of this "new target vehicle" to complete the merging, and then respond to the merging request of the target vehicle. In addition, if the preceding vehicle is a first-category reference vehicle, it can directly exchange information with the target vehicle through the network, so the preceding vehicle here should be a non-first-category vehicle, a vehicle to be merged on the ramp ahead of the target vehicle, for example Figure 6 Non-connected vehicle NV2 in.

[0106] It should be emphasized that in the cooperative vehicle merging method provided in this embodiment, when the target vehicle merges again, the situation of overtaking on the ramp is not considered, that is, no matter how the merging speed of the target vehicle is adjusted, it is necessary to meet the requirement that the target vehicle merges behind the leading vehicle. Therefore, whether there is a leading vehicle on the ramp will affect the merging decision of the target vehicle.

[0107] In the method provided in the above embodiment, the merging scenario type is determined by the number of vehicles in front of the target vehicle on the ramp and the positional relationship of the reference vehicle on the main road. Different merging scenarios can be distinguished, and a decision on the merging of the target vehicle can be made in combination with the current actual scenario, thereby improving the efficiency of the merging decision.

[0108] In one embodiment, see Figure 6 , at least two reference vehicles include a first reference vehicle NV1 and a second reference vehicle ICV2, the current merging scene type is used to indicate that the first reference vehicle is ahead of the second reference vehicle and the second reference vehicle is a first-type reference vehicle and the number of reference vehicles in the ramp is 0; accordingly, based on the current merging scene type, according to the reference merging time difference and the reference relative distance, adjusting the merging speeds of the target vehicle and the first-type reference vehicle, including:

[0109] Determine an initial merging order according to a reference merging time difference between each two vehicles among the target vehicle, the first reference vehicle, and the second reference vehicle;

[0110] According to the preset duration and the preset distance, the reference import time difference and the reference relative distance are judged, and the initial import sequence is adjusted according to the judgment result to obtain the target import sequence;

[0111] Based on the target merging order, the merging speed of the target vehicle and the merging speed of the second reference vehicle are adjusted.

[0112] Among them, the initial merging order refers to the order in which vehicles arrive at the merging point without adjusting the speed of any vehicle. When making a collaborative merging decision for the target vehicle, the "appropriate" merging time for the target vehicle is determined based on the reference merging time difference and the reference relative distance. In this process, the merging order of the target vehicles may be adjusted, specifically by adjusting the speed of the target vehicle or the speed of the first type of reference vehicle.

[0113] The preset duration and preset distance are both constants, which are used to judge the reference merging time difference and reference relative distance. They are determined according to the safety requirements of the specific ramp entrances. The predicted duration and predicted distance of the ramp entrances with faster vehicle speeds will be different from those of the ramp entrances with slower vehicle speeds. The preset duration is used to judge whether the time between the two merging moments of two reference vehicles allows the target vehicle to merge safely. The preset distance is used to judge whether the distance between the front vehicle and the rear vehicle of the two reference vehicles allows the target vehicle to merge safely when the front vehicle is at the merging point of the avenue. It is understandable that due to the differences in the distance and speed of each vehicle, it is necessary to consider both the duration and distance factors to make a decision on the merging timing of the target vehicle.

[0114] In one embodiment, the initial merging order is that the first reference vehicle merges first, the target vehicle merges second, and the second reference vehicle merges third; accordingly, according to the preset duration and the preset distance, the reference merging time difference and the reference relative distance are judged to determine the target merging order, including:

[0115] When the reference relative distance between the first reference vehicle and the second reference vehicle is less than a preset distance, changing the merging order of the target vehicle and the second reference vehicle;

[0116] When the reference relative distance between the first reference vehicle and the second reference vehicle is not less than the preset distance and the merging time difference between the target vehicle and the first reference vehicle is less than the preset time duration and the merging time difference between the second reference vehicle and the target vehicle is less than the preset time duration, the merging order of the target vehicle and the second reference vehicle is changed.

[0117] When the reference relative distance is less than the preset distance, it means that the distance between the two reference vehicles is close. If the target vehicle does not change its current speed and merges between the two reference vehicles, it will be dangerous. At this time, it is necessary to adjust the speed of the target vehicle or the first type of reference vehicle to adjust the merging order.

[0118] Similarly, when the reference relative distance is not less than the preset distance, if the reference merging time differences between the target vehicle and the two reference vehicles are small, it is also necessary to adjust the speed of the target vehicle or the first type of reference vehicle to adjust the merging order and avoid the danger caused by too many vehicles arriving at the merging point.

[0119] In one embodiment, adjusting the merging speed of the target vehicle and the merging speed of the second reference vehicle based on the target merging order includes:

[0120] Using the current speed of the second reference vehicle as the merging speed of the second reference vehicle;

[0121] The merging speed of the target vehicle is calculated based on the merging speed of the second reference vehicle and the preset time.

[0122] It can be known that, when the distance and speed of each of the two vehicles from the merging point are determined, the merging time difference can be calculated. If the current speed is not appropriate and the merging time difference is small and dangerous, the merging time difference can be fixed to a safe value, such as the preset time length of the safety critical value in the judgment basis. At this time, the merging time difference is fixed and the speed of the vehicle that needs to be adjusted is calculated. To ensure safety, the fixed value of the merging time difference can be larger than the preset time length.

[0123] Specifically, in another embodiment, see Figure 6 In this merging scenario, NV1 is in front of ICV2 on the main road (no NV2), and the calculation formula for the reference relative distance between the first reference vehicle NV1 and the second reference vehicle ICV2 is:

[0124] Δd=(d 2 -d NV1 )+(v NV1 -v 2 )×t 1 ;

[0125] The following table shows the adjustment calculation process based on the reference merging time difference and the reference relative distance. In the table, ICV1 merging [front / middle / back] represents the relative position of the vehicle after merging into the main road; acceleration, constant speed, and deceleration represent the vehicle behavior results of the cooperative merging algorithm.

[0126] Table 2 Cooperative vehicle merging decision method (NV1 before ICV2)

[0127]

[0128]

[0129] Specifically, in another embodiment, see Figure 7 The merging scenario type is shown in Figure 2. In this merging scenario, there is NV2 in front of the ramp and ICV2 is ahead of NV1 on the main road. According to the order in which vehicles arrive at the merging point at the current speed (there is no overtaking in the same lane), six major operating conditions are set. The following table shows the adjustment and calculation process based on the reference merging time difference and the reference relative distance. In the table, ICV1 merging [1 / 2 / 3 / 4] represents the relative position of the vehicle after merging into the main road, and ICV2 [1 / 2 / 3 / 4] represents the relative position of ICV2 after merging into the main road. Acceleration, constant speed, and deceleration represent the vehicle behavior results of the collaborative merging algorithm.

[0130] In order to simplify the representation of the adjusted vehicle speed, f is used. F (x, y, Δt) represents the adjusted speed of vehicle x relative to vehicle y in front (Front, F); f R(x, y, Δt) represents the adjusted speed of vehicle y relative to vehicle x behind (Rear, R). That is:

[0131]

[0132]

[0133] Table 3 Cooperative vehicle merging decision method (NV2 exists in front of the ramp and ICV2 is in front of NV1)

[0134]

[0135]

[0136]

[0137] Specifically, in another embodiment, see Figure 8 The merging scenario type is shown in Figure 2. In this merging scenario, there is NV2 in front of the ramp and NV1 is ahead of ICV2 on the main road. According to the order in which vehicles arrive at the merging point at the current speed (there is no overtaking in the same lane), it can also be divided into six major operating conditions. The following table shows the adjustment and calculation process based on the reference merging time difference and the reference relative distance. In the table, ICV1 merging [1 / 2 / 3 / 4] represents the relative position of the vehicle after merging into the main road, and ICV2 [1 / 2 / 3 / 4] represents the relative position of ICV2 after merging into the main road. Acceleration, constant speed, and deceleration represent the vehicle behavior results of the collaborative merging algorithm.

[0138] In order to simplify the representation of the adjusted vehicle speed, f is used. F (x, y, Δt) represents the adjusted speed of vehicle x relative to vehicle y in front (Front, F); f R (x, y, Δt) represents the adjusted speed of vehicle y relative to vehicle x behind (Rear, R). That is:

[0139]

[0140]

[0141] Table 4 Cooperative vehicle merging decision method (NV2 exists in front of the ramp and NV1 is in front of ICV2)

[0142]

[0143]

[0144]

[0145] It should be understood that, although the steps in the flowcharts involved in the above embodiments are displayed in sequence according to the indication of the arrows, these steps are not necessarily executed in sequence according to the order indicated by the arrows. Unless there is a clear explanation in this article, the execution of these steps is not strictly limited in order, and these steps can be executed in other orders. Moreover, at least a part of the steps in the flowcharts involved in the above embodiments may include multiple steps or multiple stages, and these steps or stages are not necessarily executed at the same time, but can be executed at different times, and the execution order of these steps or stages is not necessarily carried out in sequence, but can be executed in turn or alternately with other steps or at least a part of the steps or stages in other steps.

[0146] Based on the same inventive concept, the embodiment of the present application also provides a cooperative vehicle ramp merging device for implementing the above-mentioned cooperative vehicle ramp merging method. The implementation scheme for solving the problem provided by the device is similar to the implementation scheme recorded in the above-mentioned method, so the specific limitations in one or more cooperative vehicle ramp merging device embodiments provided below can refer to the limitations of the cooperative vehicle ramp merging method above, and will not be repeated here.

[0147] In one embodiment, Fig. 9 As shown, a cooperative vehicle ramp merging device is provided, including: a scene judgment module 901, a sequence prediction module 902 and a vehicle speed determination module 903, wherein:

[0148] The scene judgment module 901 is used to determine the current merging scene type for a target vehicle to be merged on the ramp and at least two reference vehicles to be merged on the main road according to the relative position relationship between the at least two reference vehicles; the at least two reference vehicles include at least one first-type reference vehicle that can exchange information with the target vehicle;

[0149] The sequence prediction module 902 is used to predict the reference merging time difference between every two adjacent vehicles arriving at the merging point, and the reference relative distance between every two adjacent vehicles in the vehicle queue formed by the reference vehicle and the target vehicle when the target vehicle arrives at the merging point, according to the current positions and current vehicle speeds of the target vehicle and the reference vehicle on the corresponding lanes;

[0150] The vehicle speed determination module 903 is used to adjust the merging speeds of the target vehicle and the first type of reference vehicles based on the current merging scene type, the reference merging time difference and the reference relative distance.

[0151] In one embodiment, the sequence prediction module 902 is further configured to:

[0152] Determine a first travel distance of each vehicle according to the current position of the target vehicle and the reference vehicle on the corresponding lane and the position of the merging point;

[0153] Determine the driving time of each vehicle according to the first driving distance and the current speed of each of the target vehicle and the reference vehicle;

[0154] According to the corresponding driving time of each vehicle, a reference merging time difference between every two adjacent vehicles arriving at the merging point is determined.

[0155] In one embodiment, the sequence prediction module 902 is further configured to:

[0156] Determine the initial relative distance between every two reference vehicles according to the current positions of the reference vehicles on the main road;

[0157] Predicting the first travel time of the target vehicle based on the current position, current speed and merging point position of the target vehicle on the ramp;

[0158] predicting a second driving distance of each reference vehicle based on the current vehicle speed and the first driving time of each reference vehicle on the main road;

[0159] A reference relative distance between every two adjacent reference vehicles is determined according to the initial relative distance between every two reference vehicles and the second travel distance of each reference vehicle.

[0160] In one embodiment, the scene determination module 901 is further configured to:

[0161] Determine the number of leading vehicles on the ramp, waiting to merge into the main road, and ahead of the target vehicle;

[0162] Determining a relative positional relationship between first-type reference vehicles in at least two reference vehicles;

[0163] According to the number of leading vehicles in the ramp and the relative position relationship between the first type of reference vehicles, the current merging scene type of the target vehicle is determined.

[0164] In one embodiment, the vehicle speed determination module 903 is further configured to:

[0165] Determine an initial merging order according to a reference merging time difference between each two vehicles among the target vehicle, the first reference vehicle, and the second reference vehicle;

[0166] According to the preset duration and the preset distance, the reference import time difference and the reference relative distance are judged, and the initial import sequence is adjusted according to the judgment result to obtain the target import sequence;

[0167] Based on the target merging order, the merging speed of the target vehicle and the merging speed of the second reference vehicle are adjusted.

[0168] In one embodiment, the vehicle speed determination module 903 is further configured to:

[0169] When the reference relative distance between the first reference vehicle and the second reference vehicle is less than a preset distance, changing the merging order of the target vehicle and the second reference vehicle;

[0170] When the reference relative distance between the first reference vehicle and the second reference vehicle is not less than the preset distance and the merging time difference between the target vehicle and the first reference vehicle is less than the preset time duration and the merging time difference between the second reference vehicle and the target vehicle is less than the preset time duration, the merging order of the target vehicle and the second reference vehicle is changed.

[0171] In one embodiment, the vehicle speed determination module 903 is further configured to:

[0172] Using the current speed of the second reference vehicle as the merging speed of the second reference vehicle;

[0173] The merging speed of the target vehicle is calculated based on the merging speed of the second reference vehicle and the preset time.

[0174] Each module in the above-mentioned cooperative vehicle ramp merging device can be implemented in whole or in part by software, hardware, or a combination thereof. Each of the above-mentioned modules can be embedded in or independent of a processor in a computer device in the form of hardware, or can be stored in a memory in a computer device in the form of software, so that the processor can call and execute the operations corresponding to each of the above modules.

[0175] In one embodiment, a computer device is provided. The computer device may be a server, and its internal structure diagram may be as follows: Fig.10 As shown. The computer device includes a processor, a memory and a network interface connected through a system bus. Among them, the processor of the computer device is used to provide computing and control capabilities. The memory of the computer device includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system, a computer program and a database. The internal memory provides an environment for the operation of the operating system and the computer program in the non-volatile storage medium. The database of the computer device is used to store vehicle information data. The network interface of the computer device is used to communicate with an external terminal through a network connection. When the computer program is executed by the processor, a collaborative vehicle ramp merging method is implemented.

[0176] Those skilled in the art will understand that Fig.10The structure shown in the figure is only a block diagram of a part of the structure related to the solution of the present application, and does not constitute a limitation on the computer device to which the solution of the present application is applied. The specific computer device may include more or fewer components than those shown in the figure, or combine certain components, or have a different arrangement of components.

[0177] In one embodiment, a computer device is provided, including a memory and a processor, wherein a computer program is stored in the memory, and when the processor executes the computer program, all the steps mentioned in the above method embodiment are implemented.

[0178] In one embodiment, a computer-readable storage medium is provided, on which a computer program is stored. When the computer program is executed by a processor, all the steps mentioned in the above method embodiment are implemented.

[0179] In one embodiment, a computer program product is provided, including a computer program, which implements all the steps mentioned in the above method embodiment when executed by a processor.

[0180] Those skilled in the art can understand that all or part of the processes in the above-mentioned embodiment methods can be completed by instructing the relevant hardware through a computer program, and the computer program can be stored in a non-volatile computer-readable storage medium. When the computer program is executed, it can include the processes of the embodiments of the above-mentioned methods. Among them, any reference to the memory, database or other medium used in the embodiments provided in the present application can include at least one of non-volatile and volatile memory. Non-volatile memory can include read-only memory (ROM), magnetic tape, floppy disk, flash memory, optical memory, high-density embedded non-volatile memory, resistive random access memory (ReRAM), magnetoresistive random access memory (MRAM), ferroelectric random access memory (FRAM), phase change memory (PCM), graphene memory, etc. Volatile memory can include random access memory (RAM) or external cache memory, etc. As an illustration and not limitation, RAM can be in various forms, such as static random access memory (SRAM) or dynamic random access memory (DRAM). The database involved in each embodiment provided in this application may include at least one of a relational database and a non-relational database. Non-relational databases may include distributed databases based on blockchains, etc., but are not limited to this. The processor involved in each embodiment provided in this application may be a general-purpose processor, a central processing unit, a graphics processor, a digital signal processor, a programmable logic device, a data processing logic device based on quantum computing, etc., but are not limited to this.

[0181] The technical features of the above embodiments may be combined arbitrarily. To make the description concise, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0182] The above-described embodiments only express several implementation methods of the present application, and the descriptions thereof are relatively specific and detailed, but they cannot be understood as limiting the scope of the present application. It should be pointed out that, for a person of ordinary skill in the art, several variations and improvements can be made without departing from the concept of the present application, and these all belong to the protection scope of the present application. Therefore, the protection scope of the present application shall be subject to the attached claims.

Claims

1. A cooperative vehicle ramp merging method, It is characterized in that The method comprises: For a target vehicle to be merged on a ramp and at least two reference vehicles to be merged on a main road, a current merging scene type is determined according to a relative positional relationship between the at least two reference vehicles; the at least two reference vehicles include at least one first-type reference vehicle capable of exchanging information with the target vehicle; the at least two reference vehicles include a first reference vehicle and a second reference vehicle, and the current merging scene type is used to indicate that the first reference vehicle is ahead of the second reference vehicle and the second reference vehicle is a first-type reference vehicle and the number of reference vehicles in the ramp is 0; According to the current positions and current vehicle speeds of the target vehicle and the reference vehicle on the corresponding lanes, a reference merging time difference between every two adjacent vehicles arriving at the merging point is predicted; Determining an initial relative distance between every two reference vehicles according to the current positions of the reference vehicles on the main road; Predicting a first travel time of the target vehicle according to the current position of the target vehicle on the ramp, the current vehicle speed and the position of the merging point; predicting a second driving distance of each reference vehicle according to the current vehicle speed of each reference vehicle on the main road and the first driving duration; Determining a reference relative distance between every two adjacent reference vehicles according to an initial relative distance between every two reference vehicles and a second travel distance of each reference vehicle; Determine an initial merging order according to a reference merging time difference between each two vehicles among the target vehicle, the first reference vehicle and the second reference vehicle; the initial merging order is that the first reference vehicle merges first, the target vehicle merges second, and the second reference vehicle merges third; When the reference relative distance between the first reference vehicle and the second reference vehicle is less than a preset distance, changing the merging order of the target vehicle and the second reference vehicle; When the reference relative distance between the first reference vehicle and the second reference vehicle is not less than a preset distance, the merging time difference between the target vehicle and the first reference vehicle is less than a preset time duration, and the merging time difference between the second reference vehicle and the target vehicle is less than a preset time duration, then changing the merging order of the target vehicle and the second reference vehicle; Based on the target merging order, a merging speed of the target vehicle and a merging speed of the second reference vehicle are adjusted.

2. The method according to claim 1, It is characterized in that The step of predicting a reference merging time difference between every two adjacent vehicles arriving at a merging point according to the current positions and current vehicle speeds of the target vehicle and the reference vehicle on the corresponding lanes includes: Determining a first travel distance of each vehicle according to the current position of each of the target vehicle and the reference vehicle on the corresponding lane and the position of the merging point; Determining the driving time of each vehicle according to the first driving distance and the current speed of each of the target vehicle and the reference vehicle; According to the corresponding driving time of each vehicle, a reference merging time difference between every two adjacent vehicles arriving at the merging point is determined.

3. The method according to claim 1, It is characterized in that The determining the current incoming scene type according to the relative position relationship between the at least two reference vehicles includes: Determine the number of leading vehicles on the ramp, about to merge into the main road and located ahead of the target vehicle; Determining a relative positional relationship between first-type reference vehicles among the at least two reference vehicles; The current merging scene type of the target vehicle is determined according to the number of the preceding vehicles in the ramp and the relative position relationship between the first type of reference vehicles.

4. The method according to claim 1, It is characterized in that The adjusting the merging speed of the target vehicle and the merging speed of the second reference vehicle based on the target merging order includes: Using the current speed of the second reference vehicle as the merging speed of the second reference vehicle; The merging speed of the target vehicle is calculated based on the merging speed of the second reference vehicle and the preset time period.

5. A cooperative vehicle ramp merging device, It is characterized in that The device comprises: A scene judgment module is used to determine the current merging scene type for a target vehicle to be merged on a ramp and at least two reference vehicles to be merged on a main road, according to the relative position relationship between the at least two reference vehicles; the at least two reference vehicles include at least one first-type reference vehicle that can exchange information with the target vehicle; the at least two reference vehicles include a first reference vehicle and a second reference vehicle, and the current merging scene type is used to indicate that the first reference vehicle is ahead of the second reference vehicle and the second reference vehicle is a first-type reference vehicle and the number of reference vehicles in the ramp is 0; A sequential prediction module is used to predict a reference merging time difference between every two adjacent vehicles arriving at a merging point according to the current positions and current speeds of the target vehicle and the reference vehicle on the corresponding lanes; determine an initial relative distance between every two reference vehicles according to the current positions of the reference vehicles on the main road; predict a first driving duration of the target vehicle according to the current position, current speed and the position of the merging point of the target vehicle on the ramp; predict a second driving distance of each reference vehicle according to the current speed of each reference vehicle on the main road and the first driving duration; determine a reference relative distance between every two adjacent reference vehicles according to the initial relative distance between every two reference vehicles and the second driving distance of each reference vehicle; A vehicle speed determination module, for determining an initial merging order according to a reference merging time difference between every two vehicles among the target vehicle, the first reference vehicle and the second reference vehicle; the initial merging order is that the first reference vehicle merges first, the target vehicle merges second, and the second reference vehicle merges third; when a reference relative distance between the first reference vehicle and the second reference vehicle is less than a preset distance, the merging order of the target vehicle and the second reference vehicle is changed; when a reference relative distance between the first reference vehicle and the second reference vehicle is not less than a preset distance and the merging time difference between the target vehicle and the first reference vehicle is less than a preset duration and the merging time difference between the second reference vehicle and the target vehicle is less than a preset duration, the merging order of the target vehicle and the second reference vehicle is changed; based on the target merging order, adjusting the merging speed of the target vehicle and the merging speed of the second reference vehicle.

6. The device according to claim 5, It is characterized in that The sequential prediction module is also used to determine a first travel distance of each vehicle according to the current position of each of the target vehicle and the reference vehicle on the corresponding lane and the position of the merging point; Determining the driving time of each vehicle according to the first driving distance and the current speed of each of the target vehicle and the reference vehicle; According to the corresponding driving time of each vehicle, a reference merging time difference between every two adjacent vehicles arriving at the merging point is determined.

7. The device according to claim 5, It is characterized in that The scene determination module is also used to determine the number of leading vehicles on the ramp, about to merge into the main road and located in front of the target vehicle; Determining a relative positional relationship between first-type reference vehicles among the at least two reference vehicles; The current merging scene type of the target vehicle is determined according to the number of the preceding vehicles in the ramp and the relative position relationship between the first type of reference vehicles.

8. A computer device comprising a memory and a processor, wherein the memory stores a computer program. It is characterized in that When the processor executes the computer program, the steps of the method according to any one of claims 1 to 4 are implemented.

9. A computer-readable storage medium having a computer program stored thereon, It is characterized in that When the computer program is executed by a processor, the steps of the method according to any one of claims 1 to 4 are implemented.

10. A computer program product comprising a computer program, It is characterized in that When the computer program is executed by a processor, the steps of the method according to any one of claims 1 to 4 are implemented.

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