An Intersection Passage Method and System for Intelligent Connected Vehicles

Abstract

The present invention provides a method and system for passing through an intersection of intelligent connected vehicles. The method includes separating intelligent connected vehicles and manually driven vehicles to obtain basic data of intelligent connected vehicles and manually driven vehicles within the proximity area, updating the signal phase of the intersection in real time based on a discrimination model. When an intelligent connected vehicle enters the intersection cooperation area, a topological behavior passing scheme for each intelligent connected vehicle is determined based on the updated signal phase and the driving attributes of the intelligent connected vehicle, and the intelligent connected vehicle is controlled to leave the intersection cooperation area. The present invention can improve the passing efficiency of manually driven vehicles and intelligent connected vehicles at intersections and ensure the safe and orderly passing of vehicles at intersections.

Description

Technical Field

[0001] The present invention relates to the technical field of intelligent transportation, and in particular, to a method and system for passing through an intersection of intelligent connected vehicles. Background Art

[0002] With the wide application of artificial intelligence, intelligent connected and autonomous vehicles have become a hot topic of concern. Using autonomous vehicles instead of manually driven vehicles to form an efficient, comfortable and safe driving environment can effectively reduce the probability of traffic congestion.

[0003] In the actual application process of autonomous vehicles, the safety problems caused by autonomous vehicles or intelligent connected vehicles have put the technical research of autonomous vehicles in a dilemma. Therefore, there will still be a scenario where manually driven vehicles and intelligent connected vehicles mix in the future for a long time. As the place where traffic congestion is most likely to occur, intersections will also face challenges. How to improve the passing efficiency of manually driven vehicles and intelligent connected vehicles at intersections has become an urgent problem for those in the current technical field. Summary of the Invention

[0004] In view of this, it is necessary to provide a method and system for passing through an intersection of intelligent connected vehicles to improve the passing efficiency of manually driven vehicles and intelligent connected vehicles at intersections.

[0005] To solve the above technical problems, the present invention provides a method for passing through an intersection of intelligent connected vehicles, including:

[0006] Separating intelligent connected vehicles from manually driven vehicles so that the intelligent connected vehicles are in front of the manually driven vehicles;

[0007] Obtaining first basic data of intelligent connected vehicles and second basic data of manually driven vehicles within the proximity area;

[0008] In response to the acquisition of the first basic data and the second basic data, the signal phase of the intersection is updated in real time based on a discrimination model;

[0009] When an intelligent connected vehicle enters the intersection cooperation area, a topological behavior passing scheme for each intelligent connected vehicle is determined based on the updated signal phase and the driving attributes of the intelligent connected vehicle;

[0010] Controlling the intelligent connected vehicle to leave the intersection cooperation area by using the topological behavior passing scheme.

[0011] In a possible implementation manner, in response to the acquisition of the first basic data and the second basic data, updating the signal phase of the intersection in real time based on a discrimination model includes:

[0012] Obtain the target passing time for the intelligent connected vehicle and the manually driven vehicle to pass through the intersection based on the passing time formula;

[0013] When the target passing time is less than the green light duration of the current signal phase, assign the target passing time to the green light duration of the current signal phase;

[0014] When the target passing time is greater than the green light duration of the current signal phase, assign the green light duration of the current signal phase based on a preset assignment model.

[0015] In a possible implementation, assigning the green light duration of the current signal phase based on a preset assignment model includes:

[0016] Determine the first passing time of the intelligent connected vehicle and the remaining green light time after the intelligent connected vehicle passes;

[0017] When the remaining green light time is less than the preset passing threshold, assign the first passing time to the green light duration of the current signal phase;

[0018] When the remaining green light time is greater than the preset passing threshold, the green light duration of the current signal phase remains unchanged.

[0019] In a possible implementation, the calculation formula for the passing time is:

[0020]

[0021] Among them, t represents the time required for the intelligent connected vehicle and the manually driven vehicle to pass through this intersection, L0 represents the queue lengths of the intelligent connected vehicle and the manually driven vehicle, Q0 represents the traffic flows of the intelligent connected vehicle and the manually driven vehicle, δ C represents the start-up loss time of the intelligent connected vehicle, δ H represents the start-up loss time of the manually driven vehicle.

[0022] In a possible implementation, the calculation formula for the remaining time is:

[0023] T = T0 - t';

[0024] Among them, T represents the remaining time after the intelligent connected vehicle passes, T0 represents the green light duration of the current signal phase, and t' represents the time required for the intelligent connected vehicle to pass through the intersection after topological behavior control.

[0025] In a possible implementation, when the intelligent connected vehicle drives into the intersection cooperation area range, determine the topological behavior passing scheme for each intelligent connected vehicle based on the updated signal phase and the driving attributes of the intelligent connected vehicle, including:

[0026] Obtain the driving attributes of the intelligent connected vehicle, where the driving attributes include the identity number, location, speed, and acceleration of the intelligent connected vehicle, perform coordinate transformation, and determine the virtual leading vehicle of the intelligent connected vehicle;

[0027] Based on wireless communication, broadcast the identity number of the real vehicle corresponding to the virtual leading vehicle of the intelligent connected vehicle;

[0028] Determine the topological behavior passing scheme of the intelligent connected vehicle according to the virtual leading vehicle.

[0029] In a possible implementation, the method for performing coordinate transformation and determining the virtual leading vehicle of the intelligent connected vehicle includes:

[0030] Establish a virtual lane passing through the center point of the intersection;

[0031] Use the location information of the intelligent connected vehicle to calculate the distance from the intelligent connected vehicle to the center point of the intersection;

[0032] Rotate the location of the intelligent connected vehicle clockwise or counterclockwise around the center point of the intersection and project it onto the virtual lane.

[0033] In a possible implementation, it includes: when the intelligent connected vehicle is in the proximity zone, control the following distance of the intelligent connected vehicle based on the vehicle distance constraint condition, and the vehicle distance constraint condition is:

[0034]

[0035] where, v i represents the speed of intelligent connected vehicle i, p i represents the displacement of intelligent connected vehicle i, P i represents the leading vehicle of intelligent connected vehicle i in the same lane, represents the speed of intelligent connected vehicle Pi, - represents the displacement of intelligent connected vehicle Pi, D i represents the expected following distance.

[0036] In a possible implementation, the setting method of the expected following distance is one of the constant distance method, constant time distance, and non-linear distance.

[0037] To solve the above problems, the present invention also provides an intersection signal passing system for intelligent connected vehicles, including:

[0038] A separation module for separating the intelligent connected vehicle and the human-driven vehicle so that the intelligent connected vehicle is in front of the human-driven vehicle;

[0039] A data acquisition module for acquiring the first basic data of the intelligent connected vehicle and the second basic data of the human-driven vehicle within the proximity zone range;

[0040] A signal phase update module, configured to, in response to the acquisition of first basic data and second basic data, perform real-time update on the signal phase of an intersection based on a discrimination model;

[0041] A passing scheme determination module, configured to, when an intelligent connected vehicle drives into the intersection cooperation area, determine a topological behavior passing scheme for each intelligent connected vehicle based on the updated signal phase and the driving attributes of the intelligent connected vehicle;

[0042] A control module, configured to control the intelligent connected vehicle to drive out of the intersection cooperation area by using the topological behavior passing scheme.

[0043] The beneficial effects of adopting the above embodiment are as follows: after separating the manually controlled vehicle and the intelligent connected vehicle, the basic data of the manually controlled vehicle and the intelligent connected vehicle within the approach area are acquired, and the signal phase of the intersection is updated in real time based on the discrimination model. By performing matching settings based on the situation of the vehicles within the approach area, the passing efficiency of the intersection can be optimized. When the intelligent connected vehicle drives into the intersection cooperation area, a topological behavior passing scheme for each intelligent connected vehicle is determined based on the updated signal phase and the driving attributes of the intelligent connected vehicle, and the intelligent connected vehicle is controlled to drive out of the intersection cooperation area by using the topological behavior passing scheme, thereby improving the passing efficiency of the intersection and ensuring the safe and orderly passing of vehicles at the intersection. BRIEF DESCRIPTION OF THE DRAWINGS

[0044] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following will briefly introduce the drawings required for the description of the embodiments. Obviously, the following drawings are only some embodiments of the present invention, and those skilled in the art can obtain other drawings without creative efforts based on these drawings.

[0045] Figure 1 It is a schematic flowchart of an embodiment of a method for an intelligent connected vehicle to pass through an intersection provided by the present invention;

[0046] Figure 2 It is a schematic flowchart of an embodiment of a method for an intelligent connected vehicle to pass through an intersection in the present invention;

[0047] Figure 3 It is a schematic diagram of a scenario of an embodiment of the approach area and the cooperation area in the present invention;

[0048] Figure 4 It is a schematic diagram of a scenario of an embodiment in which an intelligent connected vehicle is released by using a topological behavior passing scheme provided by the present invention;

[0049] Figure 5Scenario schematic diagram for platooning of the intelligent connected vehicle provided by the present invention;

[0050] Figure 6 Structural schematic diagram of an embodiment of the intersection signal passing system of the intelligent connected vehicle provided by the present invention. Detailed implementation manners

[0051] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative efforts fall within the protection scope of the present invention.

[0052] Some of the block diagrams shown in the drawings are functional entities, which do not necessarily correspond to physically or logically independent entities. These functional entities can be implemented in software form, or implemented in one or more hardware modules or integrated circuits, or implemented in different networks and / or processor systems and / or microcontroller systems.

[0053] Referring to "embodiment" herein means that a specific feature, structure, or characteristic described in connection with the embodiment can be included in at least one embodiment of the present invention. The phrase appears in various places in the specification does not necessarily refer to the same embodiment, nor is it an independent or alternative embodiment mutually exclusive with other embodiments. Those skilled in the art explicitly and implicitly understand that the embodiments described herein can be combined with other embodiments.

[0054] The embodiments of the present invention provide a method and device for passing through an intersection of an intelligent connected vehicle, which will be described separately below.

[0055] The present invention uses a topological behavior release method to control the separated intelligent connected vehicles to pass through the intersection, that is, to control the intelligent connected vehicles without being interfered by traffic lights. After the intelligent connected vehicles pass through the intersection, the remaining manually driven vehicles are evaluated and measured for their speeds and vehicle numbers, and the green light duration is adjusted to guide the vehicles to pass through the intersection, thereby improving the passing efficiency of the intelligent connected vehicles and manually controlled vehicles at the intersection.

[0056] It can be understood that in order to ensure the pedestrian's right to cross the street and avoid too long waiting time for pedestrians, a green light duration threshold should be set for the intersection. Different from the setting of the green light duration of the traditional intersection traffic lights, the green light duration judgment of the intersection in the solution of the present invention is based on the calculation of the real-time traffic flow of the vehicles at the intersection, and is adjusted after comparison, which improves the matching degree of the green light duration.

[0057] Figure 1Schematic flowchart of an embodiment of a method for an intelligent connected vehicle to pass through an intersection provided by the present invention.

[0058] Referring to Figure 1 , the present invention provides a method for an intelligent connected vehicle to pass through an intersection, including:

[0059] S101. Separate the intelligent connected vehicle and the human-driven vehicle so that the intelligent connected vehicle is in front of the human-driven vehicle;

[0060] S102. Obtain the first basic data of the intelligent connected vehicle and the second basic data of the human-driven vehicle within the proximity area;

[0061] S103. In response to the acquisition of the first basic data and the second basic data, based on the discrimination model, the signal phase of the intersection is updated in real time;

[0062] S104. When the intelligent connected vehicle enters the intersection cooperation area, based on the updated signal phase and the driving attributes of the intelligent connected vehicle, determine the topological behavior passing scheme for each intelligent connected vehicle;

[0063] S105. Use the topological behavior passing scheme to control the intelligent connected vehicle to leave the intersection cooperation area.

[0064] After separating the manually controlled vehicle and the intelligent connected vehicle, obtain the basic data of the manually controlled vehicle and the intelligent connected vehicle within the proximity area, and based on the discrimination model, update the signal phase of the intersection in real time. By matching and setting according to the situation of the vehicles within the proximity area, the passing efficiency of the intersection can be optimized. When the intelligent connected vehicle enters the intersection cooperation area, based on the updated signal phase and the driving attributes of the intelligent connected vehicle, determine the topological behavior passing scheme for each intelligent connected vehicle, and use the topological behavior passing scheme to control the intelligent connected vehicle to leave the intersection cooperation area, achieving the improvement of the passing efficiency of the intersection and ensuring the safe and orderly passing of vehicles at the intersection.

[0065] It can be understood that the first basic data and the second basic data of the intelligent connected vehicle can be obtained through roadside detection devices. The first basic data and the second basic data include, but are not limited to, vehicle type, vehicle quantity, vehicle position, vehicle speed, vehicle acceleration, etc.

[0066] In one embodiment, after using the topological behavior passing scheme to control the intelligent connected vehicle to drive out of the intersection cooperation area, it further includes: using a variable message sign to conduct strategic guidance for manually driven vehicles. The information on the variable message sign is interconnected with the intelligent connected vehicle and the duration of the traffic lights at the front intersection, giving the manually driven vehicle sufficient reaction time and operation time, and reminding the vehicle to decelerate or change lanes. The specific setting of the variable message sign can be flexibly adjusted according to the usage scenario, which is not limited here. For example, it can be set at intervals of 50 meters on the road 150 meters away from the intersection.

[0067] Figure 2 It is a schematic flowchart of an embodiment of a method for an intelligent connected vehicle to pass through an intersection in the present invention. Figure 3 It is a schematic diagram of a scenario of an approach area and a cooperation area in the present invention. Refer to Figure 2 and Figure 3 As shown, in one embodiment, in response to the acquisition of the first basic data and the second basic data, the signal phase of the intersection is updated in real time based on the discrimination model, including:

[0068] Obtain the target passing duration for the intelligent connected vehicle and the manually driven vehicle to pass through the intersection based on the passing duration formula;

[0069] When the target passing duration is less than the green light duration of the current signal phase, assign the target passing duration to the green light duration of the current signal phase;

[0070] When the target passing duration is greater than the green light duration of the current signal phase, assign the green light duration of the current signal phase based on a preset assignment model.

[0071] The green light duration of the current signal phase is the duration calculated according to parameters such as traffic flow and vehicle passing time for all manually controlled vehicles, or the initial duration set manually. The target passing duration is the duration for all intelligent connected vehicles and manually driven vehicles in the current approach area to pass through the intersection. By comparing the target passing duration with the passing duration of the current signal phase, it provides data support for judging whether the intelligent connected vehicle and the manually driven vehicle can pass through the current intersection.

[0072] The range of the intersection cooperation area is determined by the communication distance of the intersection. As the communication distance of the intersection increases, the range of the intersection cooperation area will also increase accordingly.

[0073] Refer to Figure 3, when the vehicle is in the entrance lane of the crossroads within the intersection cooperation area, the vehicle is considered to be within the cooperation area. The intersection cooperation area is centered at the intersection center with a communication distance as the radius. Otherwise, the vehicle belongs to the approaching area. On the one hand, when the intelligent connected vehicle passes through the intersection, its position will switch from the cooperation area to the approaching area. On the other hand, when the vehicle enters the communication range at the entrance of the crossroads, its position will switch from the approaching area to the cooperation area. In one embodiment, assigning a value to the green light duration of the current signal phase based on a preset assignment model includes:

[0074] Determine the first passing duration of the intelligent connected vehicle and the remaining green light duration after the intelligent connected vehicle passes. Here, the first passing duration refers to the duration required for all intelligent connected vehicles in the approaching area to pass through the intersection.

[0075] When the remaining green light duration is less than the preset passing threshold, assign the first passing duration to the green light duration of the current signal phase;

[0076] When the remaining green light duration is greater than the preset passing threshold, the green light duration of the current signal phase remains unchanged.

[0077] In one embodiment, the calculation formula of the passing duration algorithm is:

[0078]

[0079] where t represents the time required for the intelligent connected vehicle and the human-driven vehicle to pass through the intersection, L0 represents the queuing length of the intelligent connected vehicle and the human-driven vehicle, Q0 represents the traffic flow of the intelligent connected vehicle and the human-driven vehicle, and δ C represents the start-up loss time of the intelligent connected vehicle, and δ H represents the start-up loss time of the human-driven vehicle. In one embodiment, the calculation formula of the remaining duration is:

[0080] T = T0 - t';

[0081] where T represents the remaining time after the intelligent connected vehicle passes, T0 represents the green light duration of the current signal phase, and t' represents the time required for the intelligent connected vehicle to pass through the intersection after topological behavior control.

[0082] It can be understood that after comparing the target passing time with the green light duration of the current signal phase, four situations can be divided,

[0083] 1) t < T0, at this time, it is in the situation of small traffic flow, that is, the intelligent connected vehicle and the human-driven vehicle can all pass through the intersection without any vehicle guidance and control scheme, denoted as S1.

[0084] 2) When t≥T0, the traffic flow is large at this time, and there may be three situations. That is, within the time of T0, the intelligent connected vehicle can pass, while the manually driven vehicle cannot pass, which is expressed as S2;

[0085] 3) The intelligent connected vehicle can pass and some manually driven vehicles can also pass, which is expressed as S3;

[0086] 4) The intelligent connected vehicle has not finished passing, which is expressed as S4.

[0087] The release strategies for the four different situations are as follows:

[0088] In the case of S1, both the intelligent connected vehicle and the manually driven vehicle can pass through the intersection. At this time, although any vehicle control plan is not required to pass through the intersection within the time of T0, in order to improve the traffic efficiency, the intelligent connected vehicle driving in the front of the intersection after separation will be controlled by topological behavior to pass. During the release process of topological behavior, the speed of the intelligent connected vehicle can be slightly higher than the speed limit of this intersection to ensure that the intelligent connected vehicle is released as fast as possible and avoid the situation of road rage caused by the too long waiting time of the manually driven vehicle. The rear manually driven vehicle is not allowed to change lanes after entering the intersection and can follow the front intelligent connected vehicle to drive away from the intersection at a slightly faster speed. After all vehicles have finished driving, the traffic signal turns red and enters the next signal cycle.

[0089] In the cases of S2 and S3, if T < T min (i.e., the passing threshold), that is, the remaining time is less than the shortest time for releasing the manually driven vehicle, then the manually driven vehicle is not released, and the green light signal ends in advance and enters the next cycle. If T≥T min , that is, the remaining time is greater than or equal to the shortest time for releasing some manually driven vehicles, then the green light duration remains unchanged, and after guiding some front manually driven vehicles to drive away from the intersection, it naturally enters the next signal cycle according to the original signal cycle.

[0090] ③ In the case of S4, the intelligent connected vehicle cannot completely pass through the intersection. Then, in order to improve the traffic efficiency, the intelligent connected vehicles in the intersection cooperation area are controlled by topological behavior, and the signal phase enters the next cycle according to the initial signal phase.

[0091] Figure 4 This is a schematic diagram of the scenario of an embodiment of the passing scheme of the intelligent connected vehicle using topological behavior provided by the present invention. Figure 5 This is a schematic diagram of the scenario of the intelligent connected vehicle traveling in formation provided by the present invention.

[0092] In one embodiment, when the intelligent connected vehicle drives into the intersection cooperation area, based on the updated signal phase and the driving attributes of the intelligent connected vehicle, the topological behavior passing scheme of each intelligent connected vehicle is determined, including:

[0093] Obtain the driving attributes of the intelligent connected vehicle. The driving attributes include the identity number, position, speed, and acceleration of the intelligent connected vehicle, perform coordinate transformation, and determine the virtual vehicle in front of the intelligent connected vehicle;

[0094] Based on wireless communication, broadcast the identity number of the real vehicle corresponding to the virtual vehicle in front of the intelligent connected vehicle;

[0095] Determine the topological behavior passing scheme of the intelligent connected vehicle according to the virtual vehicle in front.

[0096] It can be understood that the signal lights installed at intersections only restrict the start and stop of intelligent network vehicles, and do not restrict the driving behavior of intelligent connected vehicles during the green light period. That is, in this control behavior, the intersection can be analogized to an intersection without signal lights. When an intelligent connected vehicle passes through a certain intersection, the target intersection of the vehicle will change, and the distance to this intersection will be reset to the initial value.

[0097] In one embodiment, the method for performing coordinate transformation and determining the virtual vehicle in front of the intelligent connected vehicle includes:

[0098] Establish a virtual lane passing through the center point of the intersection;

[0099] Using the position information of the intelligent connected vehicle, calculate the distance from the intelligent connected vehicle to the center point of the intersection;

[0100] Rotate the position of the intelligent connected vehicle clockwise or counterclockwise around the center point of the intersection and project it onto the virtual lane.

[0101] Refer to Figure 4 and Figure 5 , project the 10 intelligent connected vehicles in the 4 lanes of the intersection onto the virtual lane according to the distance from the intelligent connected vehicle to the center point of the intersection. The distances are sorted from near to far as intelligent connected vehicle 1 to intelligent connected vehicle 10. Determine the grouping of the intelligent connected lanes according to the target lanes of the intelligent connected vehicles, and divide them into groups as shown in Figure 5 . Among them, the connected arrows indicate a conflict relationship, so they cannot be divided into the same group. That is, intelligent connected vehicle 1 and intelligent connected vehicle 2 are divided into the same group, intelligent connected vehicles 3 to 5 are in the same group, intelligent connected vehicles 6 to 8 are in the same group, and intelligent connected vehicles 9 and 10 are in the same group.

[0102] Through the two-dimensional road network vehicle group construction method, the virtual vehicles of the road section vehicle group and the intersection virtual vehicle group can be determined. Finally, the geometric shape of the vehicle group in the two-dimensional road network is formed.

[0103] In one embodiment, it includes: when the intelligent connected vehicle is in the proximity area, controlling the following distance of the intelligent connected vehicle based on the vehicle distance constraint condition, and the vehicle distance constraint condition is:

[0104]

[0105] where v i represents the speed of intelligent connected vehicle i, p i represents the displacement of intelligent connected vehicle i, P i represents the leading vehicle of intelligent connected vehicle i in the same lane, represents the speed of intelligent connected vehicle Pi, - represents the displacement of intelligent connected vehicle Pi, D i represents the expected following distance.

[0106] In one embodiment, the setting method of the expected following distance is one of the constant distance method, constant time distance, and non-linear distance.

[0107] Specifically, the expected following distance is one of the following methods:

[0108] D i = D l

[0109] D i = t h v i + d0

[0110] D i = f(v i )

[0111] where D i represents the expected following distance, D l represents the constant distance, t h represents the time distance, d0 represents the minimum following distance, f(v i ) represents a non-linear function.

[0112] In the proximity area, the intelligent connected vehicle is adjacent to the leading vehicle in terms of geometric position. In the queue geometric structure, in order to simplify the following relationship and achieve a higher traffic flow density, one of the above fixed-distance methods can be adopted.

[0113] In the geometric topology structure, the following distances of intelligent connected vehicles in the proximity area and the intersection cooperation area are different. Due to the convergence of intersection traffic, the traffic volume in the intersection cooperation area is significantly higher than that in the proximity area. Therefore, in order to ensure the traffic efficiency of the intersection, the expected following distance D i in the intersection cooperation area is set to be smaller to increase the traffic density of intelligent connected vehicles in the intersection cooperation area.

[0114] Figure 6 This is a schematic structural diagram of an embodiment of the intersection signal passing system for intelligent connected vehicles provided by the present invention.

[0115] Refer to Figure 6 , according to another aspect of the present invention, there is also provided an intersection passing system for intelligent connected vehicles, including;

[0116] Separation module 601, configured to separate intelligent connected vehicles and human-driven vehicles so that the intelligent connected vehicles are located in front of the human-driven vehicles;

[0117] Data acquisition module 602, configured to acquire the first basic data of intelligent connected vehicles and the second basic data of human-driven vehicles within the proximity area;

[0118] Signal phase update module 603, configured to, in response to the acquisition of the first basic data and the second basic data, update the signal phase of the intersection in real time based on a discrimination model;

[0119] Passing scheme determination module 604, configured to, when the intelligent connected vehicle enters the intersection cooperation area, determine the topological behavior passing scheme of each intelligent connected vehicle based on the updated signal phase and the driving attributes of the intelligent connected vehicle;

[0120] Control module 605, configured to use the topological behavior passing scheme to control the intelligent connected vehicle to leave the intersection cooperation area.

[0121] The beneficial effects of adopting the above embodiment are as follows: After the separation module 601 separates the human-driven vehicle and the intelligent connected vehicle, the data acquisition module 602 acquires the basic data of the human-driven vehicle and the intelligent connected vehicle within the proximity area. The signal phase update module 603 updates the signal phase of the intersection in real time based on the discrimination model. By matching and setting according to the situation of vehicles in the proximity area, the passing efficiency of the intersection can be optimized. When the intelligent connected vehicle enters the intersection cooperation area, the passing scheme determination module 604 determines the topological behavior passing scheme of each intelligent connected vehicle based on the updated signal phase and the driving attributes of the intelligent connected vehicle. The control module 605 uses the topological behavior passing scheme to control the intelligent connected vehicle to leave the intersection cooperation area, achieving the improvement of the passing efficiency of the intersection and ensuring the safe and orderly passing of vehicles at the intersection.

[0122] The above embodiment provides an intersection passing method based on intelligent connected vehicles, which can implement the technical solutions described in the embodiment of the intersection passing system for intelligent connected vehicles. The specific implementation principles of the above modules or units can be referred to the corresponding content in the embodiment of the intersection passing method for intelligent connected vehicles, and will not be elaborated here.

[0123] The above has introduced in detail the method and system for an intelligent connected vehicle to pass through an intersection. In this article, specific examples are used to elaborate on the principle and implementation manner of the present invention. The description of the above embodiments is only used to help understand the method and its core idea of the present invention; at the same time, for those skilled in the art, according to the idea of the present invention, there will be changes in the specific implementation manner and application scope. In summary, the content of this specification should not be construed as a limitation to the present invention.

Claims

1. A method for a connected and automated vehicle to pass through an intersection, characterized in that, Including: Separating the connected and automated vehicle (CAV) and the human-driven vehicle so that the CAV is in front of the human-driven vehicle; Obtaining first basic data of the CAV and second basic data of the human-driven vehicle within the proximity zone; In response to the acquisition of the first basic data and the second basic data, real-time updating the signal phase of the intersection based on a discrimination model; When the CAV enters the intersection cooperation zone, determining the topological behavior passing scheme for each CAV based on the updated signal phase and the driving attributes of the CAV; Using the topological behavior passing scheme to control the CAV to leave the intersection cooperation zone; The real-time updating the signal phase of the intersection based on the discrimination model in response to the acquisition of the first basic data and the second basic data includes: Obtaining the target passing time for the CAV and the human-driven vehicle to pass through the intersection based on the passing time formula; When the target passing time is less than the green light time of the current signal phase, assigning the target passing time to the green light time of the current signal phase; When the target passing time is greater than the green light time of the current signal phase, assigning the green light time of the current signal phase based on a preset assignment model; The assigning the green light time of the current signal phase based on a preset assignment model includes: Determining the first passing time of the CAV and the remaining green light time after the CAV passes; When the remaining green light time is less than the preset passing threshold, assigning the first passing time to the green light time of the current signal phase; When the remaining green light time is greater than the preset passing threshold, the green light time of the current signal phase remains unchanged; The target passing time formula is: ； Among them, represents the time required for the intelligent connected vehicle and the human-driven vehicle to pass through this intersection, represents the queue lengths of the intelligent connected vehicle and the human-driven vehicle, represents the traffic flows of the intelligent connected vehicle and the human-driven vehicle, represents the start-up loss time of the intelligent connected vehicle, represents the start-up loss time of the human-driven vehicle.

2. The method for passing through an intersection of an intelligent networked vehicle according to claim 1, wherein The calculation formula for the remaining time is: ； Among them, represents the remaining time after the intelligent connected vehicle passes, represents the green light duration of the current signal phase, represents the time required for the intelligent connected vehicle to pass through the intersection after topological behavior control.

3. The method for passing through an intersection of an intelligent networked vehicle according to claim 1, characterized in that, The determining the topological behavior passing scheme for each CAV based on the updated signal phase and the driving attributes of the CAV when the CAV enters the intersection cooperation zone includes: Obtaining the driving attributes of the CAV, where the driving attributes include the identity number, position, speed, and acceleration of the CAV, performing coordinate transformation, and determining the virtual leading vehicle of the CAV; Broadcasting the identity number of the real vehicle corresponding to the virtual leading vehicle of the CAV based on wireless communication; Determining the topological behavior passing scheme for the CAV according to the virtual leading vehicle.

4. The method for passing through an intersection of an intelligent connected vehicle according to claim 3, wherein, The method for performing coordinate transformation and determining the virtual leading vehicle of the CAV includes: Establishing a virtual lane passing through the center point of the intersection; Using the position information of the CAV to calculate the distance from the CAV to the center point of the intersection; Rotating the position of the CAV clockwise or counterclockwise around the center point of the intersection and projecting it onto the virtual lane.

5. The method for passing through an intersection of an intelligent network-connected vehicle according to claim 1, wherein, Including: When the CAV is in the proximity zone, controlling the following distance of the CAV based on the vehicle distance constraint condition, and the vehicle distance constraint condition is: Among them, represents the speed of the intelligent connected vehicle i, represents the displacement of the intelligent connected vehicle i, represents the vehicle in front of the intelligent connected vehicle i in the same lane, represents the speed of the intelligent connected vehicle Pi, - represents the displacement of the intelligent connected vehicle Pi, represents the expected following distance.

6. The method for passing through an intersection of an intelligent connected vehicle according to claim 5, wherein The setting method of the expected following distance is one of the constant distance method, constant time distance, and non-linear distance.

7. An intersection passing system for an intelligent connected vehicle, characterized in that, Including: A separation module for separating the intelligent connected vehicle and the human-driven vehicle so that the intelligent connected vehicle is in front of the human-driven vehicle; A data acquisition module for acquiring the first basic data of the intelligent connected vehicle and the second basic data of the human-driven vehicle within the proximity area; A signal phase update module for, in response to the acquisition of the first basic data and the second basic data, updating the signal phase of the intersection in real time based on a discrimination model; A traffic plan determination module for, when the intelligent connected vehicle enters the intersection cooperation area, determining the topological behavior traffic plan of each intelligent connected vehicle based on the updated signal phase and the driving attributes of the intelligent connected vehicle; A control module for using the topological behavior traffic plan to control the intelligent connected vehicle to leave the intersection cooperation area; The updating the signal phase of the intersection in real time based on the discrimination model in response to the acquisition of the first basic data and the second basic data includes: Obtaining the target passing duration of the intelligent connected vehicle and the human-driven vehicle passing through the intersection based on the passing duration formula; When the target passing duration is less than the green light duration of the current signal phase, assigning the target passing duration to the green light duration of the current signal phase; When the target passing duration is greater than the green light duration of the current signal phase, assigning the green light duration of the current signal phase based on a preset assignment model; The assigning the green light duration of the current signal phase based on a preset assignment model includes: Determining the first passing duration of the intelligent connected vehicle and the remaining green light duration after the intelligent connected vehicle passes; When the remaining green light duration is less than a preset passing threshold, assigning the first passing duration to the green light duration of the current signal phase; When the remaining green light duration is greater than the preset passing threshold, the green light duration of the current signal phase remains unchanged; The target passing duration formula is: ； Among them, represents the time required for the intelligent connected vehicle and the human-driven vehicle to pass through this intersection, represents the queue lengths of the intelligent connected vehicle and the human-driven vehicle, represents the traffic flows of the intelligent connected vehicle and the human-driven vehicle, represents the start-up loss time of the intelligent connected vehicle, represents the start-up loss time of the human-driven vehicle.

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