A method and device for intelligent driving vehicle fleet passage in a mixed driving environment

Abstract

The present invention provides a method and device for passage of a fleet of intelligent driving vehicles in a mixed driving environment, wherein the mixed driving environment includes a fleet of intelligent driving vehicles and manually driven vehicles. The method includes: obtaining in real time position information and speed information of the fleet of intelligent driving vehicles and manually driven vehicles in the direction of travel within a preset communication range; determining the fleet driving mode of the intelligent driving vehicle fleet based on the position information and speed information, wherein the fleet driving mode includes at least an original driving mode; when the fleet driving mode does not belong to the original driving mode, adjusting the current fleet driving mode to the original driving mode; wherein the original driving mode is that the fleet of intelligent driving vehicles is located ahead of the manually driven vehicles in the direction of travel and the speed of the fleet of intelligent driving vehicles is not less than that of the manually driven vehicles. The present invention enables the fleet of intelligent driving vehicles to make corresponding adjustments for manually driven vehicles in different situations, thereby improving the passage efficiency in mixed driving conditions.

Description

Technical Field

[0001] The present invention relates to the field of traffic engineering technology, and in particular to a method and device for a convoy of intelligent driving vehicles in a mixed driving environment. Background Art

[0002] With the continuous development of cities, intelligent driving vehicles continue to emerge, and manually driven vehicles will not be completely eliminated for a long time in the future. This will lead to a mixed driving situation where intelligent driving vehicles and manually driven vehicles are driving on the road at the same time. At the same time, road intersections are considered to be a key bottleneck in the traffic development process. Therefore, improving the safe and efficient operation of intersections under mixed driving conditions is crucial to the development of modern cities.

[0003] In the existing technology, in mixed driving situations, people often only focus on the traffic efficiency of intelligent driving vehicles, while ignoring the mutual influence between intelligent driving vehicles and manually driven vehicles, which in turn affects the traffic efficiency of the entire road. Summary of the Invention

[0004] In view of this, it is necessary to provide a method and device for the passage of an intelligent driving vehicle fleet in a mixed driving environment to solve the technical problem existing in the prior art that in a mixed driving environment including intelligent driving vehicles and manually driven vehicles, the two will affect each other and thus affect the overall road traffic efficiency.

[0005] In order to solve the above problems, the present invention provides a method for intelligent driving vehicle fleet passage in a mixed driving environment, including:

[0006] Real-time acquisition of position and speed information of the intelligent driving vehicle fleet and manually driven vehicles in the preset communication range in the direction of travel;

[0007] determining a fleet driving mode of the intelligent driving vehicle fleet based on the position information and the speed information, wherein the fleet driving mode includes at least an original driving mode;

[0008] When the fleet driving mode does not belong to the original driving mode, adjusting the current fleet driving mode to the original driving mode;

[0009] The original driving mode is that the intelligent driving vehicle fleet is located ahead of the manually driven vehicle in the direction of travel and the speed of the intelligent driving vehicle fleet is not less than the speed of the manually driven vehicle.

[0010] In some possible implementations, the fleet driving mode further includes a first switching driving mode;

[0011] Determining a fleet driving mode of the intelligent driving vehicle fleet based on the position information and the speed information includes:

[0012] When the intelligent driving vehicle fleet is located ahead of the manually driven vehicle in the traveling direction and the speed of the intelligent driving vehicle fleet is lower than the speed of the manually driven vehicle, the current driving mode of the intelligent driving vehicle fleet is the first switching driving mode;

[0013] When the fleet driving mode does not belong to the original driving mode, the current fleet driving mode is adjusted to the original driving mode, including:

[0014] When the intelligent driving vehicle fleet is in the first switching driving mode, the intelligent driving vehicle fleet is controlled to perform acceleration behavior so that the speed of the intelligent driving vehicle fleet is not less than that of the manually driven vehicles and is always located ahead of the manually driven vehicles in the direction of travel.

[0015] In some possible implementations, controlling the intelligent driving vehicle fleet to perform acceleration so that the speed of the intelligent driving vehicle fleet is not less than that of the manually driven vehicle and the intelligent driving vehicle fleet is always ahead of the manually driven vehicle in the direction of travel includes:

[0016] determining whether the manually driven vehicle is in a constant speed state based on the speed information;

[0017] When the manually driven vehicle is in a constant speed state, the intelligent driving vehicle is controlled to accelerate at a preset acceleration, so that the speed of the intelligent driving vehicle is not less than that of the manually driven vehicle, and the intelligent driving vehicle fleet is always located ahead of the manually driven vehicle in the direction of travel;

[0018] When the manually driven vehicle is in a non-uniform speed state, the intelligent driving vehicle is controlled to accelerate at an acceleration greater than the acceleration of the manually driven vehicle, so that the speed of the intelligent driving vehicle is not less than the speed of the manually driven vehicle, and the intelligent driving vehicle fleet is always located ahead of the manually driven vehicle in the direction of travel.

[0019] In some possible implementations, the fleet driving mode further includes a second switching driving mode;

[0020] Determining a fleet driving mode of the intelligent driving vehicle fleet based on the position information and the speed information includes:

[0021] When the intelligent driving vehicle fleet is located behind the manually driven vehicle in the traveling direction, the current driving mode of the intelligent driving vehicle fleet is the second switching driving mode;

[0022] When the fleet driving mode does not belong to the original driving mode, the current fleet driving mode is adjusted to the original driving mode, including:

[0023] When the intelligent driving vehicle fleet is in the second switching driving mode, the intelligent driving vehicle fleet is controlled to perform overtaking behavior so that the intelligent driving vehicle fleet is located in front of the manually driven vehicle in the direction of travel and has a speed not less than that of the manually driven vehicle.

[0024] In some possible implementations, when the intelligent driving vehicle fleet is in the second switching driving mode, before controlling the intelligent driving vehicle fleet to perform an overtaking action, the method further includes:

[0025] Determining whether there is an empty lane segment ahead of the intelligent driving vehicle fleet based on the position information, wherein the empty lane segment is a lane segment in which no unmanned vehicles are traveling within a preset distance ahead in the direction of travel of the intelligent driving vehicle fleet;

[0026] When there is an empty lane segment ahead of the intelligent driving vehicle fleet in the direction of travel, controlling the intelligent driving vehicle fleet to perform overtaking;

[0027] When there is no vacant lane segment ahead of the intelligent driving vehicle fleet in the direction of travel, the intelligent driving vehicle fleet is controlled to perform a waiting behavior.

[0028] In some possible implementations, controlling the fleet of intelligent driving vehicles to perform overtaking such that the fleet of intelligent driving vehicles is ahead of the manually driven vehicle in the direction of travel and at a speed not less than that of the manually driven vehicle includes:

[0029] Determining whether there is a manually driven vehicle behind the intelligent driving vehicle fleet in the direction of travel based on the position information;

[0030] When there is no human-driven vehicle behind the intelligent driving vehicle fleet in the direction of travel, controlling the intelligent driving vehicle fleet to perform a simple overtaking action;

[0031] When there is a manually driven vehicle behind the intelligent driving vehicle fleet, determining the optimal value of the vehicle position of the intelligent driving vehicle fleet at the next moment based on the position information, speed information and a preset optimization algorithm;

[0032] The motion state of the intelligent driving vehicle fleet at the next moment is adjusted based on the optimal value to perform overtaking behavior with the shortest distance.

[0033] The preset optimization algorithm takes the minimum speed of the difference between the maximum and minimum speeds of the intelligent driving vehicle fleet and the speed of the current intelligent driving vehicle as a target to determine the next moment position with the minimum moving distance.

[0034] In some possible implementations, when there is no human-driven vehicle behind the intelligent driving vehicle fleet in the direction of travel, the intelligent driving vehicle fleet is controlled to perform a simple overtaking action, including:

[0035] Determining whether there is an intelligent driving vehicle ahead of the intelligent driving vehicle fleet in the direction of travel based on the position information;

[0036] When there is no intelligent driving vehicle ahead of the intelligent driving vehicle fleet in the direction of travel, controlling the intelligent driving vehicle fleet to accelerate to overtake the manually driven vehicle to perform a simple overtaking action;

[0037] When there is an intelligent driving vehicle in front of the intelligent driving vehicle fleet in the direction of travel, the intelligent driving vehicle in front is controlled to coordinate with the current intelligent driving vehicle fleet to accelerate and decelerate to perform a simple overtaking behavior.

[0038] In some possible implementations, when there is an intelligent driving vehicle ahead of the intelligent driving vehicle fleet in the direction of travel, controlling the intelligent driving vehicle ahead and the current intelligent driving vehicle fleet to coordinate acceleration and deceleration includes:

[0039] Determining, based on the speed information, whether the intelligent driving vehicle ahead of the intelligent driving vehicle fleet in the direction of travel is in a constant speed, accelerating, or decelerating state;

[0040] When the intelligent driving vehicle in front is at a constant speed, the intelligent driving vehicle in front and the intelligent driving vehicle fleet behind are controlled to accelerate, so that the intelligent driving vehicle fleet overtakes the human-driven vehicle;

[0041] When the intelligent driving vehicle in front is in the accelerating state, the movement state of the intelligent driving vehicle in front is controlled to remain unchanged, and the intelligent driving vehicle fleet behind it accelerates, so that the intelligent driving vehicle overtakes the human-driven vehicle;

[0042] When the intelligent driving vehicle in front is in a decelerating state, it is determined whether the distance between the intelligent driving vehicle in front and the intelligent driving vehicle fleet behind at the next moment is greater than the preset distance;

[0043] If the distance between the front intelligent driving vehicle and the rear intelligent driving vehicle fleet at the next moment is greater than the preset safety distance, the front intelligent driving vehicle fleet is controlled to maintain its motion state, while the rear intelligent driving vehicle fleet accelerates, allowing the intelligent driving vehicle to overtake the human-driven vehicle;

[0044] If the distance between the front intelligent driving vehicle and the rear intelligent driving vehicle fleet at the next moment is less than the safe distance, the front intelligent driving vehicle and the rear intelligent driving vehicle fleet are controlled to accelerate so that the intelligent driving vehicle overtakes the manually driven vehicle.

[0045] In some possible implementations, the convoy driving mode further includes a third switching driving mode;

[0046] Determining a fleet driving mode of the intelligent driving vehicle fleet based on the position information and the speed information includes:

[0047] When a certain intelligent driving vehicle in the intelligent driving vehicle fleet is located to the left or right of the manually driven vehicle in the direction of travel, the current driving mode of the intelligent driving vehicle fleet is the third switching driving mode;

[0048] When the fleet driving mode does not belong to the original driving mode, the current fleet driving mode is adjusted to the original driving mode, including:

[0049] When the intelligent driving vehicle fleet is in the third switching driving mode, determining whether the manually driven vehicle is in an accelerating state;

[0050] If the manually driven vehicle is not in an accelerating state, controlling the intelligent driving vehicle and the intelligent driving vehicle behind it to perform overtaking;

[0051] If the manually driven vehicle is in an accelerating state, determining whether the intelligent driving vehicle can overtake the manually driven vehicle at the maximum acceleration;

[0052] If the intelligent driving vehicle can overtake the manually driven vehicle when traveling at the maximum acceleration, the intelligent driving vehicle and the intelligent driving vehicle behind it will perform the overtaking action;

[0053] If the intelligent driving vehicle can overtake the manually driven vehicle when traveling at the maximum acceleration, the intelligent driving vehicle and the intelligent driving vehicle behind it are controlled to perform deceleration.

[0054] On the other hand, the present invention also provides a traffic device for a fleet of intelligent driving vehicles in a mixed driving environment, comprising:

[0055] An information collection unit is used to obtain in real time the position information and speed information of the intelligent driving vehicle fleet and the manually driven vehicles in the travel direction within a preset communication range;

[0056] a mode determination unit, configured to determine a fleet driving mode of the intelligent driving vehicle fleet based on the position information and the speed information, wherein the fleet driving mode includes at least an original driving mode;

[0057] a mode adjustment unit, configured to adjust the current fleet driving mode to the original driving mode when the fleet driving mode does not belong to the original driving mode;

[0058] The original driving mode is that the intelligent driving vehicle fleet is located ahead of the manually driven vehicle in the direction of travel and the speed of the intelligent driving vehicle fleet is not less than the speed of the manually driven vehicle.

[0059] The beneficial effect of adopting the above embodiment is as follows: the method for passing through an intelligent driving vehicle fleet in a mixed driving environment provided by the present invention first obtains the position information and speed information of the intelligent driving vehicle fleet and the manually driven vehicles in the travel direction in real time, and then judges the fleet driving mode of the intelligent driving vehicle fleet based on the position information and speed information, and makes corresponding adjustments based on different fleet driving modes, so that the fleet driving mode is adjusted to the original driving mode, that is, the intelligent driving vehicle fleet leads the manually driven vehicles, and realizes the separation of intelligent driving vehicles and manually driven vehicles in the approaching area. For manually driven vehicles in different situations, the intelligent driving vehicle fleet can make corresponding adjustments to improve the passage efficiency in the mixed driving situation. BRIEF DESCRIPTION OF THE DRAWINGS

[0060] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative work.

[0061] Figure 1 A schematic flow chart of an embodiment of a method for intelligent driving vehicle fleet passage in a mixed driving environment provided by the present invention;

[0062] Figure 2 A schematic diagram of the intersection research scenario provided by the present invention;

[0063] Figure 3 For the present invention Figure 1 A schematic flow chart of an embodiment of S103 in which the intelligent driving vehicle fleet is in the first switching driving mode;

[0064] Figure 4 For the present invention Figure 1 A schematic flow chart of an embodiment of S103 in which the intelligent driving vehicle fleet is in the second switching driving mode;

[0065] Figure 5 For the present invention Figure 4 A schematic flow chart of an embodiment of S404;

[0066] Figure 6 For the present invention Figure 4 A schematic flow chart of an embodiment of S405;

[0067] Figure 7 For the present invention Figure 6A schematic flow chart of an embodiment of S602;

[0068] Figure 8 For the present invention Figure 6 A schematic flow chart of an embodiment of S603;

[0069] Figure 9 For the present invention Figure 1 A schematic flow chart of an embodiment of S103 in which the intelligent driving vehicle fleet is in the third switching driving mode;

[0070] Figure 10 This is a schematic structural diagram of an embodiment of a traffic device for a convoy of intelligent driving vehicles in a mixed driving environment provided by the present invention. DETAILED DESCRIPTION

[0071] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without making any creative efforts shall fall within the scope of protection of the present invention.

[0072] It should be understood that the schematic drawings are not drawn to scale. The flowcharts used in the present invention illustrate operations implemented according to some embodiments of the present invention. It should be understood that the operations of the flowcharts can be implemented out of sequence, and steps that have no logical contextual relationship can be reversed in order or implemented simultaneously. In addition, those skilled in the art, guided by the content of the present invention, can add one or more other operations to the flowcharts or remove one or more operations from the flowcharts. Some of the block diagrams shown in the accompanying drawings are functional entities and do not necessarily correspond to physically or logically independent entities. These functional entities can be implemented in the form of software, or in one or more hardware modules or integrated circuits, or in different networks and / or processor systems and / or microcontroller systems.

[0073] The terms "first," "third," and so on, used in the embodiments of the present invention are for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Therefore, a technical feature identified as "first" or "third" may explicitly or implicitly include at least one such feature. "And / or" describes the relationship between associated objects, indicating that three possible relationships exist. For example, "A and / or B" can represent: A exists alone, A and B exist simultaneously, or B exists alone.

[0074] References herein to "embodiments" mean that a particular feature, structure, or characteristic described in connection with the embodiments may be included in at least one embodiment of the present invention. The appearance of this phrase in various places in the specification does not necessarily refer to the same embodiment, nor does it constitute a separate or alternative embodiment that is mutually exclusive of other embodiments. It is understood, both explicitly and implicitly, by those skilled in the art that the embodiments described herein may be combined with other embodiments.

[0075] The present invention provides a method and device for intelligent driving vehicle fleet passage in a mixed driving environment, which are described below.

[0076] Figure 1 This is a flow chart of an embodiment of the method for intelligent driving vehicle fleet passage in a mixed driving environment provided by the present invention, as shown in FIG. Figure 1 As shown in the figure, the traffic methods of the intelligent driving vehicle fleet in the mixed driving environment include:

[0077] S101: Acquire in real time the position and speed information of the intelligent driving vehicle fleet and the manually driven vehicles in the travel direction within a preset communication range;

[0078] S102: Determine a fleet driving mode of the intelligent driving vehicle fleet based on the position information and the speed information, where the fleet driving mode includes at least an original driving mode;

[0079] S103: When the fleet driving mode does not belong to the original driving mode, adjust the current fleet driving mode to the original driving mode;

[0080] Among them, the original driving mode is that the intelligent driving vehicle fleet is located in front of the manually driven vehicle in the direction of travel and the speed of the intelligent driving vehicle fleet is not less than the speed of the manually driven vehicle.

[0081] It should be noted that the execution entity of step S101 is an intelligent driving vehicle in a specific embodiment of the present invention, and may also be a remote terminal in other embodiments, etc., which can be set according to the actual application scenario and will not be described in detail here; the preset communication distance refers to the range within which intelligent driving vehicles can communicate with each other and with manually driven vehicles; the position information is the vehicle's front coordinate information; the original driving mode is the state that the intelligent driving vehicle wants to achieve in the end, that is, the intelligent driving vehicle fleet is ahead of the manually driven vehicle in the direction of travel, and the intelligent driving vehicle and the manually driven vehicle are separated.

[0082] It should also be noted that each intelligent driving vehicle can receive status information of the intelligent driving vehicles in the surrounding area, and there is a certain communication delay time; each intelligent driving vehicle can passively receive status information of any manually driven vehicle, and there is a certain communication delay time; each intelligent driving vehicle can actively exchange vehicle status information and road condition information with the intelligent driving vehicles before and after it in the direction of travel.

[0083] Compared with the prior art, the method for intelligent driving vehicle fleet passage in a mixed driving environment provided by an embodiment of the present invention first obtains the position information and speed information of the intelligent driving vehicle fleet and the manually driven vehicles in the travel direction, and then determines the fleet driving mode of the intelligent driving vehicle fleet based on the position information and speed information, and makes corresponding adjustments based on different fleet driving modes, so that the fleet driving mode is adjusted to the original driving mode, that is, the intelligent driving vehicle fleet is ahead of the manually driven vehicles in the travel direction, thereby achieving separation of intelligent driving vehicles and manually driven vehicles in the approaching area. The intelligent driving vehicle fleet can make corresponding adjustments for manually driven vehicles in different situations, thereby improving the passage efficiency in the mixed driving situation.

[0084] In order to facilitate the understanding of mixed driving, Figure 2 A mixed driving situation of a specific embodiment of the present invention is introduced. Figure 2 Study scenarios for road intersections, such as Figure 2 As shown, the road intersection is divided into a collaborative area A and an approach area B. Collaborative area A is a circle with the center of the intersection as its center and the maximum communication distance of the vehicle as its radius. The other areas are approach areas B. In collaborative area A, each entrance vehicle in the intersection entrance lane is allowed to perform a following behavior together with the preceding vehicle. Collaborative area A contains only one type of vehicle, i.e., all intelligent driving vehicles or all manually driven vehicles. In approach area B, intelligent driving vehicles and manually driven vehicles adjust their own motion trajectories to implement a self-organizing strategy, so that intelligent driving vehicles and manually driven vehicles are completely separated before entering collaborative area A, thereby achieving conflict-free passage through the intersection in collaborative area A.

[0085] It should be noted that the present invention mainly studies the behavior of intelligent driving vehicles and manually driven vehicles separating into two fleets in the approaching area, and divides the approaching area into an overtaking area, a separation area and an acceleration area. The distance range of the overtaking area, the separation area and the acceleration area is defined by the driving conditions around the vehicles in the road section perceived by the intelligent driving vehicles through the communication equipment in the intelligent vehicles; when the intelligent driving vehicle fleet perceives that there is no manually driven vehicle in front of it in the direction of travel within the communication distance, the area it is in is the acceleration area of ​​the approaching area; when the intelligent driving vehicle fleet perceives that there are manually driven vehicles both in front of it and behind it in the direction of travel within the communication distance, the area it is in is the separation area of ​​the approaching area; when the intelligent driving vehicle fleet perceives that there is a manually driven vehicle in front of it in the direction of travel within the communication distance, and there is no manually driven vehicle in the rear of it in the direction of travel within the communication distance, the area it is in is the overtaking area of ​​the approaching area.

[0086] It should also be noted that, in other embodiments, the mixed driving scene can also be other road shapes such as a straight road and a three-way road, and the cooperation area can also be other shapes such as a square and a triangle. It can be set according to the actual application scenario and will not be described one by one here.

[0087] In order to accurately determine the convoy driving mode of the intelligent driving vehicle fleet, in some embodiments of the present invention, in a mixed driving environment, the intelligent driving vehicle fleet and manually driven vehicles may have different impacts. The convoy driving mode further includes a first switching driving mode and a second switching driving mode. In step S102, the convoy driving mode of the intelligent driving vehicle fleet is determined based on the position information and the speed information, including:

[0088] When the intelligent driving vehicle fleet is located in front of the manually driven vehicle in the direction of travel and its speed is lower than that of the manually driven vehicle, the intelligent driving vehicle fleet is in the first switching driving mode; when the intelligent driving vehicle fleet is located behind the manually driven vehicle in the direction of travel, the intelligent driving vehicle fleet is in the second switching driving mode.

[0089] It should be noted that, in other embodiments, the convoy driving mode may further include any one of the first switching driving mode and the second switching driving mode.

[0090] The intelligent driving vehicle fleet makes corresponding adjustments to the above-mentioned different fleet driving modes. That is, in step S103, when the fleet driving mode does not belong to the original driving mode, the current fleet driving mode is adjusted to the original driving mode.

[0091] Specifically, in one embodiment, when the intelligent driving vehicle fleet is in the first switching driving mode, that is, the intelligent driving vehicle fleet is in the acceleration zone, such as Figure 3 As shown, step S103 includes:

[0092] S301, determining whether the manually driven vehicle is in a constant speed state based on the speed information;

[0093] S302: When the manually driven vehicle is at a constant speed, controlling the intelligent driving vehicle fleet to accelerate at a preset acceleration, such that the speed of the intelligent driving vehicle fleet is not less than that of the manually driven vehicle, and during the acceleration process, the intelligent driving vehicle fleet is always ahead of the manually driven vehicle in the direction of travel;

[0094] S303. When the intelligent driving vehicle fleet is accelerated at an acceleration greater than that of the manually driven vehicle and the manually driven vehicle is in a non-uniform speed state, the speed of the intelligent driving vehicle fleet is controlled to be no less than that of the manually driven vehicle, and during the acceleration process, the intelligent driving vehicle fleet is always ahead of the manually driven vehicle in the direction of travel.

[0095] It should be noted that to ensure vehicle safety, during acceleration, the intelligent driving vehicle fleet is always ahead of the manually driven vehicle in the direction of travel and maintains a safe distance. The specific restrictions that need to be met in step S302 are:

[0096]

[0097] Where a M is the acceleration of the intelligent driving vehicle, v c is the speed of the intelligent driving vehicle before acceleration, v i (t k ) is the speed of the intelligent driving vehicle after acceleration, v H is the speed of the manually driven vehicle, d is the minimum communication distance of the intelligent driving vehicle in the road section, l is the vehicle body length, and δ is the safety distance.

[0098] The specific limiting conditions that need to be met in step S303 are:

[0099]

[0100] p i (t k )-p i-1 (t k )>>d-(l+δ)

[0101]

[0102] Where a M is the acceleration of the intelligent driving vehicle fleet, v i，c is the speed of the intelligent driving vehicle after acceleration, v i，H is the speed of the manually driven vehicle after acceleration, p i (tk ) is the front position of a certain intelligent driving vehicle in the intelligent driving vehicle fleet, p i-1 (t k ) is the front position of the adjacent intelligent driving vehicles in the intelligent driving vehicle fleet, p i (t k-1 ) is the front position of a certain intelligent driving vehicle at the last moment, p j (t k-1 ) is the front position of the manually driven vehicle at the previous moment, τ is the communication delay time between any two intelligent driving vehicles, d is the minimum communication distance of the intelligent driving vehicle fleet, ; is the body length of the intelligent driving vehicle or the manually driven vehicle, and δ is the safe distance between the two vehicles.

[0103] In another example, when the intelligent driving vehicle fleet is in the second switching driving mode, such as Figure 4 As shown, step S103 includes:

[0104] S401: Determine, based on the position information, whether there is an empty lane segment ahead of the intelligent driving vehicle convoy, where the empty lane segment is a lane segment in which no human-driven vehicles are traveling within a preset distance ahead in the direction of travel of the intelligent driving vehicle convoy;

[0105] S402: When there is no free lane ahead of the intelligent driving vehicle fleet in the direction of travel, the intelligent driving vehicle fleet is controlled to execute a waiting behavior;

[0106] S403: When there is an empty lane ahead of the intelligent driving vehicle fleet in the direction of travel, determine whether there is a human-driven vehicle behind the intelligent driving vehicle fleet in the direction of travel;

[0107] S404: When there is a human-driven vehicle behind the intelligent driving vehicle fleet in the direction of travel, control the intelligent driving vehicle fleet to perform a shortest distance overtaking action;

[0108] S405: When there is no human-driven vehicle behind the intelligent driving vehicle fleet in the direction of travel, the intelligent driving vehicle fleet is controlled to perform a simple overtaking action.

[0109] Compared with the existing technology, when there is a manually driven vehicle behind the intelligent driving vehicle fleet in the direction of travel, the intelligent driving vehicle fleet performs the shortest distance overtaking behavior, which can effectively reduce the impact of the intelligent driving vehicle fleet's overtaking on the manually driven vehicle behind, thereby improving the overall traffic efficiency.

[0110] Specifically, in one embodiment, Figure 5 As shown, step S404 includes:

[0111] S501, determining a vehicle array that needs to be optimized;

[0112] S502: Each intelligent driving vehicle independently collects location and speed information of other vehicles;

[0113] S503: Determine the optimal position of the vehicle in the intelligent driving vehicle fleet at the next moment based on the position information, speed information, and a preset optimization algorithm;

[0114] S504: Adjust the motion state of the intelligent driving vehicle fleet at the next moment based on the optimal value to perform overtaking behavior with the shortest distance.

[0115] It should be noted that, in step S501, To optimize the vehicle array, any intelligent driving vehicle on the same lane satisfies p i+1 (t k )-p i (t k )>l+δ+d r When adding optimized vehicle array d r is the radius of the cooperation area, which is the maximum communication distance of the intersection and also the maximum communication distance of the intelligent driving vehicle; any manually driven vehicle in different lanes meets When adding optimized vehicle array d′ r The maximum communication distance of a manually driven vehicle; W is the number of all intelligent driving vehicles in the separation zone, R is the number of free lanes, when Delete the redundant vehicles.

[0116] In step S503, a preset optimization algorithm takes the smallest speed between the maximum and minimum speed differences and the average speed of the intelligent driving vehicle fleet as a target and determines the next moment position at which the intelligent driving vehicle has the smallest moving distance. Specifically, the optimization algorithm is:

[0117]

[0118] Where, t k is the current moment, t k+1 For the next moment, p i (t k ) is the current position of the intelligent driving vehicle, τ is the communication delay time, v i，c is the maximum speed of the vehicles in the intelligent driving vehicle fleet, v′ i，c is the minimum speed of the vehicles in the intelligent driving vehicle fleet, v C is the current speed of the intelligent driving vehicle, p i (t k+1 ) is the optimal value of the position of the vehicle in the intelligent driving vehicle fleet at the next moment.

[0119] In step S504, the motion state of the intelligent driving vehicle fleet at the next moment is adjusted based on the optimal value. Specifically, the optimal value determines the position of the intelligent driving vehicle at the next moment. With the optimal value as the goal, the path for the intelligent driving vehicle to reach the position at the next moment can be planned through the maximum and minimum optimization problem, and real-time adjustments can be made to complete overtaking by the shortest path.

[0120] In one embodiment, Figure 6 As shown, step S405 includes:

[0121] S601: Determine whether there is an intelligent driving vehicle ahead of the intelligent driving vehicle fleet in the direction of travel;

[0122] S602: When there is no intelligent driving vehicle ahead of the intelligent driving vehicle convoy in the direction of travel, the intelligent driving vehicle convoy is controlled to first accelerate to overtake the manually driven vehicle, and then decelerate to form a following convoy to perform a simple overtaking maneuver;

[0123] S603: When there is an intelligent driving vehicle ahead of the intelligent driving vehicle convoy in the direction of travel, the intelligent driving vehicle ahead is controlled to coordinate with the current intelligent driving vehicle convoy to accelerate and decelerate, and then form a following convoy to perform a simple overtaking action.

[0124] Further, if Figure 7 As shown, step S602 includes:

[0125] S701: Determine whether the manually driven vehicle ahead of the intelligent driving vehicle fleet in the direction of travel is at a constant speed;

[0126] S702: If the manually driven vehicle is at a constant speed, control the fleet of intelligently driven vehicles to accelerate at a preset acceleration, so that the fleet of intelligently driven vehicles overtakes the manually driven vehicle;

[0127] S702: If the manually driven vehicle is in a non-uniform speed state, i.e., an accelerating state, controlling the intelligent driving vehicle fleet to accelerate at an acceleration greater than that of the manually driven vehicle, so that the intelligent driving vehicle fleet overtakes the manually driven vehicle;

[0128] It should be noted that in order to ensure safety in step S702, the conditions that need to be met are that the distance S C >S H +l+δ+d, where t is the acceleration time of the intelligent driving vehicle, τ is the communication delay time, S C is the driving distance of the intelligent driving vehicle, S H is the distance traveled by manually driven vehicles.

[0129] In addition, if Figure 8As shown, step S603 includes:

[0130] S801: Determine whether the intelligent driving vehicle ahead of the intelligent driving vehicle fleet in the direction of travel is in a constant speed, accelerating, or decelerating state;

[0131] S802: When the leading intelligent driving vehicle is at a constant speed, controlling the leading intelligent driving vehicle and the trailing intelligent driving vehicle convoy to accelerate, so that the intelligent driving vehicle convoy overtakes the manually driven vehicle;

[0132] S803: When the leading intelligent driving vehicle is in an accelerating state, the leading intelligent driving vehicle is controlled to maintain its motion state, while the trailing intelligent driving vehicle fleet accelerates, so that the intelligent driving vehicle overtakes the manually driven vehicle.

[0133] S804: When the leading intelligent driving vehicle is in a decelerating state, determining whether the distance between the leading intelligent driving vehicle and the trailing intelligent driving vehicle fleet at the next moment is less than a preset distance;

[0134] S805: If the distance between the leading intelligent driving vehicle and the trailing intelligent driving vehicle fleet at the next moment is not less than a preset distance, the leading intelligent driving vehicle fleet maintains its motion state while the trailing intelligent driving vehicle fleet accelerates, causing the intelligent driving vehicle to overtake the manually driven vehicle.

[0135] S806: If the distance between the leading intelligent driving vehicle and the trailing intelligent driving vehicle fleet at the next moment is less than a preset distance, control both the leading intelligent driving vehicle and the trailing intelligent driving vehicle fleet to accelerate, so that the intelligent driving vehicle overtakes the manually driven vehicle.

[0136] It should be noted that in the above step S803, the distance between the front intelligent driving vehicle and the rear intelligent driving vehicle fleet at the next moment, that is, p i+1 (t k+1 )-p i (t k+1 ), the preset distance is l+δ, and the comparison between the two is as follows:

[0137]

[0138]

[0139]

[0140] Where p i+1 (t k ) is the current position of the front vehicle of the intelligent driving vehicle team, p i+1 (tk+1 ) is the front position of the intelligent driving vehicle at the next moment, p i (t k ) is the current front position of the smart driving vehicle behind, p i (t k+1 ) is the front position of the intelligent driving vehicle at the next moment, l is the vehicle body length, δ is the safety distance, v C is the initial speed of the intelligent driving vehicle in front, v′ i，C For the smart driving vehicle in front with a M The speed after acceleration, v i，C For the rear intelligent driving vehicle fleet with a M The speed after acceleration, a m The acceleration is used to slow down the intelligent driving vehicle fleet after it overtakes the manually driven vehicle to form a following convoy.

[0141] In another embodiment, step S102 further includes a third driving mode. When a certain intelligent driving vehicle in the intelligent driving vehicle fleet is located to the left or right of the manually driven vehicle in the direction of travel, the current driving mode of the intelligent driving vehicle fleet is the third switching driving mode.

[0142] When the intelligent driving vehicle fleet is in the third switching driving mode, such as Figure 9 As shown, step S103 includes:

[0143] S901, determining whether the manually driven vehicle is in an accelerating state;

[0144] S902: If the manually driven vehicle is not in an accelerating state, controlling a certain intelligent driving vehicle and the intelligent driving vehicle behind it to perform overtaking;

[0145] S903: If the manually driven vehicle is in an accelerating state, determining whether the intelligent driving vehicle can overtake the manually driven vehicle at the maximum acceleration;

[0146] S904: If the intelligent driving vehicle can overtake the manually driven vehicle at the maximum acceleration, control the intelligent driving vehicle and the intelligent driving vehicle behind it to perform overtaking;

[0147] S905: If the intelligent driving vehicle cannot exceed the manually driven vehicle when traveling at the maximum acceleration, control the intelligent driving vehicle and the intelligent driving vehicles behind it to perform deceleration.

[0148] It should be noted that the third switching driving mode is designed to deal with special situations. It is the driving mode of a vehicle in the intelligent driving vehicle fleet and has a higher priority than the second switching driving mode. That is, during the adjustment process of the second switching driving mode, once the third switching driving mode is met, the third switching driving mode will be executed first.

[0149] In order to better implement the method for passing through a convoy of intelligent driving vehicles in a mixed driving environment in an embodiment of the present invention, based on the method for passing through a convoy of intelligent driving vehicles in a mixed driving environment, correspondingly, Figure 10 As shown, an embodiment of the present invention further provides a traffic device 1000 for a fleet of intelligent driving vehicles in a mixed driving environment, comprising:

[0150] The information collection unit 1001 is used to obtain in real time the position information and speed information of the intelligent driving vehicle fleet and the manually driven vehicles in the travel direction within the preset communication range;

[0151] A mode determination unit 1002 is configured to determine a driving mode of a fleet of intelligent driving vehicles based on the position information and the speed information, where the driving mode of the fleet includes at least an original driving mode;

[0152] The mode adjustment unit 1003 is configured to adjust the current fleet driving mode to the original driving mode when the fleet driving mode does not belong to the original driving mode;

[0153] Among them, the original driving mode is that the intelligent driving vehicle fleet is located in front of the manually driven vehicle in the direction of travel and the speed of the intelligent driving vehicle fleet is not less than the speed of the manually driven vehicle.

[0154] The intelligent driving vehicle fleet passage device in a mixed driving environment provided in the above embodiment can implement the technical solution described in the above embodiment of the intelligent driving vehicle fleet passage method in a mixed driving environment. The specific implementation principles of the above modules or units can be found in the corresponding content in the above embodiment of the intelligent driving vehicle fleet passage method in a mixed driving environment, and will not be repeated here.

[0155] The above is a detailed introduction to the method and device for intelligent driving vehicle fleet passage in a mixed driving environment provided by the present invention. Specific examples are used herein to illustrate the principles and implementation methods of the present invention. The description of the above embodiments is only intended to help understand the method and core ideas of the present invention. At the same time, for those skilled in the art, based on the ideas of the present invention, there may be changes in the specific implementation methods and application scopes. In summary, the content of this specification should not be understood as limiting the present invention.

Claims

1. A method for a fleet of intelligent driving vehicles to pass through a mixed driving environment, wherein the mixed driving environment includes a fleet of intelligent driving vehicles and manually driven vehicles, characterized in that: The method includes: obtaining in real time position information and speed information of a fleet of intelligent driving vehicles and manually driven vehicles within a preset communication range in a direction of travel; determining a fleet driving mode of the intelligent driving vehicle fleet based on the position information and speed information, wherein the fleet driving mode includes at least an original driving mode; and when the fleet driving mode does not belong to the original driving mode, adjusting the current fleet driving mode to the original driving mode; wherein the original driving mode is that the intelligent driving vehicle fleet is located ahead of the manually driven vehicle in the direction of travel and the speed of the intelligent driving vehicle fleet is not less than the speed of the manually driven vehicle; The convoy driving mode also includes a first switching driving mode; determining the convoy driving mode of the intelligent driving vehicle convoy based on the position information and speed information includes: when the intelligent driving vehicle convoy is located in front of the manually driven vehicle in the direction of travel, and the speed of the intelligent driving vehicle convoy is less than the speed of the manually driven vehicle, the current driving mode of the intelligent driving vehicle convoy is the first switching driving mode; when the convoy driving mode does not belong to the original driving mode, adjusting the current convoy driving mode to the original driving mode, including: when the intelligent driving vehicle convoy is in the first switching driving mode, controlling the intelligent driving vehicle convoy to perform acceleration behavior, so that the speed of the intelligent driving vehicle convoy is not less than that of the manually driven vehicle, and the intelligent driving vehicle convoy is always located in front of the manually driven vehicle in the direction of travel; The convoy driving mode also includes a second switching driving mode; determining the convoy driving mode of the intelligent driving vehicle convoy based on the position information and speed information includes: when the intelligent driving vehicle convoy is located behind the manually driven vehicle in the direction of travel, the current driving mode of the intelligent driving vehicle convoy is the second switching driving mode; when the convoy driving mode does not belong to the original driving mode, adjusting the current convoy driving mode to the original driving mode, including: when the intelligent driving vehicle convoy is in the second switching driving mode, controlling the intelligent driving vehicle convoy to perform overtaking behavior, so that the intelligent driving vehicle convoy is located in front of the manually driven vehicle in the direction of travel, and the speed is not less than that of the manually driven vehicle; Controlling a fleet of intelligent driving vehicles to perform overtaking behavior so that the fleet of intelligent driving vehicles is located in front of a manually driven vehicle in the direction of travel and has a speed not less than that of the manually driven vehicle, including: determining whether there is a manually driven vehicle behind the fleet of intelligent driving vehicles in the direction of travel based on the position information; when there is no manually driven vehicle behind the fleet of intelligent driving vehicles in the direction of travel, controlling the fleet of intelligent driving vehicles to perform a simple overtaking behavior; when there is a manually driven vehicle behind the fleet of intelligent driving vehicles, determining an optimal value of the position of the vehicles in the fleet of intelligent driving vehicles at a next moment based on the position information, speed information, and a preset optimization algorithm; adjusting the motion state of the fleet of intelligent driving vehicles at a next moment based on the optimal value to perform the shortest distance overtaking behavior; the preset optimization algorithm determines the position at a next moment with the minimum moving distance based on the minimum speed difference between the maximum and minimum speeds of the fleet of intelligent driving vehicles and the speed of the current intelligent driving vehicle as a target.

2. The method for intelligent driving vehicle fleet passage in a mixed driving environment according to claim 1, characterized in that: Controlling a fleet of intelligent driving vehicles to perform acceleration behavior so that the speed of the fleet of intelligent driving vehicles is not less than that of a manually driven vehicle and the fleet of intelligent driving vehicles is always ahead of the manually driven vehicle in the direction of travel, including: judging whether the manually driven vehicle is in a uniform speed state based on speed information; when the manually driven vehicle is in a uniform speed state, controlling the intelligent driving vehicles to accelerate at a preset acceleration so that the speed of the intelligent driving vehicles is not less than that of the manually driven vehicle and the fleet of intelligent driving vehicles is always ahead of the manually driven vehicle in the direction of travel; when the manually driven vehicle is in a non-uniform speed state, controlling the intelligent driving vehicles to accelerate at an acceleration greater than the acceleration of the manually driven vehicle, so that the speed of the intelligent driving vehicles is not less than that of the manually driven vehicle and the fleet of intelligent driving vehicles is always ahead of the manually driven vehicle in the direction of travel.

3. The method for intelligent driving vehicle fleet passage in a mixed driving environment according to claim 2, characterized in that: When the intelligent driving vehicle fleet is in the second switching driving mode, before controlling the intelligent driving vehicle fleet to perform overtaking, the method further includes: determining whether there is an empty lane segment ahead of the intelligent driving vehicle fleet based on position information, wherein the empty lane segment is a lane segment in which no manually driven vehicles are traveling within a preset distance ahead in the direction of travel of the intelligent driving vehicle fleet; when there is an empty lane segment ahead of the intelligent driving vehicle fleet in the direction of travel, controlling the intelligent driving vehicle fleet to perform overtaking; and when there is no empty lane segment ahead of the intelligent driving vehicle fleet in the direction of travel, controlling the intelligent driving vehicle fleet to perform waiting.

4. The method for intelligent driving vehicle fleet passage in a mixed driving environment according to claim 3, characterized in that: When there is no manually driven vehicle behind the intelligent driving vehicle fleet in the direction of travel, the intelligent driving vehicle fleet is controlled to perform a simple overtaking behavior, including: judging whether there is an intelligent driving vehicle in front of the intelligent driving vehicle fleet in the direction of travel based on position information; when there is no intelligent driving vehicle in front of the intelligent driving vehicle fleet in the direction of travel, the intelligent driving vehicle fleet is controlled to accelerate to overtake the manually driven vehicle to perform a simple overtaking behavior; when there is an intelligent driving vehicle in front of the intelligent driving vehicle fleet in the direction of travel, the intelligent driving vehicle in front is controlled to coordinate with the current intelligent driving vehicle fleet to accelerate and decelerate to perform a simple overtaking behavior.

5. The method for intelligent driving vehicle fleet passage in a mixed driving environment according to claim 4, characterized in that: When there is an intelligent driving vehicle in front of the intelligent driving vehicle fleet in the direction of travel, the intelligent driving vehicle in front and the current intelligent driving vehicle fleet are controlled to cooperate in accelerating and decelerating, including: determining based on speed information whether the intelligent driving vehicle in front of the intelligent driving vehicle fleet in the direction of travel is in a uniform speed, accelerating, or decelerating state; when the intelligent driving vehicle in front is in a uniform speed state, controlling the intelligent driving vehicle in front and the intelligent driving vehicle fleet behind to accelerate, so that the intelligent driving vehicle fleet overtakes the manually driven vehicle; when the intelligent driving vehicle in front is in an accelerating state, controlling the intelligent driving vehicle in front to keep its motion state unchanged, and controlling the intelligent driving vehicle fleet behind to accelerate, so that the intelligent driving vehicle overtakes the manually driven vehicle ; When the intelligent driving vehicle in front is in a deceleration state, it is determined whether the distance between the intelligent driving vehicle in front and the intelligent driving vehicle fleet behind at the next moment is less than a preset distance; if the distance between the intelligent driving vehicle in front and the intelligent driving vehicle fleet behind at the next moment is not less than the preset distance, the movement state of the intelligent driving vehicle fleet in front is controlled to remain unchanged, and the intelligent driving vehicle fleet behind is accelerated, so that the intelligent driving vehicle overtakes the manually driven vehicle; if the distance between the intelligent driving vehicle in front and the intelligent driving vehicle fleet behind at the next moment is less than the preset distance, both the intelligent driving vehicle in front and the intelligent driving vehicle fleet behind are controlled to accelerate, so that the intelligent driving vehicle overtakes the manually driven vehicle.

6. The method for intelligent driving vehicle fleet passage in a mixed driving environment according to claim 1, characterized in that: The fleet driving mode also includes a third switching driving mode; determining the fleet driving mode of the intelligent driving vehicle fleet based on the position information and speed information includes: when a certain intelligent driving vehicle in the intelligent driving vehicle fleet is located to the left or right of the manually driven vehicle in the direction of travel, the current driving mode of the intelligent driving vehicle fleet is the third switching driving mode; when the fleet driving mode does not belong to the original driving mode, adjusting the current fleet driving mode to the original driving mode, including: when the intelligent driving vehicle fleet is in the third switching driving mode, determining whether the manually driven vehicle is in an accelerating state; if the manually driven vehicle is in an accelerating state If the manually-driven vehicle is not in an accelerating state, the intelligent driving vehicle and the intelligent driving vehicle behind it are controlled to perform overtaking; if the manually-driven vehicle is in an accelerating state, it is determined whether the intelligent driving vehicle can overtake the manually-driven vehicle when traveling at the maximum acceleration; if the intelligent driving vehicle can overtake the manually-driven vehicle when traveling at the maximum acceleration, the intelligent driving vehicle and the intelligent driving vehicle behind it are controlled to perform overtaking; if the intelligent driving vehicle cannot overtake the manually-driven vehicle when traveling at the maximum acceleration, the intelligent driving vehicle and the intelligent driving vehicle behind it are controlled to perform deceleration.

7. A traffic device for a fleet of intelligent driving vehicles in a mixed driving environment, characterized in that: The device is applied to the method described in any one of claims 1 to 6, and the device includes: an information collection unit, used to obtain in real time the position information and speed information of the intelligent driving vehicle fleet and the manually driven vehicle in the travel direction within a preset communication range; a mode determination unit, used to determine the fleet driving mode of the intelligent driving vehicle fleet based on the position information and speed information, and the fleet driving mode includes at least an original driving mode; a mode adjustment unit, used to adjust the current fleet driving mode to the original driving mode when the fleet driving mode does not belong to the original driving mode; wherein, the original driving mode is that the intelligent driving vehicle fleet is located ahead of the manually driven vehicle in the travel direction and the speed of the intelligent driving vehicle fleet is not less than the speed of the manually driven vehicle.

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