Automatic driving vehicle ramp merging control method and device, electronic equipment and medium

Abstract

The application relates to a ramp merging control method and device for an automatic driving vehicle, electronic equipment and a medium. The method comprises the following steps: judging whether a vehicle passes a merging point at a current time according to the distance and speed of the vehicle from the merging point at a previous time and a time step; in the case that no vehicle on a main line lane and a ramp reaches the merging point at the current time in a control area, determining a merging speed at the current time according to an initial merging speed and the speed of the fastest vehicle reaching the merging point at the previous time; and in the case that part of the vehicles on the main line lane and the ramp reach the merging point at the current time in the control area, determining the speed of the vehicle not reaching the merging point and the distance between the vehicle and the merging point according to the speed of the fastest vehicle reaching the merging point at the previous time and the merging speed at the current time. The application determines the speed of the vehicle according to the dynamically changing merging speed.

Description

Technical Field

[0001] This invention relates to the field of intelligent transportation vehicle motion control technology, and in particular to a method, device, electronic device and medium for controlling ramp merging of autonomous vehicles. Background Technology

[0002] The merging ramp area has always been a region with low vehicle traffic efficiency and high delays. In traditional manual driving vehicle systems, the inability of vehicles to communicate in real time means that the position, speed, acceleration, etc. of each vehicle cannot be shared in real time, resulting in traffic bottlenecks in the merging area.

[0003] With the rapid development of the internet, Connected Autonomous Vehicles (CAVs) have emerged. These are next-generation vehicles equipped with advanced onboard sensors, controllers, and actuators, integrating modern communication and network technologies to achieve intelligent information exchange and sharing between vehicles, people, roads, and the cloud. They possess functions such as complex environment perception, intelligent decision-making, and collaborative control, ultimately replacing human operation. The emergence of CAVs provides a new scenario for solving ramp merging problems, namely, in a state where information is shared between each vehicle and uncontrollable human factors are ignored, making the merging problem relatively simple.

[0004] Existing research on ramp merging control in connected environments mainly focuses on ramp speed limit control and individual vehicle path planning. Ramp speed limit control only controls vehicle speed in the merging area, while individual vehicle path planning achieves ramp limits by controlling the vehicle's trajectory. Therefore, existing technologies lack a method to dynamically control merging speed and further control vehicle speed and distance from the merging point through merging speed. Summary of the Invention

[0005] In view of this, it is necessary to provide a method, device, electronic device and medium for controlling ramp merging of autonomous vehicles, so as to achieve the purpose of controlling the speed of the vehicle according to the dynamically changing merging speed.

[0006] To achieve the above objectives, the present invention provides a method for controlling ramp merging of autonomous vehicles, comprising:

[0007] The point where the center line of the main lane and the center line of the ramp intersect is set as the ramp merging point. Detection lines are set on both the main lane and the ramp, and the detection lines and the ramp merging point are used as the control area.

[0008] Based on the distance and speed of vehicles on the mainline lane and the ramp to the merging point of the ramp at the previous moment, as well as the time step, determine whether the vehicles on the mainline lane and the ramp have passed the merging point of the ramp at the current moment.

[0009] If it is determined that no vehicles on the main lane and the ramp have reached the merging point at the current moment, the initial merging speed is obtained. Based on the initial merging speed and the speed of the vehicle that reached the merging point fastest at the previous moment, the merging speed at the current moment is determined.

[0010] If it is determined that some vehicles on the main lane and ramp have reached the ramp merging point at the current moment, the merging speed at the current moment is determined based on the speed of the vehicle that arrived at the ramp merging point fastest at the previous moment.

[0011] Based on the merging speed at the current moment, determine the shortest time for the vehicles that have not yet reached the merging point to reach the merging point.

[0012] The driving speed of the vehicle that has not reached the merging point of the ramp at the current moment is determined based on the shortest time, as well as the distance between the vehicle and the merging point of the ramp. The driving speed is then sent to the corresponding vehicle to control the corresponding vehicle to drive at the driving speed.

[0013] In some possible implementations, the vehicles on the mainline lane and the ramp satisfy the following conditions:

[0014] The speed of vehicles on the main lane shall not exceed the preset main lane limit;

[0015] The speed of vehicles on the ramp shall not exceed the preset ramp speed limit;

[0016] The acceleration of vehicles on the main lane and the ramp shall not exceed the preset acceleration;

[0017] The deceleration of vehicles on the main lane and the ramp is not less than the preset deceleration.

[0018] In some possible implementations, determining the speed of the vehicle that has not yet reached the merging point and its distance from the merging point based on the shortest time includes:

[0019] The vehicle acquisition system arbitrarily selects the first and second adjacent vehicles on the main road, and arbitrarily selects the third and fourth adjacent vehicles on the ramp. The system sets the first vehicle to arrive at the ramp merging point before the second vehicle, and the system sets the third vehicle to arrive at the ramp merging point before the fourth vehicle.

[0020] Get the current merging speed;

[0021] The time when the first vehicle, the second vehicle, the third vehicle, and the fourth vehicle can arrive at the ramp merging point is determined based on the current merging speed.

[0022] Using the centerline of the main lane as a virtual axis, the third vehicle and the fourth vehicle are mapped onto the main lane to obtain virtual third vehicle and virtual fourth vehicle;

[0023] Based on the fastest arrival time at the ramp merging point, the distances of the first vehicle, the second vehicle, the virtual third vehicle, and the virtual fourth vehicle to the ramp merging point are determined.

[0024] In some possible implementations, determining the distances of the first vehicle, the second vehicle, the virtual third vehicle, and the virtual fourth vehicle to the merging point based on their fastest arrival times at the merging point, wherein the order in which the first vehicle, the second vehicle, the virtual third vehicle, and the virtual fourth vehicle arrive at the merging point is determined when the fastest arrival time of the first vehicle at the merging point is less than the fastest arrival time of the third vehicle, includes:

[0025] The first vehicle, the second vehicle, the third vehicle and the fourth vehicle, or the first vehicle, the third vehicle, the second vehicle and the fourth vehicle, or the first vehicle, the third vehicle, the fourth vehicle and the second vehicle.

[0026] In some possible implementations, determining the distances of the first vehicle, the second vehicle, the virtual third vehicle, and the virtual fourth vehicle to the ramp merging point based on their fastest arrival times at the ramp merging point, wherein the order in which the first vehicle, the second vehicle, the virtual third vehicle, and the virtual fourth vehicle arrive at the ramp merging point is determined when the fastest arrival time of the first vehicle at the ramp merging point is greater than the fastest arrival time of the third vehicle, includes:

[0027] The third vehicle, the fourth vehicle, the first vehicle and the second vehicle, or the third vehicle, the first vehicle, the fourth vehicle and the second vehicle, or the third vehicle, the first vehicle, the second vehicle and the fourth vehicle.

[0028] In some possible implementations, when the first vehicle, the second vehicle, the virtual third vehicle, and the virtual fourth vehicle arrive at the ramp merging point in the order of the first vehicle, the second vehicle, the third vehicle, and the fourth vehicle, the distances of the second vehicle, the third vehicle, and the fourth vehicle from the ramp merging point respectively satisfy the following conditions:

[0029] The distance between the second vehicle and the merging point of the ramp is:

[0030]

[0031] The distance between the third vehicle and the merging point of the ramp is:

[0032]

[0033] The distance between the fourth vehicle and the merging point of the ramp is:

[0034]

[0035] In the formula, x i+1 x represents the distance from the second vehicle to the merging point of the ramp at time k; j x represents the distance from the third vehicle at time k to the merging point of the ramp; j+1 The distance from the fourth vehicle to the merging point of the ramp at time k is represented by l0; l0 represents the safe distance between vehicles; x0 represents the additional reaction distance required when vehicles merge on the ramp; ∑ i＝a l i Represents the length of vehicle a; ∑ i＝a，b l i This represents the sum of the lengths of the second vehicle and the first vehicle; ∑ i＝a，b，c l i This represents the sum of the lengths of the first vehicle, the second vehicle, and the third vehicle; Indicates the process The distance between the second vehicle and the merging point of the ramp; Indicates the process The distance between the third vehicle and the merging point of the ramp is mentioned in the time frame; Indicates the process The time refers to the distance between the fourth vehicle and the merging point of the ramp.

[0036] In some possible implementations, when it is determined that none of the vehicles on the mainline lane and the ramp have reached the merging point at the current moment, the initial merging speed is obtained. Based on the initial merging speed and the speed of the vehicle that arrived at the merging point fastest in the previous moment, the merging speed at the current moment is determined. The formula for calculating the merging speed at the current moment is:

[0037] V a (t k )=(1-α(t k ))V a (t0)+α(t k V p (t k-1 )t0≤t k ≤t1

[0038] In the formula, V a(t k ) represents the merging velocity at time k; V a (t0) represents the initial merging velocity; V p (t k-1 ) represents the speed at which the merging point of the ramp is reached at time k-1; α(t) k () represents the virtual queuing parameters. in The vehicle that arrives at the merging point of the ramp the fastest between time s and time k, Δt represents the time step, l0 represents the safe distance between the main lane and the vehicle after merging with the ramp, t0 represents the initial time, and t1 represents the time when the last vehicle passes through the merging point of the ramp.

[0039] On the other hand, the present invention also provides an autonomous vehicle ramp merging control device, comprising:

[0040] The control zone acquisition unit is used to set the point where the center line of the main lane and the center line of the ramp intersect as the ramp merging point, and to set detection lines in both the main lane and the ramp, and to use the detection lines and the ramp merging point as the control zone;

[0041] The vehicle merging point determination unit is used to determine whether the vehicles on the mainline lane and the ramp have passed the ramp merging point at the current moment based on the distance and speed of the vehicles on the mainline lane and the ramp to the ramp merging point at the previous moment and the time step.

[0042] The vehicle merging speed acquisition unit is used to acquire the initial merging speed when it is determined that no vehicles on the mainline lane and the ramp have reached the ramp merging point at the current moment, and to determine the merging speed at the current moment based on the initial merging speed and the speed of the vehicle that reached the merging point fastest at the previous moment.

[0043] The vehicle partial merging speed acquisition unit is used to determine the merging speed at the current moment based on the speed of the vehicle that arrived at the merging point fastest at the previous moment, when it is determined that some vehicles on the main lane and the ramp have arrived at the merging point of the ramp at the current moment.

[0044] The unit for obtaining the shortest time to reach the merging point is used to determine the shortest time for vehicles that have not yet reached the merging point to reach the merging point based on the merging speed at the current moment.

[0045] The vehicle information control unit is used to determine the current speed of the vehicle that has not reached the ramp merging point and the distance between the vehicle and the ramp merging point based on the shortest time, and send the speed to the corresponding vehicle to control the corresponding vehicle to drive at the speed.

[0046] On the other hand, the present invention also provides an electronic device, including a memory and a processor, wherein,

[0047] The memory is used to store programs;

[0048] The processor, coupled to the memory, is used to execute the program stored in the memory to implement the steps in the autonomous vehicle ramp merging control method described in any of the above implementations.

[0049] On the other hand, the present invention also provides a computer-readable storage medium for storing a computer-readable program or instructions, which, when executed by a processor, can implement the steps of the autonomous vehicle ramp merging control method described in any of the above implementations.

[0050] The beneficial effects of the above embodiments are as follows: The autonomous driving vehicle ramp merging control method provided by the present invention first sets the point where the center line of the main lane and the center line of the ramp intersect as the ramp merging point. Detection lines are set on both the main lane and the ramp. The detection lines and the ramp merging point are used as the control area. Based on the distance and speed of the vehicle to the merging point at the previous moment and the time step, it is determined whether the vehicle has passed the merging point at the current moment. When none of the vehicles have reached the merging point, the merging speed at the current moment is determined based on the initial merging speed and the speed of the vehicle that arrived at the merging point fastest at the previous moment. When some vehicles have reached the merging point, the merging speed at the current moment is determined based on the speed of the vehicle that arrived at the ramp merging point fastest at the previous moment. Finally, based on the merging speed, the shortest time for the vehicles that have not yet reached the ramp merging point to reach the ramp merging point is obtained. Based on the shortest time, the vehicle's driving speed and distance to the ramp merging point are determined, and the driving speed is sent to the corresponding vehicle to control the vehicle's movement. The present invention determines the vehicle's speed and distance to the ramp merging point based on the dynamically changing merging speed. Attached Figure Description

[0051] Figure 1 A flowchart illustrating an embodiment of the autonomous vehicle ramp merging control method provided by the present invention;

[0052] Figure 2 Lane type diagram;

[0053] Figure 3 A schematic diagram of an embodiment of an autonomous vehicle ramp merging control device provided by the present invention;

[0054] Figure 4 A schematic diagram of an embodiment of the electronic device provided by the present invention. Detailed Implementation

[0055] Preferred embodiments of the present invention will now be described in detail with reference to the accompanying drawings, which form part of this application and are used together with the embodiments of the present invention to illustrate the principles of the present invention, but are not intended to limit the scope of the present invention.

[0056] Figure 1 This is a schematic flowchart of an embodiment of the autonomous vehicle ramp merging control method provided by the present invention, as shown below. Figure 1 As shown, an autonomous vehicle ramp merging control method includes:

[0057] S101. The point where the center line of the main lane and the center line of the ramp intersect is set as the ramp merging point. Detection lines are set on both the main lane and the ramp, and the detection lines and the ramp merging point are used as the control area.

[0058] S102. Based on the distance and speed of vehicles on the mainline lane and the ramp to the merging point of the ramp at the previous moment, as well as the time step, determine whether the vehicles on the mainline lane and the ramp have passed the merging point of the ramp at the current moment.

[0059] S103. If it is determined that no vehicles on the main lane and the ramp have reached the merging point at the current moment, the initial merging speed is obtained, and the merging speed at the current moment is determined based on the initial merging speed and the speed of the vehicle that reached the merging point the fastest at the previous moment.

[0060] S104. If it is determined that some vehicles on the main lane and the ramp have reached the ramp merging point at the current moment, the merging speed at the current moment is determined based on the speed of the vehicle that arrived at the ramp merging point fastest at the previous moment.

[0061] S105. Based on the merging speed at the current moment, determine the shortest time for the vehicles that have not yet reached the merging point to reach the merging point.

[0062] S106. Determine the driving speed of the vehicle that has not reached the ramp merging point at the current time and the distance between the vehicle and the ramp merging point based on the shortest time, and send the driving speed to the corresponding vehicle to control the corresponding vehicle to drive at the driving speed.

[0063] Compared with existing technologies, this embodiment provides an autonomous vehicle ramp merging control method. First, the point where the centerline of the main lane intersects with the centerline of the ramp is designated as the ramp merging point. Detection lines are set on both the main lane and the ramp. The detection lines and the ramp merging point form the control area. Based on the distance and speed of the vehicle to the merging point at the previous moment and the time step, it is determined whether the vehicle has passed the merging point at the current moment. If none of the vehicles have reached the merging point, the merging speed at the current moment is determined based on the initial merging speed and the speed of the vehicle that arrived at the merging point fastest at the previous moment. If some vehicles have reached the merging point, the merging speed at the current moment is determined based on the speed of the vehicle that arrived at the ramp merging point fastest at the previous moment. Finally, based on the merging speed, the shortest time for vehicles that have not yet reached the ramp merging point to reach it is obtained. Based on the shortest time, the vehicle's driving speed and distance to the ramp merging point are determined, and the driving speed is sent to the corresponding vehicle to control its movement. This invention determines the vehicle's speed and distance to the ramp merging point based on the dynamically changing merging speed.

[0064] It should be noted that the vehicles in this invention are all connected autonomous vehicles. The controller can receive the driving information of each vehicle in real time, process the information, and feed it back to each vehicle. The mainline traffic flow and ramp traffic flow are of medium density, and vehicle arrivals are random. Figure 2 The diagram shown is a schematic of lane types.

[0065] To further illustrate the technical content of this invention, it can also be understood as the following steps:

[0066] Step 1: In the set control area, at the initial time t0, a merging speed is preset, namely the initial merging speed. With Δt as the time step, at the initial time t0, the shortest time for vehicles on the main lane and the ramp to reach the ramp merging point is determined based on the initial merging speed.

[0067] Step 2: Control the speed of vehicles on the main lane and on the ramp, as well as the distance between the vehicles and the ramp merging point, based on the shortest time it takes for vehicles to reach the merging point.

[0068] Step 3: At the next time point, from time t0 to time t0+Δt, determine whether vehicles on the mainline lane and the ramp have passed the ramp merging point between time t0 and time t0+Δt. Vehicles that have passed the ramp merging point will no longer have their speed and distance from the ramp merging point controlled. Vehicles that have not passed the ramp merging point will proceed to Step 4:

[0069] Step 4: Based on the merging point speed at the current time, i.e., t0+Δt, determine the fastest time for vehicles that have not yet reached the merging point to arrive at the merging point. Then control the speed of vehicles that have not yet reached the merging point, as well as the distance between vehicles that have not yet reached the merging point and the merging point. That is, repeat the logic of Step 1, Step 2 and Step 3 until all vehicles that have not yet reached the merging point reach the merging point.

[0070] In some embodiments of the present invention, the vehicles on the mainline lane and the ramp satisfy the following conditions:

[0071] The speed of vehicles on the main lane shall not exceed the preset main lane limit;

[0072] The speed of vehicles on the ramp shall not exceed the preset ramp speed limit;

[0073] The acceleration of vehicles on the main lane and the ramp shall not exceed the preset acceleration;

[0074] The deceleration of vehicles on the main lane and the ramp is not less than the preset deceleration.

[0075] In some embodiments of the present invention, determining the speed of the vehicle that has not yet reached the merging point and its distance from the merging point based on the shortest time includes:

[0076] The vehicle acquisition system arbitrarily selects the first and second adjacent vehicles on the main road, and arbitrarily selects the third and fourth adjacent vehicles on the ramp. The system sets the first vehicle to arrive at the ramp merging point before the second vehicle, and the system sets the third vehicle to arrive at the ramp merging point before the fourth vehicle.

[0077] Get the current merging speed;

[0078] The time when the first vehicle, the second vehicle, the third vehicle, and the fourth vehicle can arrive at the ramp merging point is determined based on the current merging speed.

[0079] Using the centerline of the main lane as a virtual axis, the third vehicle and the fourth vehicle are mapped onto the main lane to obtain virtual third vehicle and virtual fourth vehicle;

[0080] Based on the fastest arrival time at the ramp merging point, the distances of the first vehicle, the second vehicle, the virtual third vehicle, and the virtual fourth vehicle to the ramp merging point are determined.

[0081] It should be noted that this invention controls vehicle speed and distance from the merging point by measuring the speed at the ramp merging point. In a specific embodiment of this invention, the vehicle acquisition system arbitrarily selects a first and second adjacent vehicle on the main road, and arbitrarily selects a third and fourth adjacent vehicle on the ramp. The system sets the first vehicle to arrive at the merging point before the second vehicle, and the third vehicle to arrive before the fourth vehicle. The merging speed at the current moment is V. a (t k If the first, second, third, and fourth vehicles arrive at the merging point at the fastest possible times, then the expressions for these times are as follows:

[0082]

[0083]

[0084]

[0085]

[0086] At this point, to prevent vehicles from overtaking, the following constraints are added:

[0087]

[0088] V mi ≤V M V m(i+1) ≤V M V rj ≤V R V r(j+1) ≤V R

[0089] In the formula, This indicates the earliest time it takes for the first vehicle to arrive at the merging point of the ramp. This indicates the earliest time the second vehicle can reach the merging point of the ramp. This indicates the earliest time that the third vehicle can reach the merging point of the ramp. Indicates the fastest time for the fourth vehicle to reach the merging point of the ramp; V M V represents the maximum speed of vehicles traveling on the main lane; R V represents the maximum speed of vehicles traveling on the ramp. mi V represents the initial velocity of the first vehicle. m(i+1) V represents the initial velocity of the second vehicle. rj V represents the initial velocity of the second vehicle. r(j+1) Indicates the initial speed of the fourth vehicle; x i x represents the distance from the first vehicle to the merging point of the ramp at the current moment; i+1 x represents the distance from the second vehicle to the merging point of the ramp at the current moment;j Indicates the distance from the third vehicle to the merging point of the ramp at the current moment; x j+1 This indicates the distance from the fourth vehicle to the merging point of the ramp at the current moment; 'a' represents the maximum acceleration of vehicles traveling on the main lane and ramp.

[0090] When the first vehicle arrives at the merging point fastest, the vehicles on the merging point are mapped to the center line of the main lane based on their travel time. The vehicles are then arranged in the order of their arrival at the merging point, with three possible scenarios. In some embodiments of the present invention, determining the distances of the first vehicle, the second vehicle, the virtual third vehicle, and the virtual fourth vehicle to the merging point based on their fastest arrival times, and considering that the fastest arrival time of the first vehicle at the merging point is less than the fastest arrival time of the third vehicle, the order of arrival times of the first vehicle, the second vehicle, the virtual third vehicle, and the virtual fourth vehicle at the merging point includes:

[0091] The first vehicle, the second vehicle, the third vehicle and the fourth vehicle, or the first vehicle, the third vehicle, the second vehicle and the fourth vehicle, or the first vehicle, the third vehicle, the fourth vehicle and the second vehicle.

[0092] When the third vehicle arrives at the merging point fastest, the vehicles on the merging point are mapped to the center line of the main lane based on their travel time. The vehicles are then arranged in the order of their arrival at the merging point, with three possible scenarios. In some embodiments of the present invention, determining the distances of the first vehicle, the second vehicle, the virtual third vehicle, and the virtual fourth vehicle to the merging point based on their fastest arrival times, and considering that the fastest arrival time of the first vehicle at the merging point is greater than the fastest arrival time of the third vehicle, the order of arrival times of the first vehicle, the second vehicle, the virtual third vehicle, and the virtual fourth vehicle at the merging point includes:

[0093] The third vehicle, the fourth vehicle, the first vehicle and the second vehicle, or the third vehicle, the first vehicle, the fourth vehicle and the second vehicle, or the third vehicle, the first vehicle, the second vehicle and the fourth vehicle.

[0094] In some embodiments of the present invention, in a first case, when the first vehicle, the second vehicle, the virtual third vehicle, and the virtual fourth vehicle arrive at the ramp merging point in the order of the first vehicle, the second vehicle, the third vehicle, and the fourth vehicle, the distances of the second vehicle, the third vehicle, and the fourth vehicle from the ramp merging point respectively satisfy the following conditions:

[0095] The distance between the second vehicle and the merging point of the ramp is:

[0096]

[0097] The distance between the third vehicle and the merging point of the ramp is:

[0098]

[0099] The distance between the fourth vehicle and the merging point of the ramp is:

[0100]

[0101] In the formula, x i+1 x represents the distance from the second vehicle to the merging point of the ramp at time k; j x represents the distance from the third vehicle at time k to the merging point of the ramp; j+1 The distance from the fourth vehicle to the merging point of the ramp at time k is represented by l0; l0 represents the safe distance between vehicles; x0 represents the additional reaction distance required when vehicles merge on the ramp; ∑ i＝a l i Represents the length of vehicle a; ∑ i＝a，b l i This represents the sum of the lengths of the second vehicle and the first vehicle; ∑ i＝a，b，c l i This represents the sum of the lengths of the first vehicle, the second vehicle, and the third vehicle; Indicates the process The distance between the second vehicle and the merging point of the ramp; Indicates the process The distance between the third vehicle and the merging point of the ramp is mentioned in the time frame; Indicates the process The time refers to the distance between the fourth vehicle and the merging point of the ramp.

[0102] In a specific embodiment of the present invention, in the second scenario, when the first vehicle, the second vehicle, the virtual third vehicle, and the virtual fourth vehicle arrive at the ramp merging point in the order of the first vehicle, the third vehicle, the second vehicle, and the fourth vehicle, the distances of the second vehicle, the third vehicle, and the fourth vehicle from the ramp merging point respectively satisfy the following conditions:

[0103] The distance between the third vehicle and the merging point of the ramp is:

[0104]

[0105] The distance between the second vehicle and the merging point of the ramp is:

[0106]

[0107] The distance between the fourth vehicle and the merging point of the ramp is:

[0108]

[0109] In a specific embodiment of the present invention, in a third scenario, when the first vehicle, the second vehicle, the virtual third vehicle, and the virtual fourth vehicle arrive at the ramp merging point in the order of the first vehicle, the third vehicle, the fourth vehicle, and the second vehicle, the distances of the second vehicle, the third vehicle, and the fourth vehicle from the ramp merging point respectively satisfy the following conditions:

[0110] The distance between the third vehicle and the merging point of the ramp is:

[0111]

[0112] The distance between the fourth vehicle and the merging point of the ramp is:

[0113]

[0114] The distance between the second vehicle and the merging point of the ramp is:

[0115]

[0116] In a specific embodiment of the present invention, in the fourth case, when the first vehicle, the second vehicle, the virtual third vehicle, and the virtual fourth vehicle arrive at the ramp merging point in the order of the third vehicle, the fourth vehicle, the first vehicle, and the second vehicle, the distances of the second vehicle, the first vehicle, and the fourth vehicle from the ramp merging point respectively satisfy the following conditions:

[0117] The distance between the fourth vehicle and the merging point of the ramp is:

[0118]

[0119] The distance between the first vehicle and the merging point of the ramp is:

[0120]

[0121] The distance between the second vehicle and the merging point of the ramp is:

[0122]

[0123] In a specific embodiment of the present invention, in the fifth case, when the first vehicle, the second vehicle, the virtual third vehicle, and the virtual fourth vehicle arrive at the ramp merging point in the order of the third vehicle, the first vehicle, the fourth vehicle, and the second vehicle, the distances of the second vehicle, the first vehicle, and the fourth vehicle from the ramp merging point respectively satisfy the following conditions:

[0124] The distance between the first vehicle and the merging point of the ramp is:

[0125]

[0126] The distance between the fourth vehicle and the merging point of the ramp is:

[0127]

[0128] The distance between the second vehicle and the merging point of the ramp is:

[0129]

[0130] In a specific embodiment of the present invention, in the sixth case, when the first vehicle, the second vehicle, the virtual third vehicle, and the virtual fourth vehicle arrive at the ramp merging point in the order of the third vehicle, the first vehicle, the second vehicle, and the fourth vehicle, the distances of the second vehicle, the first vehicle, and the fourth vehicle from the ramp merging point respectively satisfy the following conditions:

[0131] The distance between the first vehicle and the merging point of the ramp is:

[0132]

[0133] The distance between the second vehicle and the merging point of the ramp is:

[0134]

[0135] The distance between the fourth vehicle and the merging point of the ramp is:

[0136]

[0137] In some embodiments of the present invention, the distance and speed of vehicles on the mainline lane and the ramp to the merging point of the ramp at the previous moment, as well as the time step, are used to determine whether the vehicles on the mainline lane and the ramp have passed the merging point of the ramp at the current moment. If it is determined that none of the vehicles on the mainline lane and the ramp have reached the merging point of the ramp at the current moment, the initial merging speed is obtained. Based on the initial merging speed and the speed of the vehicle that arrived at the merging point fastest at the previous moment, the merging speed at the current moment is determined. The formula for calculating the merging speed at the current moment is:

[0138] V a (t k )=(1-α(t k ))V a (t0)+α(t k V p (t k-1 )t0≤t k ≤t1

[0139] In the formula, V a (t k ) represents the merging velocity at time k; V a (t0) represents the initial merging velocity; V p (t k-1 ) represents the speed at which the merging point of the ramp is reached at time k-1; α(t) k () represents the virtual queuing parameters. in The vehicle that arrives at the merging point of the ramp the fastest between time s and time k, Δt represents the time step, l0 represents the safe distance between the main lane and the vehicle after merging with the ramp, t0 represents the initial time, and t1 represents the time when the last vehicle passes through the merging point of the ramp.

[0140] In a specific embodiment of the present invention, the distance and speed of vehicles on the mainline lane and the ramp to the merging point of the ramp at the previous moment, as well as the time step, are used to determine whether the vehicles on the mainline lane and the ramp have passed the merging point of the ramp at the current moment. If it is determined that some vehicles on the mainline lane and the ramp have reached the merging point of the ramp at the current moment, the merging speed at the current moment is determined based on the speed of the vehicle that arrived at the merging point of the ramp the fastest at the previous moment. The formula for calculating the merging speed at the current moment is as follows:

[0141] V a (t k ) = V p (t k-1),t1≤t k ≤t2

[0142] In the formula, V a (t k ) represents the merging velocity at time k; t1 represents the time when the last vehicle passed through the merging point of the ramp; V p (t k-1 ) represents the speed at which the ramp merges fastest at time k-1.

[0143] To better implement the autonomous vehicle ramp merging control method in this embodiment of the invention, based on the autonomous vehicle ramp merging control method, correspondingly, as follows: Figure 3 As shown, this embodiment of the invention also provides an autonomous vehicle ramp merging control device. An autonomous vehicle ramp merging control device 300 includes:

[0144] The control area acquisition unit 301 is used to set the point where the center line of the main lane and the center line of the ramp intersect as the ramp merging point, and to set detection lines in both the main lane and the ramp, and to use the detection lines and the ramp merging point as the control area.

[0145] The vehicle merging point determination unit 302 is used to determine whether the vehicles on the main line lane and the ramp have passed the ramp merging point at the current moment based on the distance and speed of the vehicles on the main line lane and the ramp to the ramp merging point at the previous moment and the time step.

[0146] The vehicle merging speed acquisition unit 303 is used to acquire the initial merging speed when it is determined that no vehicles on the main lane and the ramp have reached the ramp merging point at the current moment, and to determine the merging speed at the current moment based on the initial merging speed and the speed of the vehicle that reached the merging point fastest at the previous moment.

[0147] The vehicle partial merging speed acquisition unit 304 is used to determine the merging speed at the current moment based on the speed of the vehicle that arrived at the merging point fastest at the previous moment, when it is determined that the vehicles on the main lane and the ramp have partially arrived at the merging point of the ramp at the current moment.

[0148] The shortest time to reach the merging point acquisition unit 305 is used to determine the shortest time for vehicles that have not yet reached the merging point to reach the merging point of the ramp based on the merging speed at the current moment.

[0149] The vehicle information control unit 306 is used to determine the driving speed of the vehicle that has not reached the ramp merging point at the current time and the distance between the vehicle and the ramp merging point based on the shortest time, and send the driving speed to the corresponding vehicle to control the corresponding vehicle to drive at the driving speed.

[0150] The autonomous vehicle ramp merging control device 300 provided in the above embodiments can realize the technical solution described in the above embodiments of the autonomous vehicle ramp merging control method. The specific implementation principle of each module or unit can be found in the corresponding content in the above embodiments of the autonomous vehicle ramp merging control method, which will not be repeated here.

[0151] like Figure 4 As shown, the present invention also provides an electronic device 400. The electronic device 400 includes a processor 401, a memory 402, and a display 403. Figure 4 Only some components of the electronic device 400 are shown, but it should be understood that it is not required to implement all the components shown, and more or fewer components may be implemented instead.

[0152] In some embodiments, processor 401 may be a central processing unit (CPU), microprocessor, or other data processing chip, used to run program code stored in memory 402 or process data, such as an autonomous vehicle ramp merging control method in this invention.

[0153] In some embodiments, processor 401 may be a single server or a group of servers. The server group may be centralized or distributed. In some embodiments, processor 401 may be local or remote. In some embodiments, processor 401 may be implemented on a cloud platform. In one embodiment, the cloud platform may include a private cloud, public cloud, hybrid cloud, community cloud, distributed cloud, intranet, multi-cloud, etc., or any combination thereof.

[0154] In some embodiments, memory 402 may be an internal storage unit of electronic device 400, such as a hard disk or memory of electronic device 400. In other embodiments, memory 402 may also be an external storage device of electronic device 400, such as a plug-in hard disk, smart media card (SMC), secure digital (SD) card, flash card, etc. equipped on electronic device 400.

[0155] Furthermore, the memory 403 may include both internal storage units of the electronic device 400 and external storage devices. The memory 402 is used to store application software and various types of data installed on the electronic device 400.

[0156] In some embodiments, display 403 may be an LED display, a liquid crystal display, a touch-sensitive liquid crystal display, or an OLED (Organic Light-Emitting Diode) touchscreen. Display 403 is used to display information from electronic device 400 and to display a visual user interface. Components 401-403 of electronic device 400 communicate with each other via a system bus.

[0157] In one embodiment, when processor 401 executes an autonomous vehicle ramp merging control program stored in memory 402, the following steps can be implemented:

[0158] The point where the center line of the main lane and the center line of the ramp intersect is set as the ramp merging point. Detection lines are set on both the main lane and the ramp, and the detection lines and the ramp merging point are used as the control area.

[0159] Based on the distance and speed of vehicles on the mainline lane and the ramp to the merging point of the ramp at the previous moment, as well as the time step, determine whether the vehicles on the mainline lane and the ramp have passed the merging point of the ramp at the current moment.

[0160] If it is determined that no vehicles on the main lane and the ramp have reached the merging point at the current moment, the initial merging speed is obtained, and the merging speed at the current moment is determined based on the initial merging speed and the speed of the vehicle that reached the merging point the fastest at the previous moment.

[0161] If it is determined that some vehicles on the main lane and ramp have reached the ramp merging point at the current moment, the merging speed at the current moment is determined based on the speed of the vehicle that arrived at the ramp merging point fastest at the previous moment.

[0162] Based on the merging speed at the current moment, determine the shortest time for the vehicles that have not yet reached the merging point to reach the merging point.

[0163] The driving speed of the vehicle that has not reached the merging point of the ramp at the current moment is determined based on the shortest time, as well as the distance between the vehicle and the merging point of the ramp. The driving speed is then sent to the corresponding vehicle to control the corresponding vehicle to drive at the driving speed.

[0164] It should be understood that when the processor 401 executes an autonomous vehicle ramp merging control program in the memory 402, in addition to the functions mentioned above, it can also perform other functions, as detailed in the description of the corresponding method embodiments above.

[0165] Furthermore, the embodiments of the present invention do not specifically limit the type of electronic device 400 mentioned. Electronic device 400 can be a mobile phone, tablet computer, personal digital assistant (PDA), wearable device, laptop computer, or other portable electronic device. Exemplary embodiments of portable electronic devices include, but are not limited to, portable electronic devices running iOS, Android, Microsoft, or other operating systems. The aforementioned portable electronic device can also be other portable electronic devices, such as a laptop computer with a touch-sensitive surface (e.g., a touch panel). It should also be understood that in some other embodiments of the present invention, electronic device 400 may not be a portable electronic device, but rather a desktop computer with a touch-sensitive surface (e.g., a touch panel).

[0166] Those skilled in the art will understand that all or part of the processes of the methods described in the above embodiments can be implemented by a computer program instructing related hardware, and the program can be stored in a computer-readable storage medium. The computer-readable storage medium may be a disk, optical disk, read-only memory, or random access memory, etc.

[0167] The above description is only a preferred embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any changes or substitutions that can be easily conceived by those skilled in the art within the scope of the technology disclosed in the present invention should be included within the scope of protection of the present invention.

Claims

1. A method for controlling ramp merging of autonomous vehicles, characterized in that, include: The point where the center line of the main lane and the center line of the ramp intersect is set as the ramp merging point. Detection lines are set on both the main lane and the ramp, and the area between the detection lines and the ramp merging point is the control zone. Based on the distance and speed of vehicles on the mainline lane and the ramp to the merging point of the ramp at the previous moment, as well as the time step, determine whether the vehicles on the mainline lane and the ramp have passed the merging point of the ramp at the current moment. If it is determined that no vehicles on the main lane and the ramp have reached the merging point at the current moment, the initial merging speed is obtained, and the merging speed at the current moment is determined based on the initial merging speed and the speed of the vehicle that reached the merging point the fastest at the previous moment. If it is determined that some vehicles on the main lane and ramp have reached the ramp merging point at the current moment, the merging speed at the current moment is determined based on the speed of the vehicle that arrived at the ramp merging point fastest at the previous moment. Based on the merging speed at the current moment, determine the shortest time for vehicles that have not yet reached the merging point to reach the merging point. The driving speed of vehicles that have not yet reached the merging point of the ramp is determined based on the shortest time, as well as the distance between the vehicles and the merging point. The driving speed is then sent to the corresponding vehicles to control them to drive at the specified speed.

2. The method for controlling ramp merging of an automated driving vehicle according to claim 1, characterized in that, Vehicles on the mainline lane and the ramp meet the following conditions: The speed of vehicles on the main lane shall not exceed the preset main lane speed limit; The speed of vehicles on the ramp shall not exceed the preset ramp speed limit; The acceleration of vehicles on the main lane and the ramp shall not exceed the preset acceleration; The deceleration of vehicles on the main lane and the ramp is not less than the preset deceleration.

3. The method for controlling ramp merging of an automated driving vehicle according to claim 1, characterized in that, Determining the speed of vehicles that have not yet reached the merging point of the ramp and their distance from the merging point based on the shortest time includes: The vehicle acquisition system arbitrarily selects the first and second adjacent vehicles on the main road, and arbitrarily selects the third and fourth adjacent vehicles on the ramp. The system sets the first vehicle to arrive at the ramp merging point before the second vehicle, and the system sets the third vehicle to arrive at the ramp merging point before the fourth vehicle. Get the current merging speed; The time when the first vehicle, the second vehicle, the third vehicle, and the fourth vehicle can arrive at the ramp merging point is determined based on the current merging speed. Using the centerline of the main lane as a virtual axis, the third vehicle and the fourth vehicle are mapped onto the main lane to obtain virtual third vehicle and virtual fourth vehicle; Based on the fastest arrival time at the ramp merging point, the distances of the first vehicle, the second vehicle, the virtual third vehicle, and the virtual fourth vehicle to the ramp merging point are determined.

4. The method for controlling ramp merging of an automated driving vehicle according to claim 3, characterized in that, The step of determining the distances of the first vehicle, the second vehicle, the virtual third vehicle, and the virtual fourth vehicle to the ramp merging point based on their fastest arrival times is defined. If the fastest arrival time of the first vehicle at the ramp merging point is less than the fastest arrival time of the virtual third vehicle, the order in which the first vehicle, the second vehicle, the virtual third vehicle, and the virtual fourth vehicle arrive at the ramp merging point includes: The first vehicle, the second vehicle, the virtual third vehicle, and the virtual fourth vehicle, or the first vehicle, the virtual third vehicle, the second vehicle, and the virtual fourth vehicle, or the first vehicle, the virtual third vehicle, the virtual fourth vehicle, and the second vehicle.

5. The method for controlling ramp merging of an automated driving vehicle according to claim 3, characterized in that, The step of determining the distances of the first vehicle, the second vehicle, the virtual third vehicle, and the virtual fourth vehicle to the ramp merging point based on their fastest arrival times is defined. If the fastest arrival time of the first vehicle at the ramp merging point is greater than the fastest arrival time of the virtual third vehicle, the order in which the first vehicle, the second vehicle, the virtual third vehicle, and the virtual fourth vehicle arrive at the ramp merging point includes: The virtual third vehicle, the virtual fourth vehicle, the first vehicle and the second vehicle, or the virtual third vehicle, the first vehicle, the virtual fourth vehicle and the second vehicle, or the virtual third vehicle, the first vehicle, the second vehicle and the virtual fourth vehicle.

6. The method for controlling ramp merging of an automated driving vehicle according to claim 4, characterized in that, When the first vehicle, the second vehicle, the virtual third vehicle, and the virtual fourth vehicle arrive at the ramp merging point in the following order: first vehicle, second vehicle, virtual third vehicle, and virtual fourth vehicle, and the distances of the second vehicle, the virtual third vehicle, and the virtual fourth vehicle from the ramp merging point respectively satisfy the following conditions: The distance between the second vehicle and the merging point of the ramp is: The distance between the virtual third vehicle and the ramp merging point is: The distance between the virtual fourth vehicle and the ramp merging point is: In the formula, This represents the distance at time k from the second vehicle to the merging point of the ramp; This represents the distance at time k from the virtual third vehicle to the ramp merging point. This represents the distance at time k from the virtual fourth vehicle to the merging point of the ramp. Indicates the safe distance between vehicles; This indicates the additional reaction distance required when vehicles merge on the ramp; Indicates the length of the first vehicle; This represents the sum of the lengths of the second vehicle and the first vehicle; This represents the sum of the lengths of the first vehicle, the second vehicle, and the virtual third vehicle; Indicates the process The distance between the second vehicle and the merging point of the ramp; Indicates the process The distance between the virtual third vehicle and the merging point of the ramp, as described in the time frame; Indicates the process The distance between the virtual fourth vehicle and the merging point of the ramp.

7. The method for controlling ramp merging of an automated driving vehicle according to claim 1, characterized in that, When it is determined that none of the vehicles on the mainline lanes and ramps have reached the merging point at the current moment, the initial merging speed is obtained. Based on the initial merging speed and the speed of the vehicle that arrived at the merging point fastest in the previous moment, the merging speed at the current moment is determined. The formula for calculating the merging speed at the current moment is as follows: In the formula, This represents the merging velocity at time k; Indicates the initial merging velocity; This represents the speed of the vehicle that reaches the merging point of the ramp at time k-1. Indicates virtual queuing parameters. ,in This represents the vehicle that arrives at the merging point of the ramp fastest between time s and time k. Indicates the time step. This indicates the safe distance between vehicles after the mainline lane merges with the ramp; Indicates the initial time; This indicates the time when the last vehicle passed through the merging point of the ramp.

8. A ramp merging control device for autonomous vehicles, characterized in that, include: The control zone acquisition unit is used to set the point where the center line of the main lane and the center line of the ramp intersect as the ramp merging point, and to set detection lines in both the main lane and the ramp, and to set the area between the detection lines and the ramp merging point as the control zone. The vehicle merging point determination unit is used to determine whether the vehicles on the mainline lane and the ramp have passed the ramp merging point at the current moment based on the distance and speed of the vehicles on the mainline lane and the ramp to the ramp merging point at the previous moment and the time step. The vehicle merging speed acquisition unit is used to acquire the initial merging speed when it is determined that no vehicles on the mainline lane and the ramp have reached the ramp merging point at the current moment, and to determine the merging speed at the current moment based on the initial merging speed and the speed of the vehicle that reached the merging point fastest at the previous moment. The vehicle partial merging speed acquisition unit is used to determine the merging speed at the current moment based on the speed of the vehicle that arrived at the merging point fastest at the previous moment, when it is determined that some vehicles on the main lane and the ramp have arrived at the merging point of the ramp at the current moment. The unit for obtaining the shortest time to reach the merging point is used to determine the shortest time for vehicles that have not yet reached the merging point to reach the merging point of the ramp based on the merging speed at the current moment. The vehicle information control unit is used to determine the current speed of the vehicle that has not reached the ramp merging point and the distance between the vehicle and the ramp merging point based on the shortest time, and send the speed to the corresponding vehicle to control the corresponding vehicle to drive at the speed.

9. An electronic device, characterized in that, Including memory and processor, among which, The memory is used to store programs; The processor, coupled to the memory, is used to execute the program stored in the memory to implement the steps in the autonomous vehicle ramp merging control method as described in any one of claims 1 to 7.

10. A computer-readable storage medium, characterized in that, Used to store computer-readable programs or instructions that, when executed by a processor, enable the implementation of the steps in the autonomous vehicle ramp merging control method as described in any one of claims 1 to 7.

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