A cooperative vehicle merging method based on edge computing nodes

Abstract

Embodiments of the present application disclose a kind of based on edge computing node's cooperative vehicle merging method, it is related to edge computing technical field.The method comprises: receiving the merging request of multiple automatic driving vehicles to target lane;Through roadside unit (RSU), the driving information of normal driving vehicle on target lane in its perception range is collected;According to the driving information of driving vehicle on target lane collected by RSU and the driving information of request vehicle for requesting merging target lane, the first merging control instruction corresponding to each request vehicle is determined;Through edge computing node, the first merging control instruction corresponding to each request vehicle is transformed into the second merging control instruction with request vehicle identification;Through RSU, the second merging control instruction corresponding to each request vehicle is sent to corresponding request vehicle;Each request vehicle automatically controls itself to merge target lane according to the second merging control instruction received.The present application can control multiple automatic driving vehicles to automatically merge target lane.

Description

Technical Field

[0001] This invention belongs to the field of edge computing technology, and in particular relates to a collaborative vehicle merging method based on edge computing nodes. Background Technology

[0002] The development of vehicle-road cooperative autonomous driving is of great significance for improving transportation efficiency, enhancing traffic safety, alleviating traffic congestion, and improving driving and passenger comfort. However, when autonomous vehicles travel along a planned route, they often encounter situations where they need to change lanes but cannot merge from their current lane into the target lane. If this situation is not handled properly, it can pose a safety hazard to road traffic.

[0003] To avoid such safety hazards, a vehicle-road cooperative lane-changing scheme has been proposed. This scheme involves the roadside unit (RSU) receiving a vehicle's lane-changing request, and then issuing guidance information based on its own information to assist the vehicle in safely changing lanes. However, current vehicle-road cooperative lane-changing schemes only enable the cooperative merging of a single vehicle and cannot effectively control the cooperative merging of multiple vehicles into the target lane. Summary of the Invention

[0004] In view of this, embodiments of the present invention provide a cooperative vehicle merging method based on edge computing nodes to address the problem that existing vehicle-road cooperative lane-changing schemes cannot effectively control the cooperative merging of multiple vehicles into a target lane. The present invention can determine the merging control command corresponding to each requesting vehicle based on the driving information of vehicles normally traveling in the target lane and the driving information of vehicles requesting to merge into the target lane, and send the command to the requesting vehicle via the RSU, thereby achieving automatic merging control of multiple vehicles and ensuring the safety of each vehicle.

[0005] This invention provides a collaborative vehicle merging method based on edge computing nodes, comprising:

[0006] Receive multiple autonomous vehicles' merging requests for a target lane; the merging request includes the requesting vehicle's identifier, the identifier of the target lane to which it is requesting merging, and the requesting vehicle's driving information;

[0007] The roadside unit (RSU) collects driving information of vehicles traveling normally in the target lane within its sensing range;

[0008] Based on the driving information of vehicles normally driving in the target lane collected by the RSU and the driving information of vehicles requesting to merge into the target lane, the first merging control command corresponding to each requesting vehicle is determined.

[0009] The first import control command corresponding to each requesting vehicle is transformed into a second import control command with the requesting vehicle identifier through the edge computing node;

[0010] The RSU sends the second inbound control command corresponding to each requesting vehicle to the corresponding requesting vehicle.

[0011] Each requesting vehicle automatically controls itself to merge into the target lane based on the second merge control command received.

[0012] In an optional embodiment, the first merging control command corresponding to the requesting vehicle includes at least the merging control time for the requesting vehicle to merge into the target lane and the acceleration / deceleration control command.

[0013] In one optional embodiment, the vehicle's driving information includes the vehicle's location information and speed information.

[0014] In an optional embodiment, determining the first merging control command corresponding to each requesting vehicle based on the driving information of vehicles normally traveling in the target lane collected by the RSU and the driving information of requesting vehicles requesting to merge into the target lane includes:

[0015] S31: Based on the location information of each requesting vehicle that requests to merge into the target lane, sort all requesting vehicles according to the front-to-back order of the vehicles in their direction of travel to obtain a requesting vehicle sorting table.

[0016] S32: Based on the position information of normally driving vehicles in the target lane collected by the RSU and the preset standard vehicle length, determine the gaps between adjacent normally driving vehicles in the target lane and the position information of each gap, and record the correspondence between each gap and its position information, occupancy indicator, and the driving information of normally driving vehicles in front of and behind it; wherein, the initial value of the occupancy indicator is not occupied.

[0017] S33: Determine the distance between each requesting vehicle that requests to merge into the target lane and each gap behind the requesting vehicle in the target lane in the direction of the target lane, and sort the gaps in order of increasing distance to obtain the gap sequence corresponding to each requesting vehicle.

[0018] S34: Determine whether the j-th gap in the gap sequence corresponding to the i-th requesting vehicle in the requesting vehicle sorting table is unoccupied; if yes, execute S35, otherwise execute S38; where the initial value of i is 1 and the initial value of j is 1.

[0019] S35: Assign the j-th gap in the gap sequence corresponding to the i-th requesting vehicle in the requesting vehicle sorting table, and modify the occupancy flag of the gap currently assigned to the i-th requesting vehicle to "occupied";

[0020] S36: Based on the position information and speed information of the i-th requesting vehicle, the position information of the gap allocated to the i-th requesting vehicle, and the speed information of the vehicles normally traveling in front of and behind it, determine the merging control time and acceleration / deceleration control command for the i-th requesting vehicle to merge into the target lane.

[0021] S37: Let i = i + 1, j = 1, and determine whether i is greater than N. If yes, end the process; otherwise, return to execute S34. Where N is the total number of vehicles requested in the vehicle request sorting table.

[0022] S38: Let j = j + 1, and determine whether j is greater than M. i If so, send a feedback message indicating that the vehicle cannot merge into the target lane to the i-th requesting vehicle; otherwise, return to execute S34; where M i This represents the total number of gaps in the gap sequence corresponding to the i-th requesting vehicle.

[0023] In an optional embodiment, the step of transforming the first merging control command corresponding to each requesting vehicle into a second merging control command with a requesting vehicle identifier via an edge computing node includes:

[0024] By adding the corresponding request vehicle identifier to the first inbound control command corresponding to each request vehicle through the edge computing node, the third inbound control command corresponding to each request vehicle is obtained.

[0025] By adding control start values ​​to the third incoming control command corresponding to each requesting vehicle through edge computing nodes, the second incoming control command corresponding to each requesting vehicle is obtained.

[0026] In an optional embodiment, the step of adding a corresponding request vehicle identifier to the first merging control command corresponding to each request vehicle via an edge computing node to obtain a third merging control command corresponding to each request vehicle includes:

[0027] By adding the corresponding request vehicle identifier to the first inbound control command corresponding to each request vehicle according to the following first formula by the edge computing node, the third inbound control command corresponding to each request vehicle is obtained.

[0028] The first formula is:

[0029] K 16 =[G 16 < <len(C 16 )+C 16 ]<<2+(len[G 16 ]) 16

[0030] In the first formula, C 16 Indicates the requested vehicle identification number in hexadecimal format; K 16The identifier is C. 16 The request for the third incoming control command corresponding to the vehicle is in hexadecimal format; G 16 The identifier is C. 16 The request is in hexadecimal form of the first incoming control command corresponding to the vehicle; len() indicates the number of bits to retrieve in the parentheses; << indicates left shift; () 16 This indicates that the value within the parentheses will be converted to a hexadecimal number;

[0031] The step of adding a control activation value to the third inbound control command corresponding to each requesting vehicle via an edge computing node to obtain the second inbound control command corresponding to each requesting vehicle includes:

[0032] By adding the control start value to the third import control command corresponding to each requesting vehicle according to the following second formula through the edge computing node, the second import control command corresponding to each requesting vehicle is obtained.

[0033] The second formula is:

[0034]

[0035] In the second formula, D 16 The identifier is C. 16 The request for the second import control command corresponding to the vehicle is in hexadecimal format; C 16 (a) represents hexadecimal data C. 16 The value at the a-th position; [] 10 This indicates that the value within the parentheses is converted to a decimal number; % indicates the remainder.

[0036] In an optional embodiment, each requesting vehicle automatically controls itself to merge into the target lane according to the received second merging control command, including:

[0037] The requesting vehicle calculates the response control value based on the third formula according to the received second incoming control command;

[0038] If the current requesting vehicle determines that the response control value is equal to 1, then it determines the second incoming control instruction received and parses the fourth incoming control instruction corresponding to the current requesting vehicle from the received second incoming control instruction according to the fourth formula.

[0039] The vehicle currently requesting the request should automatically merge into the target lane according to the parsed fourth merge control command;

[0040] If the requesting vehicle determines that the response control value is not equal to 1, it will determine not to respond to the received second import control command.

[0041] The third formula is as follows:

[0042]

[0043] In the third formula, E(C′) 16 ) indicates that the local identifier is C′ 16 The response control value calculated by the requesting vehicle based on the received second incoming control command; D 16 (1) indicates that the local identifier is C′ 16 The current requesting vehicle received the second merging control command D 16 The value in the first position; C′ 16 (a) indicates C′ 16 The value of the a-th digit in the hexadecimal data; a = 1, 2, ..., len(C′) 16 );D 16 {{len[D 16 ]-1}→len[D 16 ]} indicates that the local identifier is C′ 16 The current requesting vehicle received the second merging control command D 16 The middle len[D 16 ]-1 bits to the len[D 16 ] hexadecimal data in position D; 16 {{{D 16 {{len[D 16 ]-1}→len[D 16 ]}} 10 +2}→{len[D 16 ]-2}} indicates that the local identifier is C′ 16 The current requesting vehicle received the second merging control command D 16 The middle of {{D 16 {{len[D 16 ]-1}→len[D 16 ]}} 10 +2} to the len[D]th position 16 ]-2 hexadecimal data; F[] represents a judgment function. If all the expressions in the parentheses are true, the function value is 1. If one or more of the expressions in the parentheses are false, the function value is 0.

[0044] The fourth formula is:

[0045] G′ 16 =D 16 {{1+len[D 16 (1)]}→{{D 16 {{len[D 16 ]-1}→len[D 16 ]}} 10+len[D 16 (1)]}}

[0046] In the fourth formula, G′ 16 The local identifier is C′ 16 The current requesting vehicle receives the second incoming control command D 16 The fourth import control instruction parsed from the data is in hexadecimal format; D 16 {{1+len[D 16 (1)]}→{{D 16 {{len[D 16 ]-1}→len[D 16 ]}} 10 +len[D 16 (1)]}} indicates that the local identifier is C′ 16 The current requesting vehicle received the second merging control command D 16 The first + len[D] 16 (1)] Position to {D} 16 {{len[D 16 ]-1}→len[D 16 ]}} 10 +len[D 16 (1)] The hexadecimal data in the position.

[0047] This invention provides a collaborative vehicle merging method based on edge computing nodes. First, it receives merging requests from multiple autonomous vehicles into a target lane. Next, it obtains the driving information of the target vehicles. Then, based on the driving information of vehicles in the target lane and the driving information of the requesting vehicles, it determines the merging control command corresponding to each requesting vehicle. Finally, each vehicle controls itself to merge into the target lane according to its corresponding merging control command. This achieves automatic, intelligent, and precise control of multi-vehicle collaborative merging into a target lane, effectively improving vehicle traffic efficiency and ensuring vehicle safety. Attached Figure Description

[0048] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. 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 effort.

[0049] Figure 1 This is a flowchart of a collaborative vehicle merging method based on edge computing nodes, provided as an embodiment of the present invention. Detailed Implementation

[0050] The embodiments of the present invention will now be described in detail with reference to the accompanying drawings.

[0051] It should be understood that the described embodiments are merely some, not all, of the embodiments of the present invention. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without inventive effort are within the scope of protection of the present invention.

[0052] Figure 1 This is a flowchart illustrating a collaborative vehicle merging method based on edge computing nodes, provided as an embodiment of the present invention. See also... Figure 1 The method includes the following steps S101-S106:

[0053] S101: Receive merging requests from multiple autonomous vehicles for the target lane.

[0054] The merging request includes the requesting vehicle identifier, the target lane identifier for the merging request, and the driving information of the requesting vehicle.

[0055] S102: Collects driving information of vehicles traveling normally in the target lane within its sensing range through the roadside unit (RSU).

[0056] In this embodiment, the vehicle's driving information includes its position and speed. Based on the driving information of vehicles normally traveling in the target lane and the driving information of vehicles requesting to merge into the target lane, the relative positions of each vehicle can be accurately determined and the changes in the relative positions of each vehicle can be predicted. This facilitates the subsequent acquisition of merging control commands corresponding to each requesting vehicle, namely, merging control time and acceleration / deceleration control commands.

[0057] S103: Based on the driving information of vehicles normally driving in the target lane collected by the RSU and the driving information of vehicles requesting to merge into the target lane, determine the first merging control command corresponding to each requesting vehicle.

[0058] In this embodiment, the first merging control command corresponding to the requesting vehicle includes at least a merging control time for the requesting vehicle to merge into the target lane and an acceleration / deceleration control command. Based on the control command, the requesting vehicle can control the timing of its merging according to the merging control time and use acceleration / deceleration to merge, thus achieving precise control of the vehicle's merging into the target lane.

[0059] S104: Transform the first inbound control command corresponding to each requesting vehicle into a second inbound control command with the requesting vehicle identifier through the edge computing node.

[0060] In this embodiment, the requesting vehicle identifier is written into the first merging control command corresponding to each requesting vehicle to form a second merging control command, which is then sent to the corresponding requesting vehicle. After receiving the second merging control command, the requesting vehicle can determine whether it is the second merging control command corresponding to itself, thereby effectively avoiding the situation where the merging control command is sent incorrectly, resulting in incorrect vehicle control.

[0061] S105: Send the second inbound control command corresponding to each requesting vehicle to the corresponding requesting vehicle via the RSU.

[0062] S106: Each requesting vehicle automatically controls itself to merge into the target lane according to the second merge control command received.

[0063] The beneficial effects of the above technical solution are as follows: The collaborative vehicle merging method based on edge computing nodes provided by the embodiments of the present invention first receives merging requests from multiple autonomous vehicles into the target lane, then obtains the driving information of the target vehicles, and then determines the merging control command corresponding to each requesting vehicle based on the driving information of the vehicles in the target lane and the driving information of the requesting vehicles. Finally, each vehicle controls itself to merge into the target lane according to its corresponding merging control command, realizing automatic, intelligent and precise control of multi-vehicle collaborative merging into the target lane, effectively improving the efficiency of vehicle traffic and ensuring vehicle safety.

[0064] As an optional embodiment, step S103 may include the following steps S31-S38:

[0065] S31: Based on the location information of each requesting vehicle that requests to merge into the target lane, sort all requesting vehicles according to the front-to-back order of the vehicles in their direction of travel to obtain a requesting vehicle sorting table.

[0066] S32: Based on the position information of normally driving vehicles in the target lane collected by the RSU and the preset standard vehicle length, determine the gaps between adjacent normally driving vehicles in the target lane and the position information of each gap, and record the correspondence between each gap and its position information, occupancy indicator, and the driving information of normally driving vehicles in front of and behind it; wherein, the initial value of the occupancy indicator is not occupied.

[0067] In this embodiment, the gap length between two vehicles can be estimated based on their positions in the target lane and a preset standard length. For example, a gap length greater than 1.5 or 2 times the preset standard length is considered a valid gap, and its position information is determined. If the gap length is less than 1.5 or 2 times the preset standard length, it is considered an invalid gap and is not considered. This ensures that the requesting vehicle has enough space to merge, thereby ensuring the safety of all vehicles.

[0068] S33: Determine the distance between each requesting vehicle that requests to merge into the target lane and each gap behind the requesting vehicle in the target lane in the direction of the target lane, and sort the gaps in order of increasing distance to obtain the gap sequence corresponding to each requesting vehicle.

[0069] S34: Determine whether the j-th gap in the gap sequence corresponding to the i-th requesting vehicle in the requesting vehicle sorting table is unoccupied; if yes, execute S35, otherwise execute S38; where the initial value of i is 1 and the initial value of j is 1.

[0070] S35: Assign the j-th gap in the gap sequence corresponding to the i-th requesting vehicle in the requesting vehicle sorting table, and modify the occupancy flag of the gap currently assigned to the i-th requesting vehicle to "occupied";

[0071] S36: Based on the position information and speed information of the i-th requesting vehicle, the position information of the gap allocated to the i-th requesting vehicle, and the speed information of the vehicles normally traveling in front of and behind it, determine the merging control time and acceleration / deceleration control command for the i-th requesting vehicle to merge into the target lane.

[0072] S37: Let i = i + 1, j = 1, and determine whether i is greater than N. If yes, end the process; otherwise, return to execute S34. Where N is the total number of vehicles requested in the vehicle request sorting table.

[0073] S38: Let j = j + 1, and determine whether j is greater than M. i If so, send a feedback message indicating that the vehicle cannot merge into the target lane to the i-th requesting vehicle; otherwise, return to execute S34; where M i This represents the total number of gaps in the gap sequence corresponding to the i-th requesting vehicle.

[0074] The beneficial effects of the above technical solution are as follows: First, the vehicle sorting table is determined according to the front-to-back relationship of the requesting vehicles. The earlier a vehicle is, the higher its sorting position is. Then, the gaps where vehicles can merge are obtained based on the position information of each vehicle in the target lane. Next, the vehicle gaps corresponding to each requesting vehicle are determined one by one according to the order of the sorting table. Finally, each vehicle is controlled to drive into the corresponding vehicle gap, thus realizing the merging control of multiple vehicles. It has the advantage of being easy to implement.

[0075] As an optional embodiment, step S104 may include the following steps S201-S202:

[0076] S201: By adding the corresponding request vehicle identifier to the first inbound control command corresponding to each request vehicle through the edge computing node, the third inbound control command corresponding to each request vehicle is obtained.

[0077] S202: By adding a control start value to the third inbound control command corresponding to each requesting vehicle through the edge computing node, the second inbound control command corresponding to each requesting vehicle is obtained.

[0078] The beneficial effects of the above technical solution are as follows: adding the corresponding vehicle identifier and control start value to the incoming control command, the requesting vehicle can only respond to the incoming control command after the vehicle identifier and control start value are matched, so as to prevent the vehicle from being mistakenly controlled due to the wrong vehicle issued by the incoming control command, and avoid traffic safety accidents.

[0079] As an optional embodiment, step S201 may include: adding a corresponding request vehicle identifier to the first merging control command corresponding to each request vehicle through an edge computing node according to the following first formula, thereby obtaining a third merging control command corresponding to each request vehicle.

[0080] The first formula is:

[0081] K 16 =[G 16 < <len(C 16 )+C 16 ]<<2+(len[G 16 ]) 16 (1)

[0082] In the first formula, C 16 Indicates the requested vehicle identification number in hexadecimal format; K 16 The identifier is C. 16 The request for the third incoming control command corresponding to the vehicle is in hexadecimal format; G 16 The identifier is C. 16 The request is in hexadecimal form of the first incoming control command corresponding to the vehicle; len() indicates the number of bits to retrieve in the parentheses; << indicates left shift; () 16 This indicates that the value within the parentheses will be converted to a hexadecimal number;

[0083] Step S202 may include: adding a control start value to the third inbound control command corresponding to each requesting vehicle through the edge computing node according to the following second formula, so as to obtain the second inbound control command corresponding to each requesting vehicle.

[0084] The second formula is:

[0085]

[0086] In the second formula, D 16 The identifier is C. 16 The request for the second import control command corresponding to the vehicle is in hexadecimal format; C16 (a) represents hexadecimal data C. 16 The value at the a-th position; [] 10 This indicates that the value within the parentheses is converted to a decimal number; % indicates the remainder.

[0087] The beneficial effects of the above technical solution are as follows: by using the first formula (1) to add the corresponding vehicle identifier to the issued import control command, the import control command can be issued in a targeted manner according to the identifier, and it is convenient to trace the problem by adding the vehicle identifier if the import control command is issued incorrectly in the future; then, by using the second formula (2) to add the control start value to the import control command with the corresponding vehicle identifier, it is ensured that the import control command is issued with the correct value, and the system is safe and reliable.

[0088] As an optional embodiment, step S106 may include the following steps S301-S304:

[0089] S301: The currently requesting vehicle calculates the response control value based on the third formula according to the received second incoming control command;

[0090] S302: The current requesting vehicle determines whether the response control value is equal to 1; if yes, execute S303, otherwise execute S305.

[0091] S303: Determine the second incoming control command received and parse the fourth incoming control command corresponding to the current requesting vehicle from the received second incoming control command according to the fourth formula;

[0092] S304: The currently requesting vehicle will automatically merge into the target lane according to the parsed fourth merge control command;

[0093] S305: Determine not to respond to the received second import control command;

[0094] The third formula is as follows:

[0095]

[0096] In the third formula, E(C′) 16 ) indicates that the local identifier is C′ 16 The current requesting vehicle calculates the response control value, E(C′), based on the received second incoming control command. 16 If ) = 1, then the received import control command is determined, E(C′) 16 If ) = 0, then it is determined that the received import control command will not be responded to; D 16 (1) indicates that the local identifier is C′ 16 The current requesting vehicle received the second merging control command D 16The value in the first position; C′ 16 (a) indicates C′ 16 The value of the a-th digit in the hexadecimal data; a = 1, 2, ..., len(C′) 16 );D 16 {{len[D 16 ]-1}→len[D 16 ]} indicates that the local identifier is C′ 16 The current requesting vehicle received the second merging control command D 16 The middle len[D 16 ]-1 bits to the len[D 16 ] hexadecimal data in position D; 16 {{{D 16 {{len[D 16 ]-1}→len[D 16 ]}} 10 +2}→{len[D 16 ]-2}} indicates that the local identifier is C′ 16 The current requesting vehicle received the second merging control command D 16 The middle of {{D 16 {{len[D 16 ]-1}→len[D 16 ]}} 10 +2} to the len[D]th position 16 ]-2 hexadecimal data; F[] represents a judgment function. If all the expressions in the parentheses are true, the function value is 1. If one or more of the expressions in the parentheses are false, the function value is 0.

[0097] The fourth formula is:

[0098] G′ 16 =D 16 {{1+len[D 16 (1)]}→{{D 16 {{len[D 16 ]-1}→len[D 16 ]}} 10 +len[D 16 (1)]}}(4)

[0099] In the fourth formula, G′ 16 The local identifier is C′ 16 The current requesting vehicle receives the second incoming control command D 16 The fourth import control instruction parsed from the data is in hexadecimal format; D 16 {{1+len[D 16 (1)]}→{{D16 {{len[D 16 ]-1}→len[D 16 ]}} 10 +len[D 16 (1)]}} indicates that the local identifier is C′ 16 The current requesting vehicle received the second merging control command D 16 The first + len[D] 16 (1)] Position to {D} 16 {{len[D 16 ]-1}→len[D 16 ]}} 10 +len[D 16 (1)] The hexadecimal data in the position.

[0100] The beneficial effects of the above technical solution are as follows: the third formula (3) is used to control whether the vehicle responds to the received inbound control command, which reflects the overall data security analysis capability of the system; the fourth formula (4) is used to parse the fourth inbound control command from the received second inbound control command, and then control the vehicle to drive according to the fourth inbound control command to complete the inbound work, which effectively improves the intelligence level of the system.

[0101] As can be seen from the above embodiments, the present invention, through real-time calculation by edge computing nodes, can accurately judge road conditions and vehicle-road information, and issue merging control commands to the corresponding vehicles, thereby achieving precise collaborative vehicle merging. The issuance of merging control commands to the corresponding vehicles includes adding the corresponding vehicle's identifier and control activation value to the issued merging control command. Only when the vehicle identifier and control activation value match can the vehicle respond to the command, preventing the command from being issued to the wrong vehicle and causing miscontrol, ensuring high accuracy of vehicle merging, and guaranteeing the driving safety of all vehicles.

[0102] This invention is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the invention. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, generate instructions for implementing the flowchart illustrations and / or block diagrams. Figure 1 One or more processes and / or boxes Figure 1 A means for the method specified in one or more boxes.

[0103] These computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing device to function in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means, which are implemented in a process Figure 1 One or more processes and / or boxes Figure 1 The method specified in one or more boxes.

[0104] These computer program instructions may also be loaded onto a computer or other programmable data processing equipment to cause a series of operational steps to be performed on the computer or other programmable equipment to produce a computer-implemented process, thereby providing instructions that execute on the computer or other programmable equipment for implementing the process. Figure 1 One or more processes and / or boxes Figure 1 The steps of the method specified in one or more boxes.

[0105] Obviously, those skilled in the art can make various modifications and variations to this invention without departing from its spirit and scope. Therefore, if these modifications and variations fall within the scope of the claims and their equivalents, this invention also intends to include these modifications and variations. The above descriptions are merely specific embodiments of this invention, but the scope of protection of this invention is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the scope of the technology disclosed in this invention should be included within the scope of protection of this invention. Therefore, the scope of protection of this invention should be determined by the scope of the claims.

Claims

1. A collaborative vehicle merging method based on edge computing nodes, characterized in that, The method includes: Receive multiple autonomous vehicles' merging requests for a target lane; the merging request includes the requesting vehicle's identifier, the identifier of the target lane to which it is requesting merging, and the requesting vehicle's driving information; The roadside unit (RSU) collects driving information of vehicles traveling normally in the target lane within its sensing range; Based on the driving information of vehicles normally driving in the target lane collected by the RSU and the driving information of vehicles requesting to merge into the target lane, the first merging control command corresponding to each requesting vehicle is determined. The first import control command corresponding to each requesting vehicle is transformed into a second import control command with the requesting vehicle identifier through the edge computing node; The RSU sends the second inbound control command corresponding to each requesting vehicle to the corresponding requesting vehicle. Each requesting vehicle automatically controls itself to merge into the target lane according to the second merging control command received; The first merging control command corresponding to the requesting vehicle includes at least the merging control time for the requesting vehicle to merge into the target lane and the acceleration / deceleration control command. The vehicle's driving information includes its location information and speed information; The step of determining the first merging control command corresponding to each requesting vehicle based on the driving information of vehicles normally traveling in the target lane collected by the RSU and the driving information of vehicles requesting to merge into the target lane includes: S31: Based on the location information of each requesting vehicle that requests to merge into the target lane, sort all requesting vehicles according to the front-to-back order of the vehicles in their direction of travel to obtain a requesting vehicle sorting table. S32: Based on the position information of normally driving vehicles in the target lane collected by the RSU and the preset standard vehicle length, determine the gaps between adjacent normally driving vehicles in the target lane and the position information of each gap, and record the correspondence between each gap and its position information, occupancy indicator, and the driving information of normally driving vehicles in front of and behind it; wherein, the initial value of the occupancy indicator is not occupied. S33: Determine the distance between each requesting vehicle that requests to merge into the target lane and each gap behind the requesting vehicle in the target lane in the direction of the target lane, and sort the gaps in order of increasing distance to obtain the gap sequence corresponding to each requesting vehicle. S34: Determine whether the j-th gap in the gap sequence corresponding to the i-th requesting vehicle in the requesting vehicle sorting table is unoccupied; if yes, execute S35, otherwise execute S38; where the initial value of i is 1 and the initial value of j is 1. S35: Assign the j-th gap in the gap sequence corresponding to the i-th requesting vehicle in the requesting vehicle sorting table, and modify the occupancy flag of the gap currently assigned to the i-th requesting vehicle to "occupied"; S36: Based on the position information and speed information of the i-th requesting vehicle, the position information of the gap allocated to the i-th requesting vehicle, and the speed information of the vehicles normally traveling in front of and behind it, determine the merging control time and acceleration / deceleration control command for the i-th requesting vehicle to merge into the target lane. S37: Let i = i + 1, j = 1, and determine whether i is greater than N. If yes, end the process; otherwise, return to execute S34. Where N is the total number of vehicles requested in the vehicle request sorting table. S38: Let j = j + 1, and determine whether j is greater than M. i If so, send a feedback message indicating that the vehicle cannot merge into the target lane to the i-th requesting vehicle; otherwise, return to execute S34; where M i This represents the total number of gaps in the gap sequence corresponding to the i-th requesting vehicle.

2. The collaborative vehicle merging method based on edge computing nodes as described in claim 1, characterized in that, The process of transforming the first inbound control command corresponding to each requesting vehicle into a second inbound control command with the requesting vehicle identifier via edge computing nodes includes: By adding the corresponding request vehicle identifier to the first inbound control command corresponding to each request vehicle through the edge computing node, the third inbound control command corresponding to each request vehicle is obtained. By adding control start values ​​to the third inbound control command corresponding to each requesting vehicle through edge computing nodes, the second inbound control command corresponding to each requesting vehicle is obtained.

3. The collaborative vehicle merging method based on edge computing nodes as described in claim 2, characterized in that, The step of adding a corresponding request vehicle identifier to the first inbound control command corresponding to each request vehicle via an edge computing node to obtain a third inbound control command corresponding to each request vehicle includes: By adding the corresponding request vehicle identifier to the first inbound control command corresponding to each request vehicle according to the following first formula by the edge computing node, the third inbound control command corresponding to each request vehicle is obtained. The first formula is: K 16 =[G 16 < <len(C 16 )+C 16 ]<<2+(len[G 16 ]) 16 In the first formula, C 16 Indicates the requested vehicle identification number in hexadecimal format; K 16 The identifier is C. 16 The request for the third incoming control command corresponding to the vehicle is in hexadecimal format; G 16 The identifier is C. 16 The request is in hexadecimal form of the first incoming control command corresponding to the vehicle; len() indicates the number of bits to retrieve in the parentheses; << indicates left shift; () 16 This indicates that the value within the parentheses will be converted to a hexadecimal number; The step of adding a control activation value to the third inbound control command corresponding to each requesting vehicle via an edge computing node to obtain the second inbound control command corresponding to each requesting vehicle includes: By adding the control start value to the third import control command corresponding to each requesting vehicle according to the following second formula through the edge computing node, the second import control command corresponding to each requesting vehicle is obtained. The second formula is: In the second formula, D 16 The identifier is C. 16 The request for the second incoming control command corresponding to the vehicle is in hexadecimal format; C 16 (a) represents hexadecimal data C. 16 The value at the a-th position; [] 10 This indicates that the value within the parentheses is converted to a decimal number; % indicates the remainder.

4. The collaborative vehicle merging method based on edge computing nodes as described in claim 3, characterized in that, Each requesting vehicle automatically controls itself to merge into the target lane according to the received second merging control command, including: The requesting vehicle calculates the response control value based on the third formula according to the received second incoming control command; The current requesting vehicle determines whether the response control value is equal to 1; If the current requesting vehicle determines that the response control value is equal to 1, then it determines the second incoming control instruction received and parses the fourth incoming control instruction corresponding to the current requesting vehicle from the received second incoming control instruction according to the fourth formula. The vehicle currently requesting the request should automatically merge into the target lane according to the parsed fourth merge control command; If the requesting vehicle determines that the response control value is not equal to 1, it will determine not to respond to the received second import control command. The third formula is as follows: In the third formula, E(C′) 16 ) indicates that the local identifier is C′ 16 The response control value calculated by the requesting vehicle based on the received second incoming control command; D 16 (1) Indicates that the local identifier is C′ 16 The current requesting vehicle received the second merging control command D 16 The value in the first position; C′ 16 (a) indicates C′ 16 The value of the a-th digit in the hexadecimal data; a = 1, 2, ..., len(C′) 16 );D 16 {{len[D 16 ]-1}→len[D 16 ]} indicates that the local identifier is C′ 16 The current requesting vehicle received the second merging control command D 16 The middle len[D 16 ]-1 bits to the len[D 16 ] hexadecimal data in position D; 16 {{{D 16 {{len[D 16 ]-1}→len[D 16 ]}} 10 +2}→{len[D 16 ]-2}} indicates that the local identifier is C′ 16 The current requesting vehicle received the second merging control command D 16 The middle of {{D 16 {{len[D 16 ]-1}→len[D 16 ]}} 10 +2} to the len[D]th position 16 ]-2 hexadecimal data; F[] represents a judgment function. If all the expressions in the parentheses are true, the function value is 1. If one or more of the expressions in the parentheses are false, the function value is 0. The fourth formula is: G′ 16 =D 16 {{1+len[D 16 (1)]}→{{D 16 {{len[D 16 ]-1}→len[D 16 ]}} 10 +len[D 16 (1)]}} In the fourth formula, G′ 16 The local identifier is C′ 16 The current requesting vehicle receives the second incoming control command D 16 The fourth import control instruction parsed from the data is in hexadecimal format; D 16 {{1+len[D 16 (1)]}→{{D 16 {{len[D 16 ]-1}→len[D 16 ]}} 10 +len[D 16 (1)]}} indicates that the local identifier is C′ 16 The current requesting vehicle received the second merging control command D 16 The first + len[D] 16 (1)] Position to {D} 16 {{len[D 16 ]-1}→len[D 16 ]}} 10 +len[D 16 (1)] The hexadecimal data in the position.

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