Dynamic Planning Method and Device for Intelligent Connected Vehicles

Abstract

This invention discloses a dynamic planning method and apparatus for intelligent connected vehicles, relating to the field of intelligent connected vehicle technology. The method includes: when an intelligent connected vehicle is traveling on a road, calculating the minimum green light speed for the intelligent connected vehicle to pass through the intersection ahead based on the phase and duration of the traffic light signal; if there is a non-intelligent connected vehicle traveling ahead of the intelligent connected vehicle, estimating the current speed of the non-intelligent connected vehicle based on the relative distance between the intelligent connected vehicle and the non-intelligent connected vehicle; if the current speed is greater than or equal to the minimum green light speed, guiding the intelligent connected vehicle to follow behind the non-intelligent connected vehicle based on the minimum green light speed; if the current speed is less than the minimum green light speed, estimating the deceleration of the intelligent connected vehicle; and guiding the intelligent connected vehicle to perform coasting deceleration or braking deceleration based on the deceleration. This application enables dynamic planning for intelligent connected vehicles.

Description

Technical Field

[0001] This invention relates to the field of intelligent connected vehicle technology, and more specifically, to a dynamic planning method and apparatus for intelligent connected vehicles. Background Technology

[0002] Intelligent connectivity is a crucial national development strategy and a key transformation direction for automakers. To improve the smoothness and safety of driving intelligent connected vehicles and to promote the transformation and upgrading of transportation, it is necessary to implement green wave speed guidance for these vehicles.

[0003] Currently, when guiding intelligent connected vehicles to green wave speeds, it is usually assumed that the intelligent connected vehicles are traveling in ideal road conditions. However, in real road environments, there are a large number of non-intelligent connected vehicles. Since these non-intelligent connected vehicles on the road are not subject to unified management, they will negatively impact the green wave speed guidance process for surrounding intelligent connected vehicles, namely, increasing the energy consumption of intelligent connected vehicles and affecting their traffic efficiency. Summary of the Invention

[0004] This invention provides a dynamic planning method and apparatus for intelligent connected vehicles, which mainly takes into full account the negative impact of non-intelligent connected vehicles on the green wave speed guidance process of intelligent connected vehicles. In other words, it can perform dynamic planning for intelligent connected vehicles in different sub-scenarios to reduce the energy consumption of intelligent connected vehicles and improve the traffic efficiency of intelligent connected vehicles.

[0005] According to a first aspect of the present invention, a dynamic planning method for intelligent connected vehicles is provided, comprising:

[0006] When an intelligent connected vehicle is driving on the road, the minimum green light passage speed of the intelligent connected vehicle is calculated based on the phase and duration of the traffic light at the intersection ahead.

[0007] If there is a non-intelligent connected vehicle traveling in front of the intelligent connected vehicle, the current speed of the non-intelligent connected vehicle is estimated based on the relative distance between the intelligent connected vehicle and the non-intelligent connected vehicle.

[0008] If the current driving speed is greater than or equal to the minimum green light speed, then the intelligent connected vehicle is guided to follow the non-intelligent connected vehicle according to the minimum green light speed.

[0009] If the current driving speed is less than the minimum green light speed, then the deceleration of the intelligent connected vehicle is estimated.

[0010] Based on the deceleration rate, the intelligent connected vehicle is guided to perform coasting deceleration or braking deceleration.

[0011] According to a second aspect of the present invention, a dynamic planning device for intelligent connected vehicles is provided, comprising:

[0012] The calculation unit is used to calculate the minimum green light passage speed of the intelligent connected vehicle when it is driving on the road, based on the phase and duration of the traffic light at the intersection ahead.

[0013] The estimation unit is used to estimate the current speed of the non-intelligent connected vehicle based on the relative distance between the intelligent connected vehicle and the non-intelligent connected vehicle if there is a non-intelligent connected vehicle traveling in front of the intelligent connected vehicle.

[0014] A guidance unit is used to guide the intelligent connected vehicle to follow the non-intelligent connected vehicle according to the minimum green light speed if the current driving speed is greater than or equal to the minimum green light speed.

[0015] The estimation unit is further configured to estimate the deceleration of the intelligent connected vehicle if the current driving speed is less than the minimum green light passage speed.

[0016] The guiding unit is also used to guide the intelligent connected vehicle to perform coasting deceleration or braking deceleration based on the deceleration.

[0017] According to a third aspect of the present invention, a computer-readable storage medium is provided, on which a computer program is stored, which, when executed by a processor, performs the following steps:

[0018] When an intelligent connected vehicle is driving on the road, the minimum green light passage speed of the intelligent connected vehicle is calculated based on the phase and duration of the traffic light at the intersection ahead.

[0019] If there is a non-intelligent connected vehicle traveling in front of the intelligent connected vehicle, the current speed of the non-intelligent connected vehicle is estimated based on the relative distance between the intelligent connected vehicle and the non-intelligent connected vehicle.

[0020] If the current driving speed is greater than or equal to the minimum green light speed, then the intelligent connected vehicle is guided to follow the non-intelligent connected vehicle according to the minimum green light speed.

[0021] If the current driving speed is less than the minimum green light speed, then the deceleration of the intelligent connected vehicle is estimated.

[0022] Based on the deceleration rate, the intelligent connected vehicle is guided to perform coasting deceleration or braking deceleration.

[0023] According to a fourth aspect of the present invention, an electronic device is provided, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the program to perform the following steps:

[0024] When an intelligent connected vehicle is driving on the road, the minimum green light passage speed of the intelligent connected vehicle is calculated based on the phase and duration of the traffic light at the intersection ahead.

[0025] If there is a non-intelligent connected vehicle traveling in front of the intelligent connected vehicle, the current speed of the non-intelligent connected vehicle is estimated based on the relative distance between the intelligent connected vehicle and the non-intelligent connected vehicle.

[0026] If the current driving speed is greater than or equal to the minimum green light speed, then the intelligent connected vehicle is guided to follow the non-intelligent connected vehicle according to the minimum green light speed.

[0027] If the current driving speed is less than the minimum green light speed, then the deceleration of the intelligent connected vehicle is estimated.

[0028] Based on the deceleration rate, the intelligent connected vehicle is guided to perform coasting deceleration or braking deceleration.

[0029] The innovative aspects of this invention include:

[0030] 1. One of the innovative aspects of this invention is to adopt different vehicle guidance strategies in different sub-scenarios and to dynamically plan intelligent connected vehicles in order to reduce the negative impact of non-intelligent connected vehicles during green wave speed guidance.

[0031] 2. One of the innovative aspects of this invention is guiding intelligent connected vehicles to coast or brake in specific scenarios to reduce energy consumption and ensure safe passage.

[0032] 3. One of the innovations of this invention is that the maximum speed limit of the road segment is fully considered when calculating the minimum green light speed in order to improve the calculation accuracy of the minimum green light speed.

[0033] This invention provides a dynamic planning method and apparatus for intelligent connected vehicles. Compared with existing technologies, when an intelligent connected vehicle is traveling on a road, it calculates the minimum green light speed for the intelligent connected vehicle to pass through the intersection based on the phase and duration of the traffic light at the intersection ahead. If there is a non-intelligent connected vehicle traveling ahead of the intelligent connected vehicle, it estimates the current speed of the non-intelligent connected vehicle based on the relative distance between the intelligent connected vehicle and the non-intelligent connected vehicle. If the current speed is greater than or equal to the minimum green light speed, it guides the intelligent connected vehicle to follow behind the non-intelligent connected vehicle based on the minimum green light speed. If the current speed is less than the minimum green light speed, it estimates the deceleration of the intelligent connected vehicle. Finally, based on the deceleration, it guides the intelligent connected vehicle to perform coasting deceleration or braking deceleration. Because this invention can dynamically plan intelligent connected vehicles by employing different vehicle guidance strategies in different sub-scenarios, it can reduce the negative impact of non-intelligent connected vehicles during green wave speed guidance. Specifically, when the speed of non-intelligent connected vehicles is greater than or equal to the minimum green light speed, this invention can guide intelligent connected vehicles to follow behind and pass through the intersection when the green light is on, thereby improving the traffic efficiency of intelligent connected vehicles. At the same time, when the speed of non-intelligent connected vehicles is less than the minimum green light speed, this invention can guide intelligent connected vehicles to coast or brake to reduce energy consumption and ensure the traffic safety of intelligent connected vehicles.

[0034] The above description is only an overview of the technical solution of this application. In order to better understand the technical means of this application and to implement it in accordance with the contents of the specification, and to make the above and other objects, features and advantages of this application more obvious and understandable, the following are specific embodiments of this application. Attached Figure Description

[0035] 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.

[0036] Figure 1 This diagram illustrates a flowchart of a dynamic planning method for intelligent connected vehicles provided by an embodiment of the present invention.

[0037] Figure 2 This diagram illustrates the structure of a dynamic planning device for intelligent connected vehicles provided in an embodiment of the present invention.

[0038] Figure 3 This invention provides a schematic diagram of the structure of another intelligent connected vehicle dynamic planning device according to an embodiment of the present invention.

[0039] Figure 4 A schematic diagram of the physical structure of an electronic device provided by an embodiment of the present invention is shown. Detailed Implementation

[0040] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0041] It should be noted that the terms "comprising" and "having," and any variations thereof, in the embodiments and drawings of this invention are intended to cover non-exclusive inclusion. For example, a process, method, system, product, or device that includes a series of steps or units is not limited to the steps or units listed, but may optionally include steps or units not listed, or may optionally include other steps or units inherent to these processes, methods, products, or devices.

[0042] In existing technologies, non-intelligent connected vehicles can negatively impact the green wave speed guidance process, namely by increasing the energy consumption of intelligent connected vehicles and affecting their traffic efficiency.

[0043] To overcome the above-mentioned shortcomings, embodiments of the present invention provide a dynamic planning method for intelligent connected vehicles, such as... Figure 1 As shown, the method includes:

[0044] Step 101: When the intelligent connected vehicle is driving on the road, calculate the minimum green light speed for the intelligent connected vehicle to pass through the intersection ahead based on the phase and duration of the traffic light at the intersection ahead.

[0045] The minimum green light speed is the minimum speed at which a vehicle can pass through the intersection ahead when the light is green.

[0046] The embodiments of this invention are mainly applicable to the dynamic planning of intelligent connected vehicles using different vehicle guidance strategies in different sub-scenarios. The execution subject of the embodiments of this invention is a device or equipment capable of dynamically planning intelligent connected vehicles in different sub-scenarios, which can be deployed in an edge computing unit (MEC), on-board unit (OBU), or in the cloud.

[0047] In this embodiment of the invention, the phase and duration of the traffic lights at the upcoming intersection can be obtained through roadside equipment. By locating the intelligent connected vehicle, the distance between the intelligent connected vehicle and the upcoming intersection can be calculated in real time. Based on the phase and duration of the traffic lights at the upcoming intersection and the distance between the intelligent connected vehicle and the upcoming intersection, the minimum green light passage speed for the intelligent connected vehicle to pass through the upcoming intersection is calculated in real time. The method for this process includes: calculating a first minimum speed for the intelligent connected vehicle to pass through the upcoming intersection in the current traffic light cycle based on the phase and duration of the traffic lights at the upcoming intersection and the distance between the intelligent connected vehicle and the upcoming intersection; if the first minimum speed is less than or equal to the maximum speed limit of the road, then the first minimum speed is determined as the minimum green light passage speed; if the first minimum speed is greater than the maximum speed limit of the road, then calculating a second minimum speed for the intelligent connected vehicle to pass through the upcoming intersection in the next traffic light cycle based on the phase and duration of the traffic lights at the upcoming intersection and the distance between the intelligent connected vehicle and the upcoming intersection, and determining the second minimum speed as the minimum green light passage speed. The specific formula for calculating the first minimum vehicle speed is as follows:

[0048]

[0049] Among them, V min1 Let S be the minimum speed at which the intelligent connected vehicle passes through the intersection ahead during this traffic light cycle, and let t be the distance between the intelligent connected vehicle and the intersection ahead. g t represents the remaining time of the green light. r t represents the remaining time of the red light. G The preset duration for the green light phase. This indicates that we are currently in the green light phase. This indicates that the current situation is in a red light phase.

[0050] To ensure the safe operation of intelligent connected vehicles and prevent them from exceeding speed limits, the maximum speed limit V of the road segment must be considered when guiding their speed. MAX If the first minimum vehicle speed V min1 Less than or equal to the maximum speed limit V of the road section MAX Then the first minimum vehicle speed V min1 The minimum green wave speed is determined based on the first minimum vehicle speed V. min1 Guide intelligent connected vehicles to pass through the intersection ahead in this traffic light cycle; if the first minimum speed V min1 The speed is greater than the maximum speed limit V of the road section. MAXThis means that the intelligent connected vehicle definitely cannot pass through the intersection in the current traffic light cycle, and can only pass through the intersection in the next traffic light cycle. At this time, it is necessary to calculate the second minimum speed of the intelligent connected vehicle to pass through the intersection in the next traffic light cycle. The specific formula is as follows:

[0051]

[0052] Among them, V min2 Let S be the second minimum speed at which the intelligent connected vehicle passes through the intersection ahead in the next traffic light cycle, and let t be the distance between the intelligent connected vehicle and the intersection ahead. g t represents the remaining time of the green light. r t represents the remaining time of the red light. G t is the preset duration of the green light phase. R The preset duration for the red light phase. This indicates that we are currently in the green light phase. This indicates that the current light is red. The second minimum vehicle speed V is calculated using the above formula. min2 Then, the second minimum speed V min2 The minimum green wave speed is determined based on the second minimum vehicle speed V. min2 This guides intelligent connected vehicles to pass through the intersection ahead in the next traffic light cycle.

[0053] Step 102: If there is a non-intelligent connected vehicle traveling in front of the intelligent connected vehicle, the current speed of the non-intelligent connected vehicle is estimated based on the relative distance between the intelligent connected vehicle and the non-intelligent connected vehicle.

[0054] To fully consider the negative impact of non-intelligent connected vehicles on the green wave speed guidance process, this embodiment of the invention employs different vehicle guidance methods for different sub-scenarios to achieve dynamic planning for intelligent connected vehicles. Specifically, when an intelligent connected vehicle is driving, it needs to determine whether there are any vehicles ahead. If there are no vehicles ahead, the intelligent connected vehicle is guided through the intersection directly based on the minimum green wave speed. If there are vehicles ahead, it needs to determine whether the vehicle ahead is an intelligent connected vehicle or a non-intelligent connected vehicle. This determination can be made using a V2V approach. Since intelligent connected vehicles transmit information in real time through their onboard short-range communication devices, if the vehicle ahead is an intelligent connected vehicle, when the currently driving intelligent connected vehicle (the main vehicle) enters the information coverage area of ​​the vehicle ahead, the OBU of the intelligent connected vehicle (the main vehicle) will receive the corresponding information, thereby determining whether the vehicle ahead is an intelligent connected vehicle. In addition, V2I can also be used. Since the information sent out in real time by the short-range communication device of the intelligent connected vehicle is received by the nearby edge cloud facilities and broadcast outward by the roadside equipment, when the intelligent connected vehicle (the main vehicle) enters the corresponding area, it will receive the information broadcast by the roadside equipment, thereby determining whether the vehicle in front is an intelligent connected vehicle.

[0055] Furthermore, if the vehicle ahead is determined to be an intelligent connected vehicle, it will be subject to unified management. That is, each intelligent connected vehicle can smoothly pass through the intersection when the green light is on, based on its own minimum green light speed. Conversely, if the vehicle ahead is determined to be a non-intelligent connected vehicle, it is necessary to estimate the current speed of the non-intelligent connected vehicle in order to segment the scenario based on the speed of the non-intelligent vehicle and adopt different vehicle guidance strategies in different segmented scenarios.

[0056] As an optional implementation method for estimating the current speed of a non-intelligent connected vehicle, the method includes: obtaining the speed of the intelligent connected vehicle at the previous moment; calculating the time difference between the current moment and the previous moment; and calculating the current speed of the non-intelligent connected vehicle based on the speed of the intelligent connected vehicle at the previous moment, the time difference, and the relative distance between the intelligent connected vehicle and the non-intelligent connected vehicle. The specific formula is as follows:

[0057]

[0058] Where VF is the current speed of the non-intelligent connected vehicle, ΔL is the relative distance between the intelligent connected vehicle and the non-intelligent connected vehicle, which can be collected by the sensors of the intelligent connected vehicle, VH is the speed of the intelligent connected vehicle at the previous moment, and Δt is the time difference between the current moment and the previous moment.

[0059] Step 103: If the current driving speed is greater than or equal to the minimum green light speed, then guide the intelligent connected vehicle to follow the non-intelligent connected vehicle according to the minimum green light speed.

[0060] In this embodiment of the invention, if the speed of the non-intelligent connected vehicle ahead is greater than or equal to the calculated minimum green light speed, it means that the intelligent connected vehicle only needs to refer to the minimum green wave speed and continue to follow the non-intelligent connected vehicle ahead in the current lane to pass through the intersection smoothly when the green light is on.

[0061] Step 104: If the current driving speed is less than the minimum green light speed, then estimate the deceleration of the intelligent connected vehicle.

[0062] In this embodiment of the invention, if the speed of the non-intelligent connected vehicle ahead is less than the calculated minimum green light speed, it means that the intelligent connected vehicle will definitely not be able to pass through the intersection during the green light time in the current lane. At this time, it is necessary to prompt the intelligent connected vehicle to decelerate. When the intelligent connected vehicle begins to decelerate, the deceleration of the intelligent connected vehicle can be estimated in real time.

[0063] As an optional implementation method for estimating the deceleration of intelligent connected vehicles, the method includes: when the intelligent connected vehicle begins to decelerate, collecting the deceleration distance of the intelligent connected vehicle at preset time intervals; and estimating the deceleration of the intelligent connected vehicle based on the deceleration distance. The specific formula is as follows:

[0064] a=Δs / Δt

[0065] Where Δs is the deceleration distance of the intelligent connected vehicle, which can be calculated by combining the location coordinates with a high-precision map, Δt is the preset time interval, and a is the deceleration.

[0066] Step 105: Based on the deceleration, guide the intelligent connected vehicle to perform coasting deceleration or braking deceleration.

[0067] In this embodiment of the invention, when guiding a connected vehicle to decelerate, deceleration can be further divided into coasting deceleration and braking deceleration. When the distance is sufficient, the connected vehicle is guided to coast to reduce its energy consumption. Based on this, step 105 specifically includes: calculating, based on the deceleration, a first coasting distance for the connected vehicle to decelerate to the current speed of the non-connected vehicle, and a second coasting distance for the connected vehicle to decelerate to a standstill; and guiding the connected vehicle to coast or brake to decelerate based on the first and second coasting distances.

[0068] Further, the step of calculating the first coasting distance of the intelligent connected vehicle to decelerate to the current speed of the non-intelligent connected vehicle, and the second coasting distance of the intelligent connected vehicle to decelerate to a standstill, based on the deceleration, includes: calculating the first coasting distance of the intelligent connected vehicle to decelerate to the current speed of the non-intelligent connected vehicle based on the deceleration, the current speed of the intelligent connected vehicle, and the current speed of the non-intelligent connected vehicle; and calculating the second coasting distance of the intelligent connected vehicle to decelerate to a standstill based on the deceleration and the current speed of the intelligent connected vehicle.

[0069] Meanwhile, guiding the intelligent connected vehicle to decelerate by coasting or braking based on the first coasting distance and the second coasting distance includes: calculating a safe distance between the intelligent connected vehicle and the non-intelligent connected vehicle based on the relative distance between the intelligent connected vehicle and the non-intelligent connected vehicle; if the first coasting distance is less than the safe distance and the second coasting distance is less than the distance between the intelligent connected vehicle and the intersection ahead, then guiding the intelligent connected vehicle to decelerate by coasting; if the first coasting distance is greater than or equal to the safe distance, or the second coasting distance is greater than or equal to the distance between the intelligent connected vehicle and the intersection ahead, then guiding the intelligent connected vehicle to brake. The specific calculation formulas for the first and second coasting distances are as follows:

[0070]

[0071] LS = VH 2 / 2a

[0072] Wherein, LF is the first coasting distance required for the intelligent connected vehicle to decelerate to the current speed of the non-intelligent connected vehicle, LS is the second coasting distance required for the intelligent connected vehicle to decelerate to a standstill, VH is the current speed of the intelligent connected vehicle, VF is the current speed of the non-intelligent connected vehicle, and a is the deceleration.

[0073] Furthermore, after calculating the first and second coasting distances according to the above formula, it can be determined whether the intelligent connected vehicle meets the conditions for coasting deceleration based on the first and second coasting distances. If the conditions for coasting deceleration are met, the intelligent connected vehicle is guided to coast and decelerate to reduce energy consumption; if the conditions for coasting deceleration are not met, the intelligent connected vehicle is guided to brake and decelerate to ensure the traffic safety of the intelligent connected vehicle. The specific conditions for determining coasting deceleration are as follows:

[0074]

[0075] Where LF is the first coasting distance required for the intelligent connected vehicle to decelerate to the current speed of the non-intelligent connected vehicle, LS is the second coasting distance required for the intelligent connected vehicle to decelerate to a standstill, LF0 is the relative distance between the intelligent connected vehicle and the non-intelligent connected vehicle, and L... safe For safety margin, LF0-L safe LS0 represents the safe distance between intelligent connected vehicles and non-intelligent connected vehicles, while LS0 represents the distance between intelligent connected vehicles and the intersection ahead.

[0076] If the first taxiing distance LF is less than the safety distance LF0-L safe If the second coasting distance LS is less than the distance LS0 between the connected vehicle and the intersection ahead, then the connected vehicle meets the coasting deceleration condition, i.e., true, and the connected vehicle is guided to coast decelerate. Conversely, if the first coasting distance LF is greater than or equal to the safe distance LF0-L, then the connected vehicle meets the coasting deceleration condition. safe If the second coasting distance LS is greater than or equal to the distance LS0 between the intelligent connected vehicle and the intersection ahead, it means that the intelligent connected vehicle does not meet the coasting deceleration conditions, i.e., it is Fasle. In this case, guide the intelligent connected vehicle to brake and decelerate.

[0077] Furthermore, in one optional embodiment of this disclosure, in addition to guiding the intelligent connected vehicle to decelerate, it can also guide the intelligent connected vehicle to change lanes to pass through the intersection ahead during the green light period. Based on this, the method further includes: determining a target lane that can cover the function of the current lane based on the current lane being traveled by the intelligent connected vehicle; determining whether there is a driving conflict between the intelligent connected vehicle and existing vehicles in the target lane when changing lanes, based on the preset lane-changing speed and preset lane-changing time corresponding to the intelligent connected vehicle, and the types of vehicles already in the target lane; if there is no driving conflict, then guiding the intelligent connected vehicle to change lanes. The preset lane-changing speed can be determined based on the current driving speed of the intelligent connected vehicle, for example, if the current driving speed is 50 km / s, the preset lane-changing speed is 60 km / s. Furthermore, the preset lane-changing time can be determined based on the lane-changing time typically required for vehicle travel.

[0078] Specifically, when there are non-intelligent connected vehicles in the target lane, the preset lane-changing speed and preset lane-changing time of the intelligent connected vehicle are multiplied to obtain the lane-changing distance of the intelligent connected vehicle. If the longitudinal distance between the intelligent connected vehicle and the non-intelligent connected vehicle in the target lane is less than this lane-changing distance, it is determined that the intelligent connected vehicle will encounter a driving conflict with the non-intelligent connected vehicle in the target lane when it changes to the target lane. In this case, the intelligent connected vehicle is not guided to change lanes, but is guided to decelerate in the current lane. If the longitudinal distance between the intelligent connected vehicle and the non-intelligent connected vehicle in the target lane is greater than or equal to the lane-changing distance, it is determined that the intelligent connected vehicle will not encounter a driving conflict with the non-intelligent connected vehicle in the target lane when it changes to the target lane. In this case, the intelligent connected vehicle is guided to change lanes to the target lane.

[0079] Furthermore, when there is already a connected vehicle in the target lane, if the connected vehicle in the target lane is in front of the connected vehicle, a first safe distance is obtained by subtracting a preset vehicle safety distance from the longitudinal distance between the connected vehicle and the connected vehicle in the target lane ahead. At the same time, the preset lane-changing speed and preset lane-changing time of the connected vehicle are multiplied to obtain the lane-changing distance of the connected vehicle. If the lane-changing distance is less than the first safe distance, it is determined that the connected vehicle will cause a driving conflict with the connected vehicle in the target lane when changing to the target lane, and the connected vehicle is not guided to change lanes. If the lane-changing distance is greater than or equal to the first safe distance, it is determined that the connected vehicle will not cause a driving conflict with the connected vehicle in the target lane when changing to the target lane.

[0080] Furthermore, if the intelligent connected vehicle in the target lane is located behind the intelligent connected vehicle, a second safe distance is obtained by subtracting a preset vehicle safety distance from the longitudinal distance between the intelligent connected vehicle and the intelligent connected vehicle in the target lane behind it. At the same time, the travel speed of the intelligent connected vehicle in the target lane behind it is multiplied by a preset lane-changing time to obtain the travel distance of the intelligent connected vehicle in the target lane behind it. If this travel distance is less than the second safe distance, it is determined that the intelligent connected vehicle will encounter a driving conflict with the intelligent connected vehicle in the target lane behind it when changing to the target lane, and the intelligent connected vehicle is not guided to change lanes. If the travel distance is greater than or equal to the second safe distance, it is determined that the intelligent connected vehicle will not encounter a driving conflict with the intelligent connected vehicle in the target lane behind it when changing to the target lane, and the intelligent connected vehicle is guided to change lanes.

[0081] Therefore, by planning the driving lanes of intelligent connected vehicles during the speed guidance process, the traffic efficiency of intelligent connected vehicles can be further improved.

[0082] This invention provides a dynamic planning method for intelligent connected vehicles. By employing different vehicle guidance strategies in different sub-scenarios, it dynamically plans intelligent connected vehicles, reducing the negative impact of non-intelligent connected vehicles during green wave speed guidance. Specifically, when the speed of non-intelligent connected vehicles is greater than or equal to the minimum green light speed, this invention guides intelligent connected vehicles to follow behind, enabling them to pass smoothly through the intersection and improving traffic efficiency. Simultaneously, when the speed of non-intelligent connected vehicles is less than the minimum green light speed, this invention guides intelligent connected vehicles to coast or brake, reducing energy consumption and ensuring traffic safety.

[0083] Furthermore, as Figure 1 In specific implementation, embodiments of the present invention provide an intelligent connected vehicle dynamic planning device, such as... Figure 2 As shown, the device includes: a calculation unit 31, a prediction unit 32, and a guidance unit 33.

[0084] The calculation unit 31 can be used to calculate the minimum green light passage speed of the intelligent connected vehicle when it is driving on the road, based on the phase and duration of the traffic light at the intersection ahead.

[0085] The estimation unit 32 can be used to estimate the current speed of a non-intelligent connected vehicle if there is a non-intelligent connected vehicle traveling in front of the intelligent connected vehicle, based on the relative distance between the intelligent connected vehicle and the non-intelligent connected vehicle.

[0086] The guidance unit 33 can be used to guide the intelligent connected vehicle to follow the non-intelligent connected vehicle according to the minimum green light speed if the current driving speed is greater than or equal to the minimum green light speed.

[0087] The estimation unit 32 can also be used to estimate the deceleration of the intelligent connected vehicle if the current driving speed is less than the minimum green light speed.

[0088] The guiding unit 33 can also be used to guide the intelligent connected vehicle to perform coasting deceleration or braking deceleration based on the deceleration.

[0089] In a specific application scenario, the calculation unit 31 can be specifically used to calculate the first minimum speed of the intelligent connected vehicle passing through the intersection in the current traffic light cycle based on the phase and duration of the traffic light at the intersection ahead; if the first minimum speed is less than or equal to the maximum speed limit of the road, then the first minimum speed is determined as the minimum green light speed; if the first minimum speed is greater than the maximum speed limit of the road, then the second minimum speed of the intelligent connected vehicle passing through the intersection in the next traffic light cycle is calculated based on the phase and duration of the traffic light at the intersection ahead, and the second minimum speed is determined as the minimum green light speed.

[0090] In specific application scenarios, the prediction unit 32, such as Figure 3 As shown, it includes: an acquisition module 321 and a first calculation module 322.

[0091] The acquisition module 321 can be used to acquire the driving speed of the intelligent connected vehicle at the previous moment.

[0092] The first calculation module 322 can be used to calculate the time difference between the current time and the previous time.

[0093] The first calculation module 322 can also be used to calculate the current speed of the non-intelligent connected vehicle based on the previous speed of the intelligent connected vehicle, the time difference, and the relative distance between the intelligent connected vehicle and the non-intelligent connected vehicle.

[0094] In specific application scenarios, the prediction unit 32 further includes a prediction module 323.

[0095] The acquisition module 321 can also be used to collect the deceleration distance of the intelligent connected vehicle at preset time intervals when the intelligent connected vehicle begins to decelerate.

[0096] The estimation module 323 can be used to estimate the deceleration of the intelligent connected vehicle based on the deceleration distance.

[0097] In a specific application scenario, the guiding unit 33 includes: a second calculation module 331 and a guiding module 332.

[0098] The second calculation module 331 can be used to calculate, based on the deceleration, a first coasting distance for the intelligent connected vehicle to decelerate to the current driving speed of the non-intelligent connected vehicle, and a second coasting distance for the intelligent connected vehicle to decelerate to a standstill.

[0099] The guidance module 332 can be used to guide the intelligent connected vehicle to perform coasting deceleration or braking deceleration based on the first coasting distance and the second coasting distance.

[0100] Furthermore, the second calculation module 331 can be specifically used to calculate, based on the deceleration, the current driving speed of the intelligent connected vehicle and the current driving speed of the non-intelligent connected vehicle, a first sliding distance for the intelligent connected vehicle to decelerate to the current driving speed of the non-intelligent connected vehicle; and to calculate, based on the deceleration and the current driving speed of the intelligent connected vehicle, a second sliding distance for the intelligent connected vehicle to decelerate to a standstill.

[0101] Furthermore, the guidance module 332 can be specifically used to calculate the safe distance between the intelligent connected vehicle and the non-intelligent connected vehicle based on the relative distance between the intelligent connected vehicle and the non-intelligent connected vehicle; if the first coasting distance is less than the safe distance and the second coasting distance is less than the distance between the intelligent connected vehicle and the intersection ahead, then the intelligent connected vehicle is guided to coast and decelerate; if the first coasting distance is greater than or equal to the safe distance, or the second coasting distance is greater than or equal to the distance between the intelligent connected vehicle and the intersection ahead, then the intelligent connected vehicle is guided to brake and decelerate.

[0102] It should be noted that other corresponding descriptions of the functional modules involved in the intelligent connected vehicle dynamic planning device provided in this embodiment of the invention can be found in [reference]. Figure 1 The corresponding description of the method shown will not be repeated here.

[0103] Based on the above, Figure 1 Accordingly, this embodiment of the invention also provides a computer-readable storage medium storing a computer program that, when executed by a processor, performs the following steps: when an intelligent connected vehicle is traveling on a road, the minimum green light speed for the intelligent connected vehicle to pass through the intersection ahead is calculated based on the phase and duration of the traffic light at the intersection ahead; if there is a non-intelligent connected vehicle traveling ahead of the intelligent connected vehicle, the current speed of the non-intelligent connected vehicle is estimated based on the relative distance between the intelligent connected vehicle and the non-intelligent connected vehicle; if the current speed is greater than or equal to the minimum green light speed, the intelligent connected vehicle is guided to follow the non-intelligent connected vehicle based on the minimum green light speed; if the current speed is less than the minimum green light speed, the deceleration of the intelligent connected vehicle is estimated; and the intelligent connected vehicle is guided to perform coasting deceleration or braking deceleration based on the deceleration.

[0104] Based on the above, Figure 1 The method shown and as Figure 2 The embodiment of the device shown in the invention also provides a physical structural diagram of an electronic device, such as... Figure 4 As shown, the electronic device includes a processor 41, a memory 42, and a computer program stored in the memory 42 and executable on the processor. Both the memory 42 and the processor 41 are mounted on a bus 43. When the processor 41 executes the program, it performs the following steps: When the intelligent connected vehicle is traveling on the road, it calculates the minimum green light speed for the intelligent connected vehicle to pass through the intersection ahead based on the phase and duration of the traffic light signal; if there is a non-intelligent connected vehicle traveling ahead of the intelligent connected vehicle, it estimates the current speed of the non-intelligent connected vehicle based on the relative distance between the intelligent connected vehicle and the non-intelligent connected vehicle; if the current speed is greater than or equal to the minimum green light speed, it guides the intelligent connected vehicle to follow behind the non-intelligent connected vehicle based on the minimum green light speed; if the current speed is less than the minimum green light speed, it estimates the deceleration of the intelligent connected vehicle; and based on the deceleration, it guides the intelligent connected vehicle to coast or brake to decelerate.

[0105] This invention, through different vehicle guidance strategies employed in different sub-scenarios, dynamically plans for intelligent connected vehicles, thereby reducing the negative impact of non-intelligent connected vehicles during green wave speed guidance. Specifically, when the speed of non-intelligent connected vehicles is greater than or equal to the minimum green light speed, this invention guides intelligent connected vehicles to follow behind, enabling them to smoothly pass through the intersection ahead and improving traffic efficiency. Simultaneously, when the speed of non-intelligent connected vehicles is less than the minimum green light speed, this invention guides intelligent connected vehicles to coast or brake to reduce energy consumption and ensure traffic safety.

[0106] Those skilled in the art will understand that the accompanying drawings are merely schematic diagrams of one embodiment, and the modules or processes shown in the drawings are not necessarily essential for implementing the present invention.

[0107] Those skilled in the art will understand that the modules in the apparatus of the embodiments can be distributed in the apparatus of the embodiments as described in the embodiments, or they can be located in one or more devices different from this embodiment with corresponding changes. The modules of the above embodiments can be combined into one module, or they can be further divided into multiple sub-modules.

[0108] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and not to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A dynamic programming method for intelligent connected vehicles, characterized in that, include: When an intelligent connected vehicle is driving on the road, the minimum green light passage speed of the intelligent connected vehicle is calculated based on the phase and duration of the traffic light at the intersection ahead. If there is a non-intelligent connected vehicle traveling in front of the intelligent connected vehicle, the current speed of the non-intelligent connected vehicle is estimated based on the relative distance between the intelligent connected vehicle and the non-intelligent connected vehicle. If the current driving speed is greater than or equal to the minimum green light speed, then the intelligent connected vehicle is guided to follow the non-intelligent connected vehicle according to the minimum green light speed. If the current driving speed is less than the minimum green light speed, then the deceleration of the intelligent connected vehicle is estimated. Based on the deceleration rate, guide the intelligent connected vehicle to perform coasting deceleration or braking deceleration; The step of guiding the intelligent connected vehicle to perform coasting deceleration or braking deceleration based on the deceleration includes: Based on the deceleration, a first coasting distance is calculated for the intelligent connected vehicle to decelerate to the current speed of the non-intelligent connected vehicle, and a second coasting distance is calculated for the intelligent connected vehicle to decelerate to a standstill; specifically, this includes: calculating the first coasting distance for the intelligent connected vehicle to decelerate to the current speed of the non-intelligent connected vehicle based on the deceleration, the current speed of the intelligent connected vehicle, and the current speed of the non-intelligent connected vehicle; and calculating the second coasting distance for the intelligent connected vehicle to decelerate to a standstill based on the deceleration and the current speed of the intelligent connected vehicle. Based on the first coasting distance and the second coasting distance, the intelligent connected vehicle is guided to coast or brake to decelerate; specifically, this includes: calculating a safe distance between the intelligent connected vehicle and the non-intelligent connected vehicle based on the relative distance between the intelligent connected vehicle and the non-intelligent connected vehicle; if the first coasting distance is less than the safe distance and the second coasting distance is less than the distance between the intelligent connected vehicle and the intersection ahead, then the intelligent connected vehicle is guided to coast to decelerate; if the first coasting distance is greater than or equal to the safe distance, or the second coasting distance is greater than or equal to the distance between the intelligent connected vehicle and the intersection ahead, then the intelligent connected vehicle is guided to brake to decelerate.

2. The method according to claim 1, characterized in that, The step of calculating the minimum green light passage speed for the intelligent connected vehicle through the intersection ahead, based on the phase and duration of the traffic lights at the intersection ahead, includes: Based on the phase and duration of the traffic light at the intersection ahead, calculate the first minimum speed at which the intelligent connected vehicle passes through the intersection in this traffic light cycle; If the first minimum speed is less than or equal to the maximum speed limit of the road, then the first minimum speed is determined as the minimum green light speed. If the first minimum speed is greater than the maximum speed limit of the road, then based on the phase and duration of the traffic light at the intersection ahead, the second minimum speed of the intelligent connected vehicle when passing through the intersection ahead in the next traffic light cycle is calculated, and the second minimum speed is determined as the minimum green light passage speed.

3. The method according to claim 1, characterized in that, The step of estimating the current speed of the non-connected vehicle based on the relative distance between the intelligent connected vehicle and the non-connected vehicle includes: Obtain the driving speed of the intelligent connected vehicle at the previous moment; Calculate the time difference between the current time and the previous time. The current speed of the non-intelligent connected vehicle is calculated based on the vehicle's previous speed, the time difference, and the relative distance between the intelligent connected vehicle and the non-intelligent connected vehicle.

4. The method according to claim 1, characterized in that, The estimated deceleration of the intelligent connected vehicle includes: When the intelligent connected vehicle begins to decelerate, the deceleration distance of the intelligent connected vehicle is collected at preset time intervals; Based on the deceleration distance, the deceleration rate of the intelligent connected vehicle is estimated.

5. A dynamic planning device for intelligent connected vehicles, characterized in that, include: The calculation unit is used to calculate the minimum green light passage speed of the intelligent connected vehicle when it is driving on the road, based on the phase and duration of the traffic light at the intersection ahead. The estimation unit is used to estimate the current speed of the non-intelligent connected vehicle based on the relative distance between the intelligent connected vehicle and the non-intelligent connected vehicle if there is a non-intelligent connected vehicle traveling in front of the intelligent connected vehicle. A guidance unit is used to guide the intelligent connected vehicle to follow the non-intelligent connected vehicle according to the minimum green light speed if the current driving speed is greater than or equal to the minimum green light speed. The estimation unit is further configured to estimate the deceleration of the intelligent connected vehicle if the current driving speed is less than the minimum green light passage speed. The guiding unit is also used to guide the intelligent connected vehicle to perform coasting deceleration or braking deceleration based on the deceleration. The guiding unit guides the intelligent connected vehicle to perform coasting deceleration or braking deceleration based on the deceleration, specifically for: Based on the deceleration, a first coasting distance is calculated for the intelligent connected vehicle to decelerate to the current speed of the non-intelligent connected vehicle, and a second coasting distance is calculated for the intelligent connected vehicle to decelerate to a standstill; specifically, this includes: calculating the first coasting distance for the intelligent connected vehicle to decelerate to the current speed of the non-intelligent connected vehicle based on the deceleration, the current speed of the intelligent connected vehicle, and the current speed of the non-intelligent connected vehicle; and calculating the second coasting distance for the intelligent connected vehicle to decelerate to a standstill based on the deceleration and the current speed of the intelligent connected vehicle. Based on the first coasting distance and the second coasting distance, the intelligent connected vehicle is guided to coast or brake to decelerate; specifically, this includes: calculating a safe distance between the intelligent connected vehicle and the non-intelligent connected vehicle based on the relative distance between the intelligent connected vehicle and the non-intelligent connected vehicle; if the first coasting distance is less than the safe distance and the second coasting distance is less than the distance between the intelligent connected vehicle and the intersection ahead, then the intelligent connected vehicle is guided to coast to decelerate; if the first coasting distance is greater than or equal to the safe distance, or the second coasting distance is greater than or equal to the distance between the intelligent connected vehicle and the intersection ahead, then the intelligent connected vehicle is guided to brake to decelerate.

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

7. An electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that, When the computer program is executed by a processor, it implements the steps of the method according to any one of claims 1 to 4.

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