A vehicle intersection passing decision method and system based on multi-modal control

Abstract

The application provides a vehicle intersection passing decision method and system based on multi-modal control, wherein the decision method is as follows: when the distance between the ego vehicle and the intersection stop line is less than a distance threshold, vehicle information in front, behind and on the side of the lane, and signal light state information are acquired, and the vehicle passing state is decided according to whether there is a reference vehicle in front, behind and on the side of the vehicle driving direction, and the speed difference between the reference vehicle and the ego vehicle, and the time difference corresponding to the speed difference. The application can ensure safety, improve the efficiency of the vehicle passing through the intersection, and reduce the waiting time at the intersection.

Description

Technical Field

[0001] This invention belongs to the field of intelligent driving technology, and in particular relates to a vehicle intersection traffic decision-making method and system based on multimodal control. Background Technology

[0002] For road driving, safely and efficiently navigating intersections is a challenge. Traditionally, when navigating an intersection, drivers need to observe traffic lights and surrounding vehicles, then accelerate, decelerate, stop, or change lanes to complete the crossing. However, relying solely on the driver's subjective actions makes it difficult to guarantee both efficiency and safety when navigating intersections.

[0003] Multimodal control is a control method that changes the control strategy based on the actual state of the system. When a vehicle passes through an intersection, its behavior is affected by the status of traffic lights, its own vehicle status, and the status of surrounding vehicles, requiring real-time adjustments. Combining multimodal control with intersection traffic flow establishes a multimodal control system. This system uses positioning and sensing devices to acquire information about traffic lights, the vehicle itself, and surrounding vehicles, using this information as initial data input. By processing this data according to established rules, appropriate driving decisions are determined, effectively improving intersection traffic efficiency and safety, and reducing the likelihood of congestion. However, many related studies have not considered the impact of lane selection on traffic decisions and efficiency under different intersection information conditions when formulating intersection traffic decisions, which can negatively affect vehicle traffic flow at intersections. Summary of the Invention

[0004] To address the aforementioned shortcomings, this invention discloses a vehicle intersection traffic decision-making method and system based on multimodal control, which improves the efficiency of vehicles passing through intersections and reduces waiting time at intersections while ensuring safety.

[0005] A vehicle intersection passage decision-making method based on multimodal control acquires vehicle information in front of, behind, and to the side of the lane, as well as traffic light status information, when the distance between the vehicle and the stop line at the intersection is less than a distance threshold. The vehicle passage state decision is made based on whether there are reference vehicles in front of, behind, and to the side of the vehicle's direction of travel, the speed difference between the reference vehicle and the vehicle, and the time difference corresponding to the speed difference.

[0006] As a preferred approach, the number of vehicles in front of the straight lane, the number of vehicles in front of and behind the left lane, and the number of vehicles in front of and behind the right lane are first determined. The speed of the vehicle is then compared with the speed of the first vehicle in front of, behind the left, in front of, and behind the right in the straight lane, and the speed-time difference is assigned accordingly. Then, the traffic status decision is made based on the traffic status decision rules. Finally, the vehicle is controlled based on the multimodal control decision rules.

[0007] Preferably, the traffic status decision includes a sequential combination of four decisions: the vehicle changing lanes in the straight lane, the vehicle entering the left lane, the vehicle overtaking the first vehicle in the straight lane, and the vehicle entering the right lane; the multimodal control decision includes adjusting the vehicle speed to maintain following position, adjusting the vehicle speed to pass through the intersection at a constant speed, decelerating to zero at the intersection, overtaking the vehicle in front and accelerating through the intersection, entering the right lane and accelerating through the intersection, and entering the right lane and adjusting the vehicle speed to maintain following position.

[0008] As a preferred option, the rules for determining whether a vehicle can change lanes in a straight lane are as follows: First, determine the number of vehicles ahead in the straight lane. If the number of vehicles ahead is 0, then changing lanes is allowed. If the number of vehicles ahead is not 0, compare the speed of the vehicle with that of the first vehicle ahead. If the vehicle is slower, then changing lanes is allowed. If the vehicle is faster or the speed is the same as that of the first vehicle ahead, then calculate the corresponding time difference. If the corresponding conditions are met, then changing lanes is allowed; otherwise, changing lanes is not allowed.

[0009] As a preferred option, the decision-making rule for a vehicle entering the left lane is as follows: First, determine the number of vehicles ahead in the straight lane. If the number of vehicles ahead in the straight lane is greater than or equal to 2, do not change lanes to the left. If the number of vehicles ahead in the straight lane is less than 2, determine the variable value for lane changing in the straight lane. If the vehicle can change lanes in the straight lane, do not change lanes to the left if there is a vehicle ahead on the left; change lanes to the left if there are no vehicles ahead on the left or behind on the left. If there are no vehicles ahead on the left but there are vehicles behind on the left, compare the speed of the vehicle with that of the first vehicle behind on the left. If the vehicle's speed is faster or the same, change lanes to the left. If the vehicle's speed is slower, calculate the corresponding time difference. If the condition is met, it is determined that a lane change to the left is allowed; otherwise, it is not allowed.

[0010] As a preferred option, the decision-making rule for a vehicle entering the right lane is as follows: First, the variable value for lane changing in the straight lane is determined. If the vehicle cannot change lanes in the straight lane, it will not change lanes to the right. If the vehicle can change lanes in the straight lane, the decision is made based on the number of vehicles in front of and behind it on the right.

[0011] When there are no vehicles to the right front and right rear, change lanes to the right;

[0012] When there are no vehicles ahead on the right but there are vehicles behind on the right, compare the speed of your vehicle with the speed of the first vehicle on the right. If your vehicle's speed is faster or the same, calculate the time it takes for your vehicle to reach the stop line at the current speed and the time it takes for your vehicle to overtake the first vehicle ahead. If the time it takes for your vehicle to reach the stop line at the current speed is greater than the time it takes for your vehicle to overtake the first vehicle ahead, then you are allowed to change lanes to the right; otherwise, you are not allowed to change lanes to the right. If your vehicle's speed is slower, calculate the time it takes for your vehicle to reach the stop line at the current speed, the time it takes for your vehicle to meet the vehicle behind on the left at the current speed and distance, and the time it takes for your vehicle to overtake the first vehicle ahead. If the time it takes for your vehicle to reach the stop line at the current speed is the longest and the time it takes for your vehicle to overtake the first vehicle ahead is the shortest, then you are allowed to change lanes to the right; otherwise, you are not allowed to change lanes to the right.

[0013] When there is a vehicle in front on the right, but no vehicle behind on the right, compare the speed of your vehicle with the speed of the first vehicle in front on the right. If your vehicle's speed is faster or the same, calculate the time it takes for your vehicle to reach the stop line at the current speed, the time it takes for your vehicle to meet the vehicle behind on the left at the current speed and distance, and the time it takes for your vehicle to overtake the first vehicle in front. If the time it takes for your vehicle to reach the stop line at the current speed is the longest and the time it takes for your vehicle to overtake the first vehicle in front is the shortest, then you are allowed to change lanes to the right; otherwise, you are not allowed to change lanes to the right. If your vehicle's speed is slow, and the time it takes for your vehicle to reach the stop line at the current speed is longer than the time it takes for your vehicle to overtake the first vehicle in front, then you are allowed to change lanes to the right; otherwise, you are not allowed to change lanes to the right.

[0014] When there are vehicles both to the right front and right rear, compare the speed of your vehicle with the speed of the first vehicle to the right front. If your speed is faster or the same, compare your speed with the speed of the first vehicle to the right rear. If your speed is faster or the same, calculate the time it takes for your vehicle to reach the stop line at the current speed, the time it takes for your vehicle to meet the vehicle to the right front at the current speed and distance, and the time it takes for your vehicle to overtake the first vehicle to the right. If the time it takes for your vehicle to reach the stop line at the current speed is the longest and the time it takes for your vehicle to overtake the first vehicle to the right is the shortest, then you are allowed to change lanes to the right; otherwise, you are not allowed to change lanes to the right. If your speed is slow, calculate the time it takes for your vehicle to reach the stop line at the current speed, the time it takes for your vehicle to meet the vehicle to the right front at the current speed and distance, the time it takes for your vehicle to overtake the first vehicle to the right front at the current speed and distance, and the time it takes for your vehicle to meet the vehicle to the right rear at the current speed and distance. The order of the required times is: time it takes for your vehicle to reach the stop line at the current speed > time it takes for your vehicle to overtake the first vehicle to the right front. If the time required for the vehicle to meet the vehicle to its right rear at the current speed and distance is greater than the time required for the vehicle to overtake the first vehicle to its right front, then the vehicle is allowed to change lanes to the right; otherwise, the vehicle is not allowed to change lanes to the right. If the vehicle's speed is less than the speed of the first vehicle to its right front, the vehicle's speed is compared with the speed of the first vehicle to its right rear. If the vehicle's speed is greater or the same, the time required for the vehicle to reach the stop line at the current speed and the time required for the vehicle to overtake the first vehicle to its right front are calculated. If the time required for the vehicle to reach the stop line at the current speed is greater than the time required for the vehicle to overtake the first vehicle to its right front, then the vehicle is allowed to change lanes to the right. If the time required for the vehicle to overtake the first vehicle on its right is considered, then a lane change to the right is permitted; otherwise, a lane change to the right is not permitted. If the vehicle's speed is slow, the time required for the vehicle to reach the stop line at the current speed, the time required for the vehicle to overtake the first vehicle on its right, and the time required for the vehicle to meet the vehicle on its right rear at the current speed and distance are calculated. If the time required for the vehicle to reach the stop line at the current speed is the longest and the time required for the vehicle to overtake the first vehicle in front is the shortest, then a lane change to the right is permitted; otherwise, a lane change to the right is not permitted.

[0015] As a preferred option, the decision-making rule for a vehicle to overtake the first vehicle in the straight-ahead lane is as follows: First, determine the variable value of the vehicle's lane-changing capability in the straight-ahead lane. If the vehicle cannot change lanes in the straight-ahead lane, it will not be allowed to overtake the first vehicle in the straight-ahead lane. If the vehicle can change lanes in the straight-ahead lane, determine whether the vehicle can change lanes to the left. If the vehicle cannot change lanes to the left, it will not be allowed to overtake the first vehicle in the straight-ahead lane. If the vehicle can change lanes to the left, determine the speed difference between the vehicle and the first vehicle in the straight-ahead lane. If the vehicle's speed is higher, it will be allowed to overtake the first vehicle in the straight-ahead lane; otherwise, it will not be allowed to overtake the first vehicle in the straight-ahead lane.

[0016] As a preferred option, the multimodal control decision rule is as follows: a time interval is set for the flashing of the traffic light. When the traffic light is green but less than the minimum value of the interval, or when the traffic light is red or yellow, the number of vehicles in front of the straight lane is determined. If there are no vehicles in front, the vehicle decelerates to 0 at the intersection; otherwise, the vehicle adjusts its speed to maintain a following state.

[0017] When the traffic light is green and the time is within the specified time interval, determine the number of vehicles ahead in the straight lane. If there are no vehicles ahead, adjust the vehicle speed and proceed through the intersection at a constant speed. If there is one vehicle ahead, determine whether passing the first vehicle ahead in the straight lane and entering the left lane are both permitted. If both are permitted, then the vehicle passes the vehicle ahead and accelerates through the intersection. If passing the first vehicle ahead in the straight lane is not permitted, and entering the right lane is permitted and there is a vehicle ahead on the right, then the vehicle enters the right lane and accelerates through the intersection. If there are two or more vehicles ahead, and entering the right lane is permitted and there is no vehicle ahead on the right, then the vehicle enters the right lane and accelerates through the intersection.

[0018] When the traffic light is green and the duration is longer than the maximum value of the interval, if there are no vehicles ahead, the vehicle should adjust its speed and proceed through the intersection at a constant speed. If there is one vehicle ahead, and the vehicle is allowed to pass after passing the first vehicle in the straight lane and entering the left lane, the vehicle should overtake the vehicle ahead and accelerate through the intersection. If the vehicle is not allowed to pass after passing the first vehicle in the straight lane, and the vehicle is allowed to pass in the right lane and there are no vehicles ahead on the right, the vehicle should enter the right lane and proceed through the intersection at a constant speed. If there are two or more vehicles ahead, and the vehicle is allowed to pass in the right lane and there are no vehicles ahead on the right, the vehicle should enter the right lane and proceed through the intersection at a constant speed. If the vehicle is allowed to pass in the right lane and there are vehicles ahead on the right, the vehicle should enter the right lane and adjust its speed to maintain following distance.

[0019] The present invention also discloses a vehicle intersection traffic decision system based on multimodal control. According to the above-mentioned vehicle intersection traffic decision method based on multimodal control, the system includes an information collection module, an information processing module, a decision module and a control module.

[0020] The information collection module collects information including traffic light information, information about the vehicle and surrounding vehicles, and inputs the collected information into the decision-making module.

[0021] The decision-making module outputs driving behavior based on the information collected by the information module.

[0022] The control module controls the vehicle's driving behavior based on control commands related to driving behavior.

[0023] Preferably, the initial input of the control module consists of some variables from the information collection module and variables output by the decision module.

[0024] Preferably, the driving behavior includes the vehicle entering the left lane I, the vehicle entering the right lane J, and the vehicle overtaking the first vehicle H in the straight lane; the vehicle driving behavior includes the vehicle's acceleration, deceleration, following, and lane changing behaviors.

[0025] The beneficial effects of this invention are:

[0026] (1) This invention improves the efficiency of intersection traffic decision-making. The invention employs a layered processing approach during decision-making: traffic light status, information on vehicles ahead in the straight lane, information on vehicles in the left lane, and information on vehicles in the right lane are the first-level variables; lane changing by the vehicle in the straight lane is the second-level variable; the vehicle entering the left lane and the vehicle entering the right lane are the third-level variables; and the vehicle overtaking the first vehicle ahead in the straight lane is the fourth-level variable. This layered judgment of variables prevents information combination confusion and improves the efficiency of intersection traffic decision-making.

[0027] (2) This invention improves the efficiency of vehicles passing through intersections. When making a decision, this invention selects the decision according to the order of the decisions contained in the straight lane and the right lane, so that vehicles can find the best decision to pass through the intersection more quickly, thereby improving the efficiency of vehicle passage and reducing the waiting time at the intersection.

[0028] (3) This invention ensures driving safety. This invention uses traffic light status, vehicle information, and surrounding vehicle information as multimodal information inputs to formulate corresponding driving decisions. When the traffic light is red or flashing yellow, lane changing and overtaking operations are not performed. When there are many surrounding vehicles, regardless of the traffic light status, the execution of lane changing and overtaking decisions is more strictly judged to ensure safety during lane changing and overtaking. Attached Figure Description

[0029] To more clearly illustrate the technical solutions in the embodiments of the present invention, the accompanying drawings used in the embodiments will be briefly described below.

[0030] Figure 1 This is a flowchart of a vehicle intersection traffic decision-making method based on multimodal control, according to an embodiment of the present invention.

[0031] Figure 2 This is a flowchart of multimodal information processing according to an embodiment of the present invention. Detailed Implementation

[0032] 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.

[0033] like Figures 1 to 2 As shown, this invention proposes a vehicle intersection passage decision-making method based on multimodal control, which improves the efficiency of vehicles passing through intersections and reduces waiting time at intersections while ensuring safety.

[0034] This invention sets up a three-lane scenario. Initially, the main vehicle is in the straight lane, the left side is the left-turn lane, and the right side is the straight-and-turn lane. The multimodal information acquired by the positioning and sensing devices includes: the horizontal distance between the vehicle's front and the intersection stop line, the color status of the straight-ahead traffic light, the timing status of the straight-ahead traffic light, vehicle information in the straight lane, vehicle information in the left lane, and vehicle information in the right lane. Corresponding variables are set based on this multimodal information. This invention determines driving decisions based on the set variables and rules. The main steps include:

[0035] Step 1) Obtain the horizontal distance between the front of the vehicle and the stop line at the intersection using the positioning device, and determine the system status based on the distance. The system starts working when the distance is less than 200 meters.

[0036] Step 2) Obtain traffic light status, information on vehicles ahead in the straight lane, information on vehicles in the left lane, and information on vehicles in the right lane through the sensing device, and use the above information as the system multimodal information input and set parameters.

[0037] Step 3) Use the variables from Step 2) as input for the initial data in Step 3), process them according to Rule 1, and output the corresponding variables and their values;

[0038] Step 4) Take some of the variables from Step 2) and 3) as input for the initial data of Step 4), process them according to Rule 2, and output the corresponding variables and variable values;

[0039] Step 5) Take some of the variables from Step 3) and the variables from Step 4) as input for the initial data of Step 5), process them according to Rule 3, and output the corresponding variables and variable values;

[0040] Step 6) Take some of the variables from Step 3) and the variables from Step 5) as input for the initial data of Step 6), process them according to Rule 4, and output the corresponding variables and variable values;

[0041] Step 7) Use some of the variables from Step 3) and the variables from Steps 5) and 6) as inputs to the initial data of Step 7) and determine the optimal driving decision according to multimodal control.

[0042] The positioning device used in step 1 is GPS positioning. The system includes an information collection module, an information processing module, a decision-making module, and an execution module. The information collection module collects information such as the horizontal distance between the front of the vehicle and the stop line at the intersection, traffic light information, and information about the vehicle and surrounding vehicles. The information processing module processes the information collected by the information collection module according to rules one through four, outputting corresponding variables and variable values. The decision-making module formulates driving decisions based on the variable values ​​output by the information processing module. The execution module executes the driving behaviors output by the decision-making module, such as acceleration, deceleration, and lane changing. It should be noted that the system starts working when the distance between the front of the vehicle and the stop line at the intersection is less than 200 meters; the system goes into sleep mode when the distance is greater than or equal to 200 meters.

[0043] The sensing devices used in step 2) are an in-vehicle camera, LiDAR, and a vehicle speed sensor. The acquired traffic light status includes the traffic light color and the traffic light duration; the acquired information on vehicles ahead in the straight lane includes the number of vehicles ahead in the straight lane, their speed, and their distance from the vehicle; the acquired information on surrounding vehicles includes the vehicle's speed, the number and speed of vehicles in front of and behind the vehicle in the left and right lanes, and their distance from the vehicle.

[0044] Step 2) Set the parameters for the initial data input in Step 2): S (Status of the straight-ahead traffic light), S (Horizontal distance S between the front of the vehicle and the stop line at the intersection), C (Number of vehicles ahead in the straight-ahead lane), D (Number of vehicles ahead in the left lane). Lf Number of vehicles behind in the left lane D Lb Number of vehicles ahead in the right lane E Rf Number of vehicles behind in the right lane (E) Rb Vehicle speed u z The distance L between the vehicle in the straight lane and the first vehicle in front f The first vehicle ahead in the straight lane is traveling at a speed of u. f The distance L between the car and the first vehicle to its left rear Lb The first car to the left rear has a speed of u Lb The distance L between the car and the first vehicle on its right front Rf The first car on the right front is traveling at speed u Rf The distance L between the car and the first vehicle to its right rear Rb The first car to the right rear is traveling at speed u Rb .

[0045] Step 3) Process the parameter variables from Step 2) and output the corresponding variables and their values; Set the output variables and parameters for Step 3): A) Straight-ahead traffic light status, B) Number of vehicles ahead in the straight-ahead lane, C) Number of vehicles ahead in the left lane, D) Lf Number of vehicles behind in the left lane D Lb Number of vehicles ahead in the right lane E Rf Number of vehicles behind in the right lane (E) Rb Vehicle speed u z The speed of the first vehicle ahead in the straight lane is u f Difference F, vehicle speed u z The speed of the first car to the left rear is u Lb Difference F1, vehicle speed u z The speed of the first car to the right rear is u. Rb Difference F2, vehicle speed u z The speed of the first car on the right front is u Rf Difference F3.

[0046] The initial information judgment rule set in step 3) is 3-1)-3-10);

[0047] 3-1) Straight-ahead traffic light status B: When the traffic light is green and the duration is greater than 30 seconds, B = 10; when the traffic light is green and the duration is between 15 seconds and 30 seconds, B = 01; when the traffic light is green but the duration is less than 15 seconds, or when the red or yellow light is flashing, B = 00.

[0048] 3-2) Number of vehicles ahead in the straight lane C: When there are no vehicles ahead, C = 10; when there is one vehicle ahead, C = 01; when there are two or more vehicles ahead, C = 00.

[0049] 3-3) Number of vehicles ahead in the left lane D Lf When there are no vehicles to the left front, D Lf =1; When there is a vehicle to the left front, D Lf =0;

[0050] 3-4) Number of vehicles behind the left lane D Lb When there are no vehicles to the left rear, D Lb =1; When there is a vehicle to the left rear, D Lb =0;

[0051] 3-5) Number of vehicles ahead in the right lane E Rf When there are no vehicles to the right front, E Rf =1; When there is a vehicle to the right front, E Rf =0;

[0052] 3-6) Number of vehicles behind the right lane E RbWhen there are no vehicles to the right rear, E Rb =1; When there is a vehicle to the right rear, E Rb =0;

[0053] 3-7) Vehicle speed u z The speed of the first car in front of the car in the straight lane is u f Difference F: when u z -u f When u < 0, F = 1; when u z -u f When ≥0, F=0;

[0054] 3-8) Vehicle speed u z The speed of the first car to the left rear is u Lb Difference F1: When u z -u Lb When u < 0, F1 = 1; when u z -u Lb When ≥0, F1=0;

[0055] 3-9) Vehicle speed u z The first car to the right rear has a speed of u Rb Difference F2: When u z -u Rb When u < 0, F2 = 1; when u z -u Rb When F2 ≥ 0, F2 = 0;

[0056] 3-10) Vehicle speed u z The speed of the first car on the right front is u Rf Difference F3: When u z -u Rf When u < 0, F3 = 1; when u z -u Rf When ≥0, F3=0.

[0057] Step 4) The initial system input in step 4) consists of some of the variables from step 3), specifically including: the number of vehicles ahead in the straight lane (C), and the vehicle speed (u). z The speed of the first vehicle ahead in the straight lane is u f Difference F, Distance L between the vehicle in the straight lane and the first vehicle in front f Vehicle speed u z The speed of the first vehicle ahead in the straight lane is u f Step 4) Output variable: The vehicle changes lanes in the straight lane.

[0058] Set parameters for the output variables in step 4): The vehicle changes lanes K in the straight lane;

[0059] Define t S_changeThe time required for the vehicle to overtake the first vehicle in front.

[0060] The second rule set in step 4) is 4-1)-4-2);

[0061] 4-1) When the value of a variable is 1, it means that the condition is feasible; when the value of a variable is 0, it means that the condition is not feasible.

[0062] 4-2) A vehicle changing lanes in the straight lane: K:

[0063] C=10:K=1;

[0064] C=01 or C=00: F=1, K=1; F=0, t S_change ≤10, K=1; t S_change ≥10, K=0.

[0065] Step 5) The initial system inputs in step 5) are the variables from steps 3) and 4), specifically including: the number of vehicles ahead in the straight lane (C), the vehicle changing lanes in the straight lane (K), and the number of vehicles ahead in the left lane (D). Lf Number of vehicles behind in the left lane D Lb Vehicle speed u z The speed of the first car in front of the car in the straight lane is u f Difference F, vehicle speed u z The speed of the first car to the left rear is u Lb Difference F1, horizontal distance S between the front of the vehicle and the stop line at the intersection, vehicle speed u z The distance L between the car and the first vehicle to its left rear Lb The speed of the first car on the left rear is u Lb Number of vehicles ahead in the right lane E f Number of vehicles behind in the right lane (E) Rb Vehicle speed u z The first car to the right rear has a speed of u Eb Difference F2, distance L between the vehicle and the first vehicle to its right rear Eb The first car to the right rear has a speed of u. Eb The distance L between the car and the first vehicle on the right front Ef The speed of the first car on the right front is u Ef Vehicle speed u z The speed of the first car on the right front is u Ef The difference is F3. Step 5) Output variables are: vehicle enters the left lane, vehicle enters the right lane.

[0066] Set the parameters for the output variables in step 5): I for vehicle entering the left lane, J for vehicle entering the right lane;

[0067] Define tcross This is the time required for the vehicle to reach the stop line at the intersection while maintaining its current speed. Define t Lb_cross This represents the time required for the vehicle to meet the vehicle to its left rear at the current speed and distance. Define t Rb_cross This represents the time required for the vehicle to meet the vehicle to its right rear at the current speed and distance. Define t Rf_cross This represents the time required for the vehicle to meet the vehicle on its right front at its current speed.

[0068] The rule set in step 5) is 5-1)-5-3);

[0069] 5-1) When the value of a variable is 1, it means that the condition is feasible; when the value of a variable is 0, it means that the condition is not feasible.

[0070] 5-2) Vehicle enters left lane I:

[0071] C=00: I=0;

[0072] C = 01 or C = 10:

[0073] K = 0: I = 0;

[0074] K=1:

[0075] D Lf =0: I=0;

[0076] D Lf =1,D Lb =1: I=1;

[0077] D Lf =1,D Lb =0:

[0078] F1=0:15s≥t cross , I=1; otherwise I=0;

[0079] F1 = 1: 15s ≥ t cross >t Lb_cross >t S_change , I=1; otherwise I=0.

[0080] 5-3) The vehicle enters the right lane J:

[0081] K=0: J=0;

[0082] K=1:

[0083] E Rf =1,E Rb =1:J=1;

[0084] ERf =1,E Rb =0:

[0085] F2 = 1: t cross >t Rb_cross >t s_change J = 1 if J = 1; otherwise J = 0.

[0086] F2 = 0: t cross >t s_change J = 1 if J = 1; otherwise J = 0.

[0087] E Rf =0,E Rb =1:

[0088] F3 = 1: t cross >t s_change J = 1 if J = 1; otherwise J = 0.

[0089] F3 = 0: t cross >t Rf_cross >t s_change J = 1 if J = 1; otherwise J = 0.

[0090] E Rf =0,E Rb =0:

[0091] F3 = 1:

[0092] F2 = 1: t cross >t Rb_cross >t s_change J = 1 if J = 1; otherwise J = 0.

[0093] F2 = 0: t cross >t s_change J = 1 if J = 1; otherwise J = 0.

[0094] F3 = 0:

[0095] F2 = 1: t cross >t Rf_cross >t Rb_cross >t s_change J = 1 if J = 1; otherwise J = 0.

[0096] F2 = 0: t cross >t Rf_cross >t s_change If J = 1, then J = 1; otherwise J = 0.

[0097] Furthermore, the initial system inputs in step 6) are the variables from steps 3) and 5), specifically including: the vehicle changing lanes in the straight lane (K), the vehicle entering the left lane (I), and the vehicle speed (u). z The speed of the first vehicle ahead in the straight lane is u fDifference F.

[0098] Step 6) Output variable: The vehicle overtakes the first vehicle in the straight lane:

[0099] Set the parameters for the output variable in step 6): the vehicle overtakes the first vehicle H in the straight lane;

[0100] The fourth rule set in step 6) is 6-1)-6-2);

[0101] 6-1) When the value of a variable is 1, it means that the condition is feasible; when the value of a variable is 0, it means that the condition is not feasible.

[0102] 6-2) The vehicle overtakes the first vehicle H in the straight lane:

[0103] K = 0; H = 0;

[0104] K=1:

[0105] I = 0; H = 0;

[0106] I = 1:

[0107] F = 0: H = 1; otherwise H = 0.

[0108] The initial input in step 7) consists of some variables from step 3) and the variables from steps 5) and 6). Specifically, it includes: the status of the straight-ahead traffic light (B), the number of vehicles ahead in the straight-ahead lane (C), the vehicle overtaking the first vehicle ahead in the straight-ahead lane (H), the vehicle entering the right lane (J), and the number of vehicles ahead in the right lane (E). f The decisions made in the multimodal control described in step 7) include: adjusting vehicle speed to maintain following position, adjusting vehicle speed to drive at a constant speed through the intersection, decelerating to zero speed at the intersection, overtaking the vehicle in front and accelerating through the intersection, entering the right lane and accelerating through the intersection, and entering the right lane and adjusting vehicle speed to maintain following position.

[0109] The above multimodal control decision is explained as follows: the speed for following the vehicle is set to 0.95-0.99 times the speed of the first vehicle in the straight lane; the speed for passing through the intersection at a constant speed is 30-40 km / h.

[0110] The execution decision is the multimodal control decision described in step 7). The specific control rules are 7-1)-7-3).

[0111] 7-1) When B = 0:

[0112] If C = 10, then the vehicle decelerates until its speed becomes 0 at the intersection.

[0113] If C=01 or C=00: the vehicle adjusts its speed to maintain following position;

[0114] 7-2) When B = 0 or 1:

[0115] If C = 10: the vehicle adjusts its speed and drives at a constant speed through the intersection;

[0116] If C = 0, J = 1, the car overtakes the car in front and accelerates through the intersection; H = 0, J = 1, E f =1, the vehicle enters the right lane and accelerates through the intersection;

[0117] If C = 00: J = 1, E f When the value is 1, the vehicle enters the right lane and accelerates through the intersection;

[0118] When none of the above conditions in step 7-2) are met, the vehicle adjusts its speed to maintain following the vehicle.

[0119] 7-3) When B = 10:

[0120] If C = 10: the vehicle adjusts its speed and drives at a constant speed through the intersection;

[0121] If C = 0, then when H = 1, the vehicle overtakes the vehicle in front and accelerates through the intersection; H = 0, J = 1, E f When J=1, the vehicle enters the right lane and travels through the intersection at a constant speed; when J=1, E f When the speed is 0, the vehicle enters the right lane and adjusts its speed to maintain a following position;

[0122] If C = 0: When J = 1 and E f When J=1, the vehicle enters the right lane and travels through the intersection at a constant speed; when J=1, E f When the speed is 0, the vehicle enters the right lane and adjusts its speed to maintain a following position;

[0123] If none of the above conditions in step 7-3) are met, the vehicle adjusts its speed to maintain following.

[0124] Finally, it should be noted that the above descriptions are merely preferred embodiments of the present invention and are not intended to limit the present invention. Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art can still modify the technical solutions described in the foregoing embodiments or make equivalent substitutions for some of the technical features. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. A vehicle intersection traffic decision-making method based on multimodal control, characterized in that, When the distance between the vehicle and the stop line at the intersection is less than a distance threshold, information on vehicles in front, behind, and to the side of the lane, as well as traffic light status information, is acquired. Based on whether there are reference vehicles in front, behind, and to the side of the vehicle's direction of travel, and the speed difference between the reference vehicles and the vehicle, and the corresponding time difference, the vehicle's passage status is decided. The multimodal control decision rule is as follows: a time interval is set for the flashing of the traffic lights. When the traffic light is green but less than the minimum value of the interval, or when the traffic light is red or yellow, the number of vehicles in front of the straight lane is determined. If there are no vehicles in front, the vehicle decelerates to 0 at the intersection; otherwise, the vehicle adjusts its speed to maintain a following state. When the traffic light is green and the time is within the specified time interval, determine the number of vehicles ahead in the straight lane. If there are no vehicles ahead, adjust the vehicle speed and proceed through the intersection at a constant speed. If there is one vehicle ahead, determine whether passing the first vehicle ahead in the straight lane and entering the left lane are both permitted. If both are permitted, then the vehicle passes the vehicle ahead and accelerates through the intersection. If passing the first vehicle ahead in the straight lane is not permitted, and entering the right lane is permitted and there is a vehicle ahead on the right, then the vehicle enters the right lane and accelerates through the intersection. If there are two or more vehicles ahead, and entering the right lane is permitted and there is no vehicle ahead on the right, then the vehicle enters the right lane and accelerates through the intersection. When the traffic light is green and the duration is longer than the maximum value of the interval, if there are no vehicles ahead, the vehicle should adjust its speed and proceed through the intersection at a constant speed. If there is one vehicle ahead, and the vehicle is allowed to pass after passing the first vehicle in the straight lane and entering the left lane, the vehicle should overtake the vehicle ahead and accelerate through the intersection. If the vehicle is not allowed to pass after passing the first vehicle in the straight lane, and the vehicle is allowed to pass in the right lane and there are no vehicles ahead on the right, the vehicle should enter the right lane and proceed through the intersection at a constant speed. If there are two or more vehicles ahead, and the vehicle is allowed to pass in the right lane and there are no vehicles ahead on the right, the vehicle should enter the right lane and proceed through the intersection at a constant speed. If the vehicle is allowed to pass in the right lane and there are vehicles ahead on the right, the vehicle should enter the right lane and adjust its speed to maintain following distance.

2. The vehicle intersection traffic decision-making method based on multimodal control according to claim 1, characterized in that, First, determine the number of vehicles ahead in the straight lane, the number of vehicles ahead and behind in the left lane, and the number of vehicles ahead and behind in the right lane. Then, determine the speed of the vehicle relative to the speed of the first vehicle ahead, behind, ahead, and behind in the straight lane, and the speed-time difference between the vehicle and the speeds of the first vehicles ahead, behind, ahead, and behind in the right lane, and assign values ​​accordingly. Next, make traffic status decisions based on traffic status decision rules. Finally, control the vehicle based on multimodal control decision rules.

3. The vehicle intersection traffic decision-making method based on multimodal control according to claim 2, characterized in that, The traffic status decision includes a sequential combination of four decisions: changing lanes in the straight lane, entering the left lane, overtaking the first vehicle in the straight lane, and entering the right lane. The multimodal control decision includes adjusting speed to maintain following position, adjusting speed to pass through the intersection at a constant speed, decelerating to zero at the intersection, overtaking the vehicle in front and accelerating through the intersection, entering the right lane and accelerating through the intersection, and entering the right lane and adjusting speed to maintain following position.

4. The vehicle intersection traffic decision-making method based on multimodal control according to claim 3, characterized in that, The rules for determining when a vehicle changes lanes in a straight lane are as follows: First, determine the number of vehicles ahead in the straight lane. If the number of vehicles ahead in the straight lane is 0, then changing lanes is allowed. If the number of vehicles ahead is not zero, compare the speed of your vehicle with that of the first vehicle ahead. If your vehicle is slower, then change lanes. If your vehicle is faster or has the same speed as the first vehicle ahead, calculate the corresponding time difference. If the corresponding conditions are met, then change lanes; otherwise, do not change lanes.

5. The vehicle intersection traffic decision-making method based on multimodal control according to claim 3, characterized in that, The decision-making rule for a vehicle to enter the left lane is as follows: First, determine the number of vehicles ahead in the straight lane. If the number of vehicles ahead in the straight lane is greater than or equal to 2, the vehicle will not be allowed to change lanes to the left. If the number of vehicles ahead in the straight lane is less than 2, determine the variable value for lane changing in the straight lane. If the vehicle can change lanes in the straight lane, do not change lanes to the left if there is a vehicle in front of it on the left; change lanes to the left if there are no vehicles in front of it on the left or behind it on the left; if there are no vehicles in front of it on the left but there are vehicles behind it on the left, compare the speed of the vehicle with the speed of the first vehicle behind it on the left. If the vehicle's speed is faster or the same, change lanes to the left; if the vehicle's speed is slower, calculate the corresponding time difference. If the condition is met, it is determined that the vehicle can change lanes to the left; otherwise, it is not allowed to change lanes to the left.

6. The vehicle intersection traffic decision-making method based on multimodal control according to claim 3, characterized in that, The decision-making rule for a vehicle entering the right lane is as follows: First, the variable value for lane changing is assessed based on whether the vehicle can change lanes in the straight lane. If the vehicle cannot change lanes in the straight lane, it will not be allowed to change lanes to the right. If the vehicle can change lanes in the straight lane, the decision is made based on the number of vehicles in front of and behind it on the right. When there are no vehicles to the right front and right rear, change lanes to the right; When there are no vehicles ahead on the right but there are vehicles behind on the right, compare the speed of your vehicle with the speed of the first vehicle on the right. If your vehicle's speed is faster or the same, calculate the time it takes for your vehicle to reach the stop line at the current speed and the time it takes for your vehicle to overtake the first vehicle ahead. If the time it takes for your vehicle to reach the stop line at the current speed is greater than the time it takes for your vehicle to overtake the first vehicle ahead, then you are allowed to change lanes to the right; otherwise, you are not allowed to change lanes to the right. If your vehicle's speed is slower, calculate the time it takes for your vehicle to reach the stop line at the current speed, the time it takes for your vehicle to meet the vehicle behind on the left at the current speed and distance, and the time it takes for your vehicle to overtake the first vehicle ahead. If the time it takes for your vehicle to reach the stop line at the current speed is the longest and the time it takes for your vehicle to overtake the first vehicle ahead is the shortest, then you are allowed to change lanes to the right; otherwise, you are not allowed to change lanes to the right. When there is a vehicle in front on the right, but no vehicle behind on the right, compare the speed of your vehicle with the speed of the first vehicle in front on the right. If your vehicle's speed is faster or the same, calculate the time it takes for your vehicle to reach the stop line at the current speed, the time it takes for your vehicle to meet the vehicle behind on the left at the current speed and distance, and the time it takes for your vehicle to overtake the first vehicle in front. If the time it takes for your vehicle to reach the stop line at the current speed is the longest and the time it takes for your vehicle to overtake the first vehicle in front is the shortest, then you are allowed to change lanes to the right; otherwise, you are not allowed to change lanes to the right. If your vehicle's speed is slow, and the time it takes for your vehicle to reach the stop line at the current speed is longer than the time it takes for your vehicle to overtake the first vehicle in front, then you are allowed to change lanes to the right; otherwise, you are not allowed to change lanes to the right. When there are vehicles both to the right front and right rear, compare the speed of your vehicle with the speed of the first vehicle to the right front. If your speed is faster or the same, compare your speed with the speed of the first vehicle to the right rear. If your speed is faster or the same, calculate the time it takes for your vehicle to reach the stop line at the current speed, the time it takes for your vehicle to meet the vehicle to the right front at the current speed and distance, and the time it takes for your vehicle to overtake the first vehicle to the right. If the time it takes for your vehicle to reach the stop line at the current speed is the longest and the time it takes for your vehicle to overtake the first vehicle to the right is the shortest, then you are allowed to change lanes to the right; otherwise, you are not allowed to change lanes to the right. If your speed is slow, calculate the time it takes for your vehicle to reach the stop line at the current speed, the time it takes for your vehicle to meet the vehicle to the right front at the current speed and distance, the time it takes for your vehicle to overtake the first vehicle to the right front at the current speed and distance, and the time it takes for your vehicle to meet the vehicle to the right rear at the current speed and distance. The order of the required times is: time it takes for your vehicle to reach the stop line at the current speed > time it takes for your vehicle to overtake the first vehicle to the right front. If the time required for the vehicle to meet the vehicle to its right rear at the current speed and distance is greater than the time required for the vehicle to overtake the first vehicle to its right front, then the vehicle is allowed to change lanes to the right; otherwise, the vehicle is not allowed to change lanes to the right. If the vehicle's speed is less than the speed of the first vehicle to its right front, the vehicle's speed is compared with the speed of the first vehicle to its right rear. If the vehicle's speed is greater or the same, the time required for the vehicle to reach the stop line at the current speed and the time required for the vehicle to overtake the first vehicle to its right front are calculated. If the time required for the vehicle to reach the stop line at the current speed is greater than the time required for the vehicle to overtake the first vehicle to its right front, then the vehicle is allowed to change lanes to the right. If the time required for the vehicle to overtake the first vehicle on its right is considered, then a lane change to the right is permitted; otherwise, a lane change to the right is not permitted. If the vehicle's speed is slow, the time required for the vehicle to reach the stop line at the current speed, the time required for the vehicle to overtake the first vehicle on its right, and the time required for the vehicle to meet the vehicle on its right rear at the current speed and distance are calculated. If the time required for the vehicle to reach the stop line at the current speed is the longest and the time required for the vehicle to overtake the first vehicle in front is the shortest, then a lane change to the right is permitted; otherwise, a lane change to the right is not permitted.

7. The vehicle intersection traffic decision-making method based on multimodal control according to claim 3, characterized in that, The decision rule for a vehicle to overtake the first vehicle in the straight lane is as follows: First, the variable value of the vehicle changing lanes in the straight lane is determined. If the vehicle cannot change lanes in the straight lane, it will not be allowed to overtake the first vehicle in the straight lane. If the vehicle can change lanes in the straight lane, determine whether the vehicle can change lanes to the left. If the vehicle cannot change lanes to the left, it shall not overtake the first vehicle in front in the straight lane. If the vehicle is allowed to change lanes to the left, the speed difference between the vehicle and the first vehicle in the straight lane is assessed. If the vehicle is faster, it is allowed to overtake the first vehicle in the straight lane; otherwise, it is not allowed to overtake the first vehicle in the straight lane.

8. A vehicle intersection traffic decision-making system based on multimodal control, characterized in that, The vehicle intersection traffic decision-making method based on multimodal control according to any one of claims 1-7, the system includes an information collection module, an information processing module, a decision-making module and a control module; The information collection module collects information including traffic light information, information about the vehicle and surrounding vehicles, and inputs the collected information into the decision-making module. The decision-making module outputs driving behavior based on the information collected by the information module. The control module controls the vehicle's driving behavior based on control commands related to driving behavior.

9. The vehicle intersection traffic decision-making system based on multimodal control according to claim 8, characterized in that, The initial input of the control module consists of some variables from the information collection module and the variables output by the decision module; the driving behavior includes the vehicle entering the left lane I, the vehicle entering the right lane J, and the vehicle overtaking the first vehicle H in the straight lane; the vehicle's driving behavior includes acceleration, deceleration, following, and lane changing.

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