A method for guiding an intelligent connected vehicle to autonomously drive through an intersection

Abstract

The present invention discloses a method for guiding an intelligent networked vehicle to autonomously drive through an intersection, and the steps include: 1. The intelligent networked vehicle obtains data of the intersection and surrounding vehicles; 2. Calculates the vehicle's stop interval and stop time; 3. Determines the right of way on different lanes; 4. It is stipulated that the front vehicle on the same lane has the right of way; 5. The above steps are repeated to determine the guidance plan at the next moment. The present invention divides the intersection into 36 areas to determine the right of way for vehicles, which is conducive to traffic control in an intelligent networked environment, alleviates traffic congestion, improves traffic efficiency, thereby maximizing the utilization of intersection resources, and provides a certain theoretical basis for the setting of road markings at new intersections.

Description

Technical Field

[0001] The present invention relates to the technical field of intelligent traffic control, and in particular to a method for guiding an intelligent networked vehicle to autonomously drive through an intersection. Background Art

[0002] At present, the development of intelligent networked transportation is changing with each passing day. Under such favorable opportunities, there are also challenges. We must adapt to the development situation and overcome many problems in the rapid development process. With the gradual deepening of the degree of networking, the current intersection control mode will gradually become ineffective and eventually eliminated. The intersection control theory and technology under the intelligent network environment urgently need to be studied and improved in depth to meet the current actual needs of my country's road traffic. While intelligent transportation is developing rapidly, the number of motor vehicles is also continuing to rise, and the traffic demand and traffic management pressure are increasing day by day, which puts forward new era requirements for intelligent traffic control systems. Traditional intersection signal control is mainly divided into three types. The first is to calculate a fixed timing plan by investigating and analyzing the traffic flow of the entrance and exit lanes of the intersection, that is, timing control; the second is to use traffic detection equipment to perceive the upstream and downstream traffic information, and then dynamically adjust the signal timing plan, that is, induction control; the third is to use traffic detection equipment to detect the traffic flow information of a trunk line or a region, so as to dynamically adjust the timing plan of each intersection with the goal of optimizing the traffic efficiency of the region, that is, adaptive control. Compared with the optimization strategies in traditional environments, the resource allocation of intersections in an intelligent connected environment is smarter, more flexible, and more efficient, which can greatly improve the traffic operation efficiency of intersections.

[0003] When intelligent connected vehicles replace manually driven vehicles on urban roads, wire control of intelligent connected vehicles and even road network-level control will be the top priority for solving urban traffic congestion. Intersections are key nodes connecting the main and secondary trunk lines of the city. In order to fully realize coordinated control in an intelligent connected environment and improve the traffic efficiency of the entire road network, intersection control strategies based on intelligent connected environments are the foundation. The real-time nature of vehicle-road coordination and the high controllability of connected vehicles in an intelligent connected environment provide new ideas and guarantees for the speed guidance control of connected vehicles and the coordinated optimization of resources at intelligent connected signal intersections. Summary of the invention

[0004] In order to overcome the shortcomings of the prior art, the present invention proposes a method for guiding an intelligent connected vehicle to autonomously drive through an intersection, in order to facilitate traffic control in an intelligent connected environment, alleviate traffic congestion, and improve traffic efficiency, thereby maximizing the utilization of intersection resources and providing a certain theoretical basis for the setting of road markings at new intersections.

[0005] In order to achieve the above-mentioned purpose, the present invention adopts the following technical scheme:

[0006] The method for guiding an intelligent network-connected vehicle to autonomously drive through an intersection according to the present invention is characterized in that it comprises the following steps:

[0007] Step 1: Let the current intersection where the intelligent connected vehicle is located be a two-way six-lane crossroad. Starting from the west, the entrance lanes of the intersection are numbered in reverse order. Let any entrance lane in the two-way six-lane be recorded as the i-th entrance lane l i , i = 1, 2, ..., 12; divide the intersection into 36 square conflict areas of the same size according to the number of lanes, and the side length of each conflict area is r; number the conflict areas in order from left to right and from top to bottom, and let any j-th conflict area be denoted as C j , j = 1, 2, ..., 36;

[0008] The conflict area that the vehicles on each import lane pass through is defined as the conflict area set, where the first import lane l 1 The set of conflict areas that the vehicles on the 1 ={C 19 ,C 20 ,C 21 ,C 22 ,C 16 ,C 10 ,C 4}; Second import lane l 2 The set of conflict areas that the vehicles on the 2 ={C 25 ,C 26 ,C 27 ,C 28 ,C 29 ,C 30}; The third import lane l 3 The set of conflict areas that the vehicles on the 3 ={C 31}; 4th import lane l 4 The set of regions that the vehicles on the 4 ={C 34 ,C 28 ,C 22 ,C 16 ,C 15 ,C 14 ,C 13}; 5th import lane l 5 The set of regions that the vehicles on the 5 ={C 35 ,C 29 ,C 23 ,C 17 ,C 11 ,C5}; 6th import lane l 6 The set of conflict areas that the vehicles on the 6 ={C 36}; 7th import lane l 7 The set of regions that the vehicles on the 7 ={C 18 ,C 17 ,C 16 ,C 15 ,C 21 ,C 27 ,C 33}; 8th import lane l 8 The set of regions that the vehicles on the 8 ={C 12 ,C 11 ,C 10 ,C 9 ,C 8 ,C 7}; 9th import lane l 3 The set of conflict areas that the vehicles on the 9 ={C 6}; 10th import lane l 10 The set of regions that the vehicles on the 10 ={C 3 ,C 9 ,C 15 ,C 21 ,C 22 ,C 23 ,C 24}; 11th import lane l 11 The set of regions that the vehicles on the 11 ={C 2 ,C 8 ,C 14 ,C 20 ,C 26 ,C 32}, 12th import lane l 3 The set of conflict areas that the vehicles on the 12 ={C 1}; Let T i represents the i-th import lane l i A set of areas that vehicles on a lane pass through in sequence;

[0009] For T i Any b-th conflict region C in b and the mth conflict region C m If the vehicle passes through C bYou must first pass C m , then record it as C m →C b ;

[0010] Let the interval between two adjacent times be Δt, then the serial number of any moment is t;

[0011] According to the number of import lanes involved in each conflict area, the conflict area is divided into a conflict area caused by one import lane and a conflict area caused by multiple import lanes;

[0012] Among them, the conflict area caused by one import lane includes: 12 The first conflict area C where the vehicles on the 1 ; From the 11th import lane 11 The second conflict area C where the vehicles on the 2 ; From the 10th import lane 10 The third area C where the vehicles on the 3 ; From the first import lane l 1 The fourth area C where the vehicles on the 4 ; From the 5th import lane 5 The 5th area C where the vehicles on the 5 ; From the 9th import lane 9 The 6th area C where the vehicles on the 6 ; From the 5th import lane 5 The 7th area C where the vehicles on the 7 ; From the 5th import lane 5 The 12th area C where the vehicles on the 12 ; From the 4th import lane 4 The 13th area C where the vehicles on the 13 ; From the 7th import lane 7 The 18th area C where the vehicles on the 18 ; From the first import lane l 1 The 19th area C where the vehicles on the 19 ; From the 10th import lane 10 The 24th area C where the vehicles on the 24 ; From the second import lane 2 The 25th area C where the vehicles on the 25 ; From the second import lane 2 The 30th area C where the vehicles on the 30 ; From the third import lane 3The 31st area C where the vehicles on the 31 ; From the 11th import lane 11 The 32nd area C where the vehicles on the 32 ; From the 7th import lane 7 The 33rd area C where the vehicles on the 33 ; From the 4th import lane 4 The 34th area C where the vehicles on the 34 ; From the 5th import lane 5 The 35th area C where the vehicles on the 35 ; From the 6th import lane 6 The 36th area C where the vehicles on the 36 ;

[0013] The conflict area caused by multiple import lanes includes: 11 and the 8th lane 8 The 8th area C where the vehicles on the 8 ; 9th area C 9 From the 11th import lane 10 and the 11th lane 8 The area where the vehicles on the vehicle collide; the 10th area C 10 From the 1st lane 1 and the 8th import lane 8 The area where the vehicles on the road collide; the 11th area C 11 From the 5th lane 5 and the 8th import lane 8 The area where the vehicles on the road collide; the 26th area C 26 From the 11th import lane 11 and the second import lane 2 The area where the vehicles on the road collide; the 27th area C 27 From the 7th import lane 7 and the second import lane 2 The area where the vehicles on the road collide; the 28th area C 28 From the 4th import lane 4 and the second import lane 2 The area where the vehicles on the road collide; the 29th area C 29 From the 5th import lane 5 and the second import lane 2 The area where the vehicles on the road collide; the 14th area C 14 From the 11th lane 11 and the 4th import lane 4The area where the vehicles on the vehicle collide; the 20th area C 20 From the 11th import lane 11 and the first import lane 1 The area where the vehicles on the road collide; the 17th area C 17 From the 5th import lane 5 and the 7th lane 7 The area where the vehicles on the road collide; the 23rd area C 23 From the 5th import lane 5 and the 10th import lane 10 The area where the vehicles on the road collide; the 15th area C 15 From the 4th lane 4 , 7th import lane 7 and the 10th import lane 10 The area where the vehicles on the road collide; the 16th area C 16 From the 4th lane 4 , 7th import lane 7 and the first import lane 1 The area where the vehicles on the road collide; the 21st area C 21 From the 1st lane 1 , 7th import lane 7 and the 10th import lane 10 The area where the vehicles on the road collide; the 22nd area C 22 From the 4th import lane 4 , the first import lane l 1 and the 10th import lane 10 Areas where vehicles on the road collide;

[0014] Step 2: Measure the i-th lane l i The distance L from the intersection stop line to the entrance of the conflict area i,1 ; Get the i-th lane l at time t i The distance d between vehicle k and the stop line of the intersection ik (t); Get the value of lane l in the i-th lane at time t i The speed of vehicle k on the ik (t); Get the value of lane l in the i-th lane at time t i Traffic volume Q i (t),

[0015] Step 3: Calculate the vehicle's stop interval and stop time;

[0016] Step 3.1: Calculate the vehicle k in the jth region C according to formula (1): j The length of the trajectory

[0017]

[0018] Step 3.2: Calculate the value of the i-th import lane l at time t according to formula (2). i The vehicle k on the path reaches the jth conflict area C j Distance from entrance

[0019]

[0020] In formula (2), C a represents the i-th import lane l i The set of regions that the vehicles on the i The a-th conflict region in Indicates that the vehicle is in the ath conflict area C a The length of the trajectory;

[0021] Step 3.3: Calculate the value of the i-th import lane l at time t according to formula (3): i The vehicle k on the left leaves the jth conflict area C j Distance to exit

[0022]

[0023] In formula (3), τ k represents the length of vehicle k;

[0024] Step 3.4: Calculate the value of the i-th import lane l at time t according to formula (4) i The vehicle k on the path reaches the jth conflict area C j Entrance time

[0025]

[0026] Step 3.5: Calculate the value of the i-th import lane l at time t according to formula (5) i The vehicle k on the path reaches the jth conflict area C j Time of export

[0027]

[0028] Step 3.6: Calculate the value of the i-th import lane l at time t according to formula (6) i The vehicle k on the path reaches the jth conflict area C j The stay interval

[0029]

[0030] Step 3.7: Calculate the value of the i-th import lane l at time t according to formula (7): i The vehicle k on the path reaches the jth conflict area C j The duration of stay

[0031]

[0032] Step 3.8: Determine the jth conflict area C j Is it caused by a conflict in an import lane? If so, go to step 5; otherwise, go to step 3.9;

[0033] Step 3.9: Set the i-th import lane l i In the jth conflict area C j The other conflicting import lane on the z , where i≠z;

[0034] Define time t in the import lane l z The number of vehicles on the import lane is n. Follow steps 2 to 3.7 to calculate the number of vehicles on the import lane l at time t. z The vehicle n on the path reaches the jth conflict area C j The stay interval and at time t in the import lane l z The vehicle n on the path reaches the jth conflict area C j Duration of stay

[0035] Step 4: Determine the right of way for vehicles in different lanes;

[0036] Step 4.1, determine whether formula (8) is true. If so, do not guide vehicles k and n at time t, and execute step 5. Otherwise, execute step 4.2.

[0037]

[0038] In formula (8), ∩ represents the intersection;

[0039] Step 4.2: Determine whether equation (9) holds. If so, let vehicle k pass first at time t, and let vehicle n slow down and yield at time t, and execute step 5. Otherwise, execute step 4.3.

[0040]

[0041] Step 4.3, determine whether formula (10) is true. If true, let vehicle n pass first at time t, and let vehicle k slow down and give way at time t, and execute step 5. Otherwise, execute step 4.4;

[0042]

[0043] Step 4.4, determine whether formula (11) is true. If true, let vehicle k have priority to pass at time t, and vehicle n slow down and give way at time t. Otherwise, let vehicle n have priority to pass at time t, and vehicle k slow down and give way at time t.

[0044] Q i (t)≥Q z (t) (11)

[0045] Step 5: Determine the right of way for vehicles in the same lane, define vehicle k+1 as the preceding vehicle of vehicle k, and define vehicle k as the following vehicle of vehicle k+1;

[0046] Step 5.1: For the i If the vehicle k and vehicle k+1 on the road satisfy the condition of formula (12), vehicle k+1 is given the right of way;

[0047]

[0048] In formula (12), Indicates that at time t, the i-th import lane l i Vehicle k+1 on the jth conflict area C j Time of entry;

[0049] Step 6: Assign t+1 to t and return to step 2 to control the guidance plan for the vehicle to autonomously pass through the intersection at the next moment.

[0050] An electronic device of the present invention includes a memory and a processor, wherein the memory is used to store a program that supports the processor to execute the boot method, and the processor is configured to execute the program stored in the memory.

[0051] The present invention provides a computer-readable storage medium, wherein a computer program is stored on the computer-readable storage medium, and the computer program executes the steps of the boot method when the computer program is executed by a processor.

[0052] Compared with the prior art, the beneficial technical effects of the present invention are embodied in:

[0053] 1. The present invention subdivides an intersection into 36 square conflict areas of the same size, assigns different priorities according to the time, speed and traffic volume of vehicles arriving at different areas, and specifies lanes for vehicles entering the intersection, so that vehicles in the same lane can travel more standardizedly, and vehicles in different lanes reduce conflicts in the intersection, thereby increasing the average driving speed of vehicles, maximizing the utilization of intersection resources, and thereby improving the traffic capacity of the intersection, reducing delays, and reducing vehicle emissions.

[0054] 2. The present invention divides the causes of the formation of each area into those caused by vehicles on different lanes and those caused by different vehicles on the same lane, which takes a more comprehensive consideration, improves the safety of vehicles autonomously driving through intersections, and reduces the number of traffic accidents.

[0055] 3. The present invention collects fixed data and real-time data of intersections and dynamically determines the priority of reaching each conflict area, making the autonomous control guidance method more practical, improving the safety of intersections, and achieving the effect of improving traffic conditions and reducing traffic pollution.

[0056] 4. The present invention connects the road markings at the road intersection to form a closed loop, providing a certain theoretical basis for setting road markings at new intersections. BRIEF DESCRIPTION OF THE DRAWINGS

[0057] Figure 1 It is the overall flow chart of the present invention;

[0058] Figure 2 A cycle diagram of the guiding method of the present invention;

[0059] Figure 3 It is a schematic diagram of the intersection of the present invention. DETAILED DESCRIPTION

[0060] In this embodiment, Figure 1 As shown, a method for guiding an intelligent connected vehicle to autonomously drive through an intersection includes the following steps:

[0061] like Figure 2 As shown, it is a cycle diagram of the guidance method, which determines the priority of intelligent connected vehicles at the intersection.

[0062] Step 1: Let the current intersection where the intelligent connected vehicle is located be a two-way six-lane crossroad. Starting from the west, the entrance lanes of the intersection are numbered in reverse order. Let any entrance lane in the two-way six-lane be recorded as the i-th entrance lane l i, i = 1, 2, ..., 12; divide the intersection into 36 square conflict areas of the same size according to the number of lanes, and the side length of each conflict area is r; number the conflict areas in order from left to right and from top to bottom, and let any j-th conflict area be denoted as C j , j = 1, 2, ..., 36;

[0063] The conflict area that the vehicles on each import lane pass through is defined as the conflict area set, where the first import lane l 1 The set of conflict areas that the vehicles on the 1 ={C 19 ,C 20 ,C 21 ,C 22 ,C 16 ,C 10 ,C 4}; Second import lane l 2 The set of conflict areas that the vehicles on the 2 ={C 25 ,C 26 ,C 27 ,C 28 ,C 29 ,C 30}; The third import lane l 3 The set of conflict areas that the vehicles on the 3 ={C 31}; 4th import lane l 4 The set of regions that the vehicles on the 4 ={C 34 ,C 28 ,C 22 ,C 16 ,C 15 ,C 14 ,C 13}; 5th import lane l 5 The set of regions that the vehicles on the 5 ={C 35 ,C 29 ,C 23 ,C 17 ,C 11 ,C 5}; 6th import lane l 6 The set of conflict areas that the vehicles on the 6 ={C 36}; 7th import lane l 7 The set of regions that the vehicles on the 7 ={C 18 ,C17 ,C 16 ,C 15 ,C 21 ,C 27 ,C 33}; 8th import lane l 8 The set of regions that the vehicles on the 8 ={C 12 ,C 11 ,C 10 ,C 9 ,C 8 ,C 7}; 9th import lane l 3 The set of conflict areas that the vehicles on the 9 ={C 6}; 10th import lane l 10 The set of regions that the vehicles on the 10 ={C 3 ,C 9 ,C 15 ,C 21 ,C 22 ,C 23 ,C 24}; 11th import lane l 11 The set of regions that the vehicles on the 11 ={C 2 ,C 8 ,C 14 ,C 20 ,C 26 ,C 32}, 12th import lane l 3 The set of conflict areas that the vehicles on the 12 ={C 1}; Let T i represents the i-th import lane l i A set of areas that vehicles on a lane pass through in sequence;

[0064] For T i Any b-th conflict region C in b and the mth conflict region C m If the vehicle passes through C b You must first pass C m , then record it as C m →C b ;

[0065] For example, the first import lane l 1 The set of conflict areas that the vehicles on the 1 ={C 19 ,C20 ,C 21 ,C 22 ,C 16 ,C 10 ,C 4}, when passing through C 22 In the conflict zone, you must first pass C 21 The conflict area is denoted as C 21 →C 22 ;

[0066] Let the interval between two adjacent times be Δt, then the serial number of any moment is t;

[0067] According to the number of import lanes involved in each conflict area, the conflict area is divided into a conflict area caused by one import lane and a conflict area caused by multiple import lanes;

[0068] Among them, the conflict area caused by one import lane includes: 12 The first conflict area C where the vehicles on the 1 ; From the 11th import lane 11 The second conflict area C where the vehicles on the 2 ; From the 10th import lane 10 The third area C where the vehicles on the 3 ; From the first import lane l 1 The fourth area C where the vehicles on the 4 ; From the 5th import lane 5 The 5th area C where the vehicles on the 5 ; From the 9th import lane 9 The 6th area C where the vehicles on the 6 ; From the 5th import lane 5 The 7th area C where the vehicles on the 7 ; From the 5th import lane 5 The 12th area C where the vehicles on the 12 ; From the 4th import lane 4 The 13th area C where the vehicles on the 13 ; From the 7th import lane 7 The 18th area C where the vehicles on the 18 ; From the first import lane l 1 The 19th area C where the vehicles on the 19 ; From the 10th import lane 10 The 24th area C where the vehicles on the 24 ; From the second import lane 2The 25th area C where the vehicles on the 25 ; From the second import lane 2 The 30th area C where the vehicles on the 30 ; From the third import lane 3 The 31st area C where the vehicles on the 31 ; From the 11th import lane 11 The 32nd area C where the vehicles on the 32 ; From the 7th import lane 7 The 33rd area C where the vehicles on the 33 ; From the 4th import lane 4 The 34th area C where the vehicles on the 34 ; From the 5th import lane 5 The 35th area C where the vehicles on the 35 ; From the 6th import lane 6 The 36th area C where the vehicles on the 36 ;

[0069] The conflict area caused by multiple import lanes includes: 11 and the 8th lane 8 The 8th area C where the vehicles on the 8 ; 9th area C 9 From the 11th import lane 10 and the 11th lane 8 The area where the vehicles on the vehicle collide; the 10th area C 10 From the 1st lane 1 and the 8th import lane 8 The area where the vehicles on the road collide; the 11th area C 11 From the 5th lane 5 and the 8th import lane 8 The area where the vehicles on the road collide; the 26th area C 26 From the 11th import lane 11 and the second import lane 2 The area where the vehicles on the road collide; the 27th area C 27 From the 7th import lane 7 and the second import lane 2 The area where the vehicles on the road collide; the 28th area C 28 From the 4th import lane 4 and the second import lane 2 The area where the vehicles on the road collide; the 29th area C 29 From the 5th import lane 5and the second import lane 2 The area where the vehicles on the road collide; the 14th area C 14 From the 11th lane 11 and the 4th import lane 4 The area where the vehicles on the vehicle collide; the 20th area C 20 From the 11th import lane 11 and the first import lane 1 The area where the vehicles on the road collide; the 17th area C 17 From the 5th import lane 5 and the 7th lane 7 The area where the vehicles on the road collide; the 23rd area C 23 From the 5th import lane 5 and the 10th import lane 10 The area where the vehicles on the road collide; the 15th area C 15 From the 4th lane 4 , 7th import lane 7 and the 10th import lane 10 The area where the vehicles on the road collide; the 16th area C 16 From the 4th lane 4 , 7th import lane 7 and the first import lane 1 The area where the vehicles on the road collide; the 21st area C 21 From the 1st lane 1 , 7th import lane 7 and the 10th import lane 10 The area where the vehicles on the road collide; the 22nd area C 22 From the 4th import lane 4 , the first import lane l 1 and the 10th import lane 10 Areas where vehicles on the road collide;

[0070] Step 2: Measure the i-th lane l i The distance L from the intersection stop line to the entrance of the conflict area i,1 ; Get the i-th lane l at time t i The distance d between vehicle k and the stop line of the intersection ik (t); Get the value of lane l in the i-th lane at time t i The speed of vehicle k on the ik (t); Get the value of lane l in the i-th lane at time t i Traffic volume Q i (t), get the value of lane l in the i-th lane at time t iThe vehicle length τ of vehicle k on ik (t);

[0071] Step 3: Calculate the vehicle's stop interval and stop time;

[0072] Step 3.1: Calculate the vehicle k in the jth region C according to formula (1): j The length of the trajectory

[0073]

[0074] Step 3.2: Calculate the value of the i-th import lane l at time t according to formula (2). i The vehicle k on the path reaches the jth conflict area C j Distance from entrance

[0075]

[0076] In formula (2), C a represents the i-th import lane l i The set of regions that the vehicles on the i The a-th conflict region in Indicates that the vehicle is in the ath conflict area C a The length of the trajectory;

[0077] Step 3.3: Calculate the value of the i-th import lane l at time t according to formula (3): i The vehicle k on the left leaves the jth conflict area C j Distance to exit

[0078]

[0079] In formula (3), τ k represents the length of vehicle k;

[0080] Step 3.4: Calculate the value of the i-th import lane l at time t according to formula (4) i The vehicle k on the path reaches the jth conflict area C j Entrance time

[0081]

[0082] Step 3.5: Calculate the value of the i-th import lane l at time t according to formula (5) i The vehicle k on the path reaches the jth conflict area C j Time of export

[0083]

[0084] Step 3.6: Calculate the value of the i-th import lane l at time t according to formula (6) i The vehicle k on the path reaches the jth conflict area C j The stay interval

[0085]

[0086] Step 3.7: Calculate the value of the i-th import lane l at time t according to formula (7): i The vehicle k on the path reaches the jth conflict area C j Duration of stay

[0087]

[0088] Step 3.8: Determine the jth conflict area C j Is it caused by a conflict in an import lane? If so, go to step 5; otherwise, go to step 3.9;

[0089] Step 3.9: Set the i-th import lane l i In the jth conflict area C j The other conflicting import lane on the z , where i≠z;

[0090] Define time t in the import lane l z The number of vehicles on the import lane is n. Follow steps 2 to 3.7 to calculate the number of vehicles on the import lane l at time t. z The vehicle n on the path reaches the jth conflict area C j The stay interval and at time t in the import lane l z The vehicle n on the path reaches the jth conflict area C j Duration of stay

[0091] Step 4: Determine the right of way for vehicles in different lanes;

[0092] Step 4.1, determine whether formula (8) is true. If so, do not guide vehicles k and n at time t, and execute step 5. Otherwise, execute step 4.2.

[0093]

[0094] In formula (8), ∩ represents the intersection;

[0095] Step 4.2: Determine whether equation (9) holds. If so, let vehicle k pass first at time t, and let vehicle n slow down and yield at time t, and execute step 5. Otherwise, execute step 4.3.

[0096]

[0097] Step 4.3, determine whether formula (10) is true. If true, let vehicle n pass first at time t, and let vehicle k slow down and give way at time t, and execute step 5. Otherwise, execute step 4.4;

[0098]

[0099] Step 4.4, determine whether formula (11) is true. If true, let vehicle k have priority to pass at time t, and vehicle n slow down and give way at time t. Otherwise, let vehicle n have priority to pass at time t, and vehicle k slow down and give way at time t.

[0100] Q i (t)≥Q z (t) (11)

[0101] Step 5: Determine the right of way for vehicles in the same lane, define vehicle k+1 as the preceding vehicle of vehicle k, and define vehicle k as the following vehicle of vehicle k+1;

[0102] Step 5.1: For the i Vehicle k and vehicle k+1 on the grid need to satisfy the condition of formula (12), giving vehicle k+1 the right of way;

[0103]

[0104] In formula (12), Indicates that at time t, the i-th import lane l i Vehicle k+1 on the jth conflict area C j Time of entry;

[0105] Step 6: Assign t+1 to t and return to step 2 to control the guidance plan for the vehicle to autonomously pass through the intersection at the next moment.

[0106] In this embodiment, an electronic device includes a memory and a processor, wherein the memory is used to store a program that supports the processor to execute the above method, and the processor is configured to execute the program stored in the memory.

[0107] In this embodiment, a computer-readable storage medium stores a computer program on the computer-readable storage medium, and the computer program executes the steps of the above method when executed by a processor.

[0108] like Figure 3 As shown, in this embodiment, taking r = 3.5 meters as an example, the calculation of the time t in lane l 2 Vehicle k and vehicle t are in lane l at time 11 Vehicle n arrives at area C 26 Right of way, area C 26 By the lane 11 and l 2 Generate a conflict set, denoted as: C 26 = {l 11 ,l 2}, at time t in lane l 2 The distance d between vehicle k and the stop line 2k (t) = 12 meters, at time t, in lane l 2 The speed V of vehicle k on 2k (t) = 10 m / s, at time t, in lane l 11 The distance d between vehicle n and the stop line 11n (t) = 6 meters, at time t, in lane l 11 The speed V of vehicle n on 11k (t) = 10 m / s, and In order to simplify the calculation, the length of the vehicle is not considered to be 0 at this time.

[0109] First calculate the time t in lane l 2 The stop interval and stop time of vehicle k on the ;

[0110]

[0111]

[0112]

[0113]

[0114]

[0115]

[0116] Calculate the time t in lane l 11 The stop interval and stop time of vehicle n;

[0117]

[0118]

[0119]

[0120]

[0121]

[0122]

[0123] So no booting is needed at this time.

Claims

1. A method for guiding an intelligent connected vehicle to autonomously drive through an intersection, characterized in that: The following steps are involved: Step 1: Let the current intersection where the intelligent connected vehicle is located be a two-way six-lane crossroad. Starting from the west, the entrance lanes of the intersection are numbered in reverse order. Let any entrance lane in the two-way six-lane be recorded as the i-th entrance lane l i , i = 1, 2, ..., 12; divide the intersection into 36 square conflict areas of the same size according to the number of lanes, and the side length of each conflict area is r; number the conflict areas in order from left to right and from top to bottom, and let any j-th conflict area be denoted as C j , j = 1, 2, ..., 36; The conflict area passed by the vehicles on each import lane is defined as the conflict area set, where the conflict area set passed by the vehicles on the first import lane l1 is T1 = {C 19 ,C 20 ,C 21 ,C 22 ,C 16 ,C 10 , C4}; the set of conflict areas passed by vehicles on the second import lane l2 is T2 = {C25, C26, C27, C28, C29, C30}; the set of conflict areas passed by vehicles on the third import lane l3 is T3 = {C 31 }; The set of areas that the vehicles on the fourth import lane l4 pass through in sequence is T4 = {C 34 ,C 28 ,C 22 ,C 16 ,C 15 ,C 14 ,C 13 }; The set of areas that the vehicles on the fifth import lane l5 pass through in sequence is T5 = {C 35 ,C 29 ,C 23 ,C 17 ,C 11 ,C5}; the set of conflict areas passed by vehicles on the sixth import lane l6 is T6 = {C 36 }; The set of areas that the vehicles on the seventh import lane l7 pass through in sequence is T7 = {C 18 ,C 17 ,C 16 ,C 15 ,C 21 ,C 27 ,C 33 }; The set of areas that the vehicles on the 8th import lane l8 pass through in sequence is T8 = {C 12 ,C 11 ,C 10 ,C9,C8,C7}; the set of conflict areas passed by vehicles on the 9th import lane l3 is T9={C6}; the set of conflict areas passed by vehicles on the 10th import lane l 10 The set of regions that the vehicles on the 10 ={C3,C9,C 15 ,C 21 ,C 22 ,C 23 ,C 24 }; 11th import lane l 11 The set of regions that the vehicles on the 11 ={C2,C8,C 14 ,C 20 ,C 26 ,C 32 }, the set of conflict areas that vehicles on the 12th import lane l3 pass through is T 12 ={C1}; let T i represents the i-th import lane l i A set of areas that vehicles on a lane pass through in sequence; For T i Any b-th conflict region C in b and the mth conflict region C m If the vehicle passes through C b You must first pass C m , then record it as C m →C b ; Let the interval between two adjacent times be Δt, then the serial number of any moment is t; According to the number of import lanes involved in each conflict area, the conflict area is divided into a conflict area caused by one import lane and a conflict area caused by multiple import lanes; Among them, the conflict area caused by one import lane includes: 12 The first conflict area C1 where the vehicles on the 11th import lane l 11 The second conflict area C2 where the vehicles on the 10th import lane l 10 The third area C3 is caused by the vehicle on the first import lane l1; the fourth area C4 is caused by the vehicle on the fifth import lane l5; the fifth area C5 is caused by the vehicle on the ninth import lane l9; the sixth area C6 is caused by the vehicle on the fifth import lane l5; the seventh area C7 is caused by the vehicle on the fifth import lane l5; the twelfth area C8 is caused by the vehicle on the fifth import lane l5 12 ; The 13th area C where the conflict is caused by the vehicle on the 4th import lane l4 13 ; The 18th area C where the conflict is caused by the vehicle on the 7th import lane l7 18 ; The 19th area C where the conflict occurs due to the vehicle on the first import lane l1 19 ; From the 10th import lane 10 The 24th area C where the vehicles on the 24 ; The 25th area C where the conflict occurs due to the vehicle on the second import lane l2 25 ; The 30th area C where the conflict occurs due to the vehicle on the second import lane l2 30 ; The 31st area C where the conflict occurs due to the vehicle on the 3rd import lane l3 31 ; From the 11th import lane 11 The 32nd area C where the vehicles on the 32 ; The 33rd area C where the conflict is caused by the vehicle on the 7th import lane l7 33 ; The 34th area C where the conflict is caused by the vehicle on the 4th import lane l4 34 ; The 35th area C where the conflict is caused by the vehicle on the 5th import lane l5 35 ; The 36th area C where the conflict is caused by the vehicle on the 6th import lane l6 36 ; The conflict area caused by multiple import lanes includes: 11 The 8th area C8 conflicts with the vehicle on the 8th lane l8; the 9th area C9 is formed by the 11th import lane l 10 The area that conflicts with the vehicle on the 11th lane l8; the 10th area C 10 The area where the vehicles on the first lane l1 and the eighth import lane l8 conflict; the eleventh area C 11 The area where the vehicles on the 5th lane l5 and the 8th import lane l8 conflict; the 26th area C 26 From the 11th import lane 11 The area that conflicts with the vehicle on the second import lane l2; the 27th area C 27 The area where the vehicles on the 7th import lane l7 and the 2nd import lane l2 conflict; the 28th area C 28 The area where the vehicles on the 4th import lane l4 and the 2nd import lane l2 conflict; the 29th area C 29 The area where the vehicles on the fifth import lane l5 and the second import lane l2 conflict; the 14th area C 14 From the 11th lane 11 The area that conflicts with the vehicle on the 4th import lane l4; the 20th area C 20 From the 11th import lane 11 The area that conflicts with the vehicle on the first import lane l1; the 17th area C 17 The area where the vehicles on the 5th import lane l5 and the 7th lane l7 conflict; the 23rd area C 23 From the 5th import lane l5 and the 10th import lane l 10 The area where the vehicles on the road collide; the 15th area C 15 The 4th lane l4, the 7th import lane l7 and the 10th import lane l 10 The area where the vehicles on the road collide; the 16th area C 16 The area where the vehicles on the 4th lane l4, the 7th import lane l7 and the 1st import lane l1 conflict; the 21st area C 21 The first lane l1, the seventh import lane l7 and the tenth import lane l 10 The area where the vehicles on the road collide; the 22nd area C 22 The 4th import lane l4, the 1st import lane l1 and the 10th import lane l 10 Areas where vehicles on the road collide; Step 2: Measure the i-th lane l i The distance L from the intersection stop line to the entrance of the conflict area i,1 ; Get the i-th lane l at time t i The distance d between vehicle k and the stop line of the intersection ik (t); Get the value of lane l in the i-th lane at time t i The speed of vehicle k on the ik (t); Get the value of lane l in the i-th lane at time t i Traffic volume Q i (t), Step 3: Calculate the vehicle's stop interval and stop time; Step 3.1: Calculate the vehicle k in the jth region C according to formula (1): j The length of the trajectory Step 3.2: Calculate the value of the i-th import lane l at time t according to formula (2). i The vehicle k on the path reaches the jth conflict area C j Distance from entrance In formula (2), C a represents the i-th import lane l i The set of regions that the vehicles on the i The a-th conflict region in Indicates that the vehicle is in the ath conflict area C a The length of the trajectory; Step 3.3: Calculate the value of the i-th import lane l at time t according to formula (3): i The vehicle k on the left leaves the jth conflict area C j Distance to exit In formula (3), τ k represents the length of vehicle k; Step 3.4: Calculate the value of the i-th import lane l at time t according to formula (4) i The vehicle k on the path reaches the jth conflict area C j Entrance time Step 3.5: Calculate the value of the i-th import lane l at time t according to formula (5) i The vehicle k on the path reaches the jth conflict area C j Time of export Step 3.6: Calculate the value of the i-th import lane l at time t according to formula (6) i The vehicle k on the path reaches the jth conflict area C j The stay interval Step 3.7: Calculate the value of the i-th import lane l at time t according to formula (7): i The vehicle k on the path reaches the jth conflict area C j The duration of stay Step 3.8: Determine the jth conflict area C j Is it caused by a conflict in an import lane? If so, go to step 5; otherwise, go to step 3.9; Step 3.9: Set the i-th import lane l i In the jth conflict area C j The other conflicting import lane on the z , where i≠z; Define time t in the import lane l z The number of vehicles on the import lane is n. Follow steps 2 to 3.7 to calculate the number of vehicles on the import lane l at time t. z The vehicle n on the path reaches the jth conflict area C j The stay interval and time t in the import lane l z The vehicle n on the path reaches the jth conflict area C j The duration of stay Step 4: Determine the right of way for vehicles in different lanes; Step 4.1, determine whether formula (8) is true. If so, do not guide vehicles k and n at time t, and execute step 5. Otherwise, execute step 4.

2. In formula (8), ∩ represents the intersection; Step 4.2: Determine whether equation (9) holds. If so, let vehicle k pass first at time t, and let vehicle n slow down and yield at time t, and execute step 5. Otherwise, execute step 4.

3. Step 4.3, determine whether formula (10) is true. If true, let vehicle n pass first at time t, and let vehicle k slow down and give way at time t, and execute step 5. Otherwise, execute step 4.4; Step 4.4, determine whether formula (11) is true. If true, let vehicle k have priority to pass at time t, and vehicle n slow down and give way at time t. Otherwise, let vehicle n have priority to pass at time t, and vehicle k slow down and give way at time t. Q i (t)≥Q z (t) (11) Step 5: Determine the right of way for vehicles in the same lane, define vehicle k+1 as the preceding vehicle of vehicle k, and define vehicle k as the following vehicle of vehicle k+1; Step 5.1: For the i If the vehicle k and vehicle k+1 on the road satisfy the condition of formula (12), vehicle k+1 is given the right of way; In formula (12), Indicates that at time t, the i-th import lane l i Vehicle k+1 on the jth conflict area C j Time of entry; Step 6: Assign t+1 to t and return to step 2 to control the guidance plan for the vehicle to autonomously pass through the intersection at the next moment.

2. An electronic device, comprising a memory and a processor, characterized in that: The memory is used to store a program that supports the processor to execute the boot method according to claim 1, and the processor is configured to execute the program stored in the memory.

3. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the steps of the boot method according to claim 1 are executed.

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