A coordinated lane-changing method and system for tunnel accident sections in a connected mixed traffic environment

Abstract

A method and system for collaborative lane changing in a tunnel accident section under a networked mixed traffic environment, which belongs to the field of traffic safety in a networked mixed traffic environment. The present invention solves the problem of low lane changing efficiency of existing methods. Aiming at the driving environment where networked automatic driving vehicles and networked manually driven vehicles coexist, the present invention proposes a collaborative lane changing method for a tunnel accident section under a networked mixed traffic environment, which is more suitable for the development of the Internet of Vehicles. In the decision-making of a single vehicle lane change, the safety of the vehicle lane changing process can be effectively guaranteed by calculating the critical safety distance and comparing it with the actual distance. Moreover, in response to the problem of forced lane changing in the tunnel accident section where the upstream vehicle must change lanes, on the premise that the vehicle can complete the lane change safely, the road resources are utilized to the maximum extent, the lane changing efficiency is improved and the impact on other vehicles is reduced, thereby improving the traffic efficiency in the tunnel. The method of the present invention can be applied to collaborative lane changing in a tunnel accident section under a networked mixed traffic environment.

Description

Technical Field

[0001] The present invention belongs to the field of traffic safety in a networked mixed traffic environment, and specifically relates to a coordinated lane changing method and system for a tunnel accident section in a networked mixed traffic environment. Background Art

[0002] Highway tunnels are enclosed, with limited visibility, confined spaces, and difficult rescue operations. Once a traffic accident occurs, the tunnel's capacity and safety are severely impacted, posing a far greater threat to life and property than on open roads. Therefore, timely lane changes are crucial to resolve traffic conflicts after an accident in a tunnel.

[0003] When an accident occurs in a tunnel, upstream vehicles are required to change lanes within a certain distance upstream of the disabled vehicle to ensure smooth exit from the tunnel. Failure to do so exacerbates traffic congestion and increases the risk of accidents. This purposeful lane change is called a mandatory lane change. Compared to free lane changes, mandatory lane changes have a minimum change point, making them more aggressive and dangerous. Connected communication technology empowers connected vehicles with high-precision perception, high-speed communication, and ultra-fast response capabilities, providing drivers with instant and accurate traffic information to support their lane-changing decisions.

[0004] With the continuous development of automatic control technology, connected manually driven vehicles and connected autonomous driving vehicles will coexist for a long time in the future. In this mixed traffic environment, the interaction between vehicles becomes particularly important during the lane changing process. However, the existing method is a single-vehicle lane changing method. Therefore, the lane changing efficiency of the existing method is low. Therefore, it is very necessary to propose a new lane changing method to improve traffic efficiency and safety. Summary of the Invention

[0005] The purpose of the present invention is to solve the problem of low lane changing efficiency of existing methods and to propose a collaborative lane changing method and system for tunnel accident sections in a networked mixed traffic environment.

[0006] The technical solution adopted by the present invention to solve the above technical problems is:

[0007] According to one aspect of the present invention, a coordinated lane-changing method for a tunnel accident section in a networked mixed traffic environment comprises the following steps:

[0008] Step 1: Number the lanes of the one-way tunnel from right to left along the direction of vehicle travel, and number the lanes as lane 1, lane 2, ..., lane n;

[0009] Step 2: When a traffic accident occurs on the i-th lane, where i≠1 and i≠n, the position of the vehicle involved in the traffic accident is taken as the starting position, and the extreme position that can be affected by the traffic accident is taken as the ending position. The area between the starting position and the ending position is the traffic accident impact zone on the i-th lane, and the length of the traffic accident impact zone is denoted as s;

[0010] For the connected autonomous vehicle in lane i that is within the traffic accident impact zone, perform step 3. The connected manually driven vehicle in lane i that is within the traffic accident impact zone selects its own target lane and lane change timing.

[0011] Step 3: Number the connected autonomous vehicles behind the vehicle involved in the traffic accident, i.e., number the connected autonomous vehicles from smallest to largest according to their distance from the vehicle involved in the traffic accident;

[0012] Initialize vehicle number n=1, and execute step 4 for vehicle n and vehicle n+1;

[0013] Step 4: Calculate the current traffic speed of the i-1 lane and the current traffic speed of the i+1 lane;

[0014] If the current traffic speed of lane i-1 is greater than or equal to the current traffic speed of lane i+1, then lane i-1 is used as the target lane for vehicle n, and lane i+1 is used as the target lane for vehicle n+1.

[0015] Otherwise, if the current traffic speed of lane i-1 is less than the current traffic speed of lane i+1, lane i-1 is used as the target lane for vehicle n+1, and lane i+1 is used as the target lane for vehicle n;

[0016] Step 5: Vehicle n and vehicle n+1 are both referred to as lane-changing vehicles. Steps 51 to 55 are performed simultaneously for vehicle n and vehicle n+1 until either vehicle n or vehicle n+1 completes the lane change, at which point step 6 is performed.

[0017] Step 51: Note the distance between the lane-changing vehicle and the preceding vehicle k in the target lane as L1, and determine whether the distance L1 satisfies the condition of formula (1):

[0018] L1≥S i -S k +W sinθ (1)

[0019] Where: S i is the horizontal distance traveled by the lane-changing vehicle in time t, S k is the horizontal distance traveled by the preceding vehicle k in the target lane within time t, W is the vehicle width, and θ is the angle between the lane-changing vehicle and the horizontal line during the lane-changing process;

[0020] Step 52: If the lane-changing vehicle satisfies the conditions of formula (1), then execute step 53; if the lane-changing vehicle does not satisfy the conditions of formula (1), then the lane-changing vehicle first decelerates and waits for the next lane-changing gap in the target lane, and then returns to execute step 51 at the next lane-changing gap;

[0021] Step 53: Note the distance between the lane-changing vehicle and the vehicle behind the target lane as L2, and determine whether the distance L2 satisfies the condition of formula (3):

[0022] L2≥S j -S i +W sinθ (3)

[0023] Where: S j is the horizontal distance traveled by vehicle j in the target lane within time t;

[0024] Step 54: If the lane-changing vehicle satisfies the conditions of formula (3), the lane-changing vehicle executes the lane change;

[0025] If the lane-changing vehicle does not satisfy the conditions of formula (3), then execute step 55;

[0026] Step 55: If the vehicle behind the target lane j is an autonomous vehicle, the vehicle behind the target lane j slows down to yield and the lane-changing vehicle accelerates to change lanes;

[0027] If the vehicle behind j in the target lane is a manually driven vehicle, a lane-changing game is performed;

[0028] The specific process of the lane-changing game is as follows:

[0029] Construct the profit function P of the lane-changing vehicle and the profit function Q of the vehicle behind the target lane, and make decisions based on the profit functions of the lane-changing vehicle and the vehicle behind the target lane:

[0030]

[0031]

[0032] Subject to

[0033] r∈{0,1},r(r-1)=0

[0034] a i ∈[a min ,a max ]

[0035] v i ∈[v min ,v max ]

[0036] a j ∈[a min,a max ]

[0037] v j ∈[v min ,v max ]

[0038] Among them, r={0,1}, r=0 means keeping the current lane, r=1 means changing lanes to the target lane; (a i * ,r * ) represents the game solution between the target vehicle and the vehicle behind it in the target lane, Γ 2 represents the candidate strategy set for the vehicle behind the target lane, γ 2 (a i ,r) represents the optimal strategy set of the vehicle behind the target lane when the strategy of the lane-changing vehicle is given, Indicates that the calculation method on the left side of the formula is defined as the calculation method on the right side of the formula, a min is the minimum acceleration allowed for a lane-changing vehicle, a max is the maximum acceleration allowed for a lane-changing vehicle, a i is the acceleration of the lane-changing vehicle, v min is the minimum speed allowed for vehicles changing lanes, v max is the maximum speed allowed for lane-changing vehicles, v i is the speed of the lane-changing vehicle, v j is the speed of the vehicle behind the target lane, a j is the acceleration of the vehicle behind in the target lane, α i and α j is the weight coefficient;

[0039] When the game solution (a i * ,r * ) in r * When it is equal to 1, it means that the lane-changing vehicle game is successful, and the lane-changing vehicle changes lanes to the target lane. When the game solution (a i * ,r * ) in r * When it is equal to 0, it means that the lane-changing vehicle fails in the game. The lane-changing vehicle first slows down and waits for the next lane-changing gap in the target lane. At the next lane-changing gap, it returns to step 51.

[0040] Step 6: If the vehicle that has completed the lane change uses lane i-1 as the target lane, vehicle n+2 uses lane i-1 as the target lane and begins the lane change process from steps 51 to 55. Vehicles that have not completed the lane change continue to change lanes.

[0041] If the vehicle that has completed the lane change sets the i+1th lane as the target lane, vehicle n+2 sets the i+1th lane as the target lane and begins the lane change process from step 51 to step 55. Vehicles that have not completed the lane change continue to change lanes.

[0042] Step 7: When either of the two vehicles changing lanes simultaneously in Step 6 completes the lane change, determine whether there is another connected autonomous driving vehicle in lane i and behind the vehicle involved in the traffic accident, in addition to the vehicle changing lanes in Step 6;

[0043] If there is a connected autonomous vehicle, set n = n + 1 and return to step 6;

[0044] If there is no connected autonomous driving vehicle, the entire lane changing process ends after both vehicles that change lanes simultaneously in step 6 have completed their lane changes.

[0045] Furthermore, the length s of the traffic accident impact zone is calculated as follows:

[0046] s=ω(t1-t0) (7)

[0047] Where ω is the traffic wave speed of the road section after the traffic accident occurs, t1 represents the end time of the traffic accident's impact on traffic, and t0 represents the start time of the traffic accident's impact on traffic.

[0048] Furthermore, the calculation method of the traffic wave speed ω of the road section after the traffic accident occurs is:

[0049] ω=u f [1-(k1+k2) / k j ] (8)

[0050] Where u f is the free flow speed of the tunnel accident section, k1 is the traffic density of the tunnel accident section, k2 is the traffic density upstream of the accident point, and k j is the traffic congestion density of the tunnel.

[0051] Furthermore, the profit function of the lane-changing vehicle and the vehicle behind in the target lane is:

[0052] P=α i S′ i +(1-α i )E i +R (10)

[0053] Q=α j S′ j +(1-α j )E j +U (11)

[0054] Among them, P represents the benefit of the lane-changing vehicle, Q represents the benefit of the vehicle behind the target lane, and S′ i represents the safety benefit of lane-changing vehicles, E i represents the efficiency gain of the lane-changing vehicle, R represents the reward for the lane-changing vehicle to successfully change lanes, and S′ j represents the safety benefit of the vehicle behind the target lane, E j represents the efficiency benefit of the vehicle behind the target lane, U represents the cooperative incentive of the vehicle behind the target lane, and α i and α j is the weight coefficient.

[0055] Furthermore, the weight coefficient α i and α j for:

[0056]

[0057]

[0058] Among them, J max is the maximum jerk of the vehicle in the current traffic environment during car-following driving, J min J is the minimum jerk of the vehicle in the current traffic environment when following the vehicle. i is the current acceleration of the lane-changing vehicle, J j is the current acceleration of the vehicle behind in the target lane.

[0059] Furthermore, the safety benefit S′ of the lane-changing vehicle i The calculation method is:

[0060] S′ i =(1-r)S′ i-lk +rS′ i-lc (14)

[0061] Where r = {0, 1}, r = 0 means to keep the current lane, r = 1 means to change lanes to the target lane; S′ i-lk In order to maintain the driving safety benefit of the current lane, S′ i-lc For the driving safety benefits of lane changing;

[0062]

[0063] Among them, a il is the acceleration of the vehicle in front of the lane-changing vehicle, v il is the speed of the vehicle in front of the lane-changing vehicle, l i is the distance between the lane-changing vehicle and the accident point, l il is the distance between the preceding vehicle and the accident point, d is the safe stopping distance, l0 is the vehicle length, TTC * represents the standard collision time;

[0064]

[0065] Among them, a j is the acceleration of the vehicle behind the target lane, l j is the distance between the vehicle behind in the target lane and the accident point.

[0066] Furthermore, the safety benefit S′ of the vehicle behind the target lane j The calculation method is:

[0067] When the lane-changing vehicle does not change lanes:

[0068]

[0069] Among them, TTC * represents the standard collision time, v k is the speed of the vehicle in front of the target lane, a k is the acceleration of the vehicle in front of the target lane, l k is the distance between the preceding vehicle in the target lane and the accident point;

[0070] When a lane-changing vehicle changes lanes:

[0071]

[0072] Furthermore, the efficiency gain E of the lane-changing vehicle i The calculation method is:

[0073]

[0074] Among them, v limit Indicates the road speed limit. Indicates the maximum speed at which a lane-changing vehicle can change lanes without colliding with the vehicle ahead in the target lane. Indicates the maximum speed at which a lane-changing vehicle can maintain its current lane without colliding with the vehicle ahead.

[0075] Efficiency gain E of the vehicle behind the target lane j The calculation method is:

[0076]

[0077] in, Indicates the maximum speed at which the vehicle behind in the target lane will not collide with the lane-changing vehicle after giving way. Indicates the maximum speed at which the vehicle behind in the target lane can avoid colliding with the vehicle ahead if the vehicle behind does not yield.

[0078] Furthermore, the cooperation incentive U of the following vehicle in the target lane is:

[0079]

[0080] According to another aspect of the present invention, a coordinated lane-changing system for a tunnel accident section in a networked mixed traffic environment includes a central processing unit, an information acquisition module, a networked communication module, a decision module, and a control module;

[0081] The information acquisition module and the networked communication module are arranged inside the networked manually driven vehicle and the networked autonomous driving vehicle; the decision module and the control module are only arranged inside the networked autonomous driving vehicle;

[0082] The information collection module is used to collect the vehicle's driving status, location information and road information;

[0083] The network communication module is used for communication between vehicles and between the central processing unit and vehicles;

[0084] The central processing unit is used to calculate the impact range of the vehicles involved in the traffic accident and decide which vehicles need to change lanes;

[0085] The connected autonomous vehicle uses the connected communication module to receive lane change instructions from the central processor, and the connected manually driven vehicle chooses the lane change time on its own;

[0086] The decision-making module within the connected autonomous vehicle makes lane-changing decisions based on the speed and position information of traffic in each lane;

[0087] The control module is used to output control instructions based on the lane changing decision to control the networked autonomous driving vehicle to change lanes.

[0088] The beneficial effects of the present invention are:

[0089] This invention addresses the coexistence of connected autonomous vehicles and connected manually driven vehicles in a driving environment. It proposes a collaborative lane-changing method for tunnel accident sections in a connected mixed traffic environment, which is more suitable for the development of the Internet of Vehicles. In single-vehicle lane-changing decisions, by calculating the critical safety distance and comparing it with the actual distance, the safety of the vehicle lane-changing process can be effectively guaranteed. Furthermore, to address the issue of forced lane changes in tunnel accident sections where upstream vehicles must change lanes, this method, provided that the vehicle can safely complete the lane change, maximizes the use of road resources, improves lane-changing efficiency, and minimizes the impact on other vehicles, thereby improving traffic efficiency within the tunnel. BRIEF DESCRIPTION OF THE DRAWINGS

[0090] Figure 1 This is a flow chart of a coordinated lane-changing method for a tunnel accident section in a networked mixed traffic environment according to the present invention;

[0091] Figure 2 Flowchart for lane-changing decision-making for a single vehicle;

[0092] Figure 3ais a schematic diagram of the distance between lane-changing vehicle i and the preceding and following vehicles in the target lane;

[0093] Figure 3b The lane-changing vehicle i is in the extreme case where it does not collide with the vehicle ahead after completing the lane change;

[0094] Figure 3c This is the extreme case where the lane-changing vehicle i does not collide with the following vehicle after completing the lane change. DETAILED DESCRIPTION

[0095] The present application will be further described in detail below through specific embodiments in conjunction with the accompanying drawings. Obviously, the embodiments described are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, other embodiments obtained by ordinary technicians in this field without making any creative work are within the scope of protection of the present invention.

[0096] Specific implementation method 1. Combination Figure 1 and Figure 2 This embodiment describes a method for coordinated lane changing in a tunnel accident section under a networked mixed traffic environment, and the method specifically includes the following steps:

[0097] Step 1: Number the lanes of the one-way tunnel from right to left along the direction of vehicle travel, and number the lanes as lane 1, lane 2, ..., lane n;

[0098] Step 2: When a traffic accident occurs on the i-th lane, where i≠1 and i≠n, the position of the vehicle involved in the traffic accident is taken as the starting position, and the extreme position that can be affected by the traffic accident is taken as the ending position. The area between the starting position and the ending position is the traffic accident impact zone on the i-th lane, and the length of the traffic accident impact zone is denoted as s;

[0099] For the connected autonomous vehicle in lane i that is within the traffic accident impact zone, perform step 3. The connected manually driven vehicle in lane i that is within the traffic accident impact zone selects its own target lane and lane change timing.

[0100] Step 3: Number the connected autonomous vehicles behind the vehicle involved in the traffic accident (i.e., the connected autonomous vehicles upstream of the vehicle involved in the traffic accident). Specifically, number the connected autonomous vehicles in ascending order of distance from the vehicle involved in the traffic accident (the vehicle with the shortest distance is numbered as vehicle 1, and so on, the vehicle with the longest distance is numbered as vehicle m).

[0101] Initialize vehicle number n = 1, and execute step 4 for vehicles n and n+1 (while vehicles n and n+1 are executing step 4, vehicles 3 through m continue to travel in lane i, where m is the highest number of connected autonomous vehicles).

[0102] Step 4: Calculate the current traffic speed of the i-1 lane and the current traffic speed of the i+1 lane;

[0103] If the current traffic speed of lane i-1 is greater than or equal to the current traffic speed of lane i+1, then lane i-1 is used as the target lane for vehicle n, and lane i+1 is used as the target lane for vehicle n+1.

[0104] Otherwise, if the current traffic speed of lane i-1 is less than the current traffic speed of lane i+1, lane i-1 is used as the target lane for vehicle n+1, and lane i+1 is used as the target lane for vehicle n;

[0105] That is, step 4 calculates the current traffic speed and other information of each lane, and uses the "reverse zipper" traffic method to determine the target lane for the lane-changing vehicle;

[0106] Step 5: Vehicle n and vehicle n+1 are both referred to as lane-changing vehicles. Steps 51 to 55 are performed simultaneously for vehicle n and vehicle n+1 until either vehicle n or vehicle n+1 completes the lane change, at which point step 6 is performed.

[0107] Step 5: Figure 3a and Figure 3b As shown in the figure, the distance between the lane-changing vehicle and the preceding vehicle k in the target lane is recorded as L1. The distance L1 can be directly obtained in a connected environment. To avoid an oblique collision or rear-end collision with the preceding vehicle k in the target lane, it is determined whether the distance L1 satisfies the condition of formula (1):

[0108] L1≥S i -S k +W sinθ (1)

[0109] Where: S i is the horizontal distance traveled by the lane-changing vehicle in time t, S k is the horizontal distance traveled by the preceding vehicle k in the target lane within time t, W is the vehicle width, and θ is the angle between the lane-changing vehicle and the horizontal line during the lane-changing process;

[0110] That is, determine whether the distance L1 satisfies formula (2):

[0111]

[0112] Where: v i is the speed of the lane-changing vehicle, v kis the speed of the vehicle in front of the target lane, t is the time required for lane change, a i is the acceleration of the lane-changing vehicle;

[0113] Step 52: If the lane-changing vehicle satisfies the conditions of formula (1), then execute step 53; if the lane-changing vehicle does not satisfy the conditions of formula (1), then the lane-changing vehicle first decelerates and waits for the next lane-changing gap in the target lane, and then returns to execute step 51 at the next lane-changing gap;

[0114] Step 53: Figure 3a and Figure 3c As shown, the distance between the lane-changing vehicle and the vehicle behind the target lane j is recorded as L2. The distance L2 can be directly obtained in a connected environment. To avoid an oblique collision or rear-end collision with the vehicle behind the target lane j, it is determined whether the distance L2 satisfies the condition of formula (3):

[0115] L2≥S j -S i +W sinθ (3)

[0116] Where: S j is the horizontal distance traveled by vehicle j in the target lane within time t;

[0117] That is, determine whether the distance L2 satisfies formula (4):

[0118]

[0119] Where: v j is the speed of the vehicle behind in the target lane;

[0120] Step 54: If the lane-changing vehicle satisfies the conditions of formula (3), the lane-changing vehicle executes the lane change;

[0121] If the lane-changing vehicle does not satisfy the conditions of formula (3), then execute step 55;

[0122] Step 55: If the vehicle behind the target lane j is an autonomous vehicle, the vehicle behind the target lane j slows down to yield and the lane-changing vehicle accelerates to change lanes;

[0123] If the vehicle behind j in the target lane is a manually driven vehicle, a lane-changing game is performed;

[0124] The specific process of the lane-changing game is as follows:

[0125] Vehicles in a connected vehicle environment can share each other's strategy sets and driving status. Their decisions are often made synchronously, with overlapping decision times, and they all tend to maximize their own driving interests. Therefore, the vehicle lane-changing cooperative strategy is modeled as a two-person, non-zero-sum, non-cooperative, and complete information game.

[0126] The vehicle lane-changing cooperative game matrix and all decision combinations are shown in Table 1:

[0127] Table 1 Game Matrix

[0128]

[0129] Combined with the analysis of the driving mentality of the vehicle behind the target lane during forced lane change, a collaborative incentive term is introduced to construct the reward function P of the lane-changing vehicle and the reward function Q of the vehicle behind the target lane. Decisions are then made based on the reward functions of the lane-changing vehicle and the vehicle behind the target lane:

[0130]

[0131]

[0132] Subject to

[0133] r∈{0,1},r(r-1)=0

[0134] a i ∈[a min ,a max ]

[0135] v i ∈[v min ,v max ]

[0136] a j ∈[a min ,a max ]

[0137] v j ∈[v min ,v max ]

[0138] Among them, r={0,1}, r=0 means keeping the current lane, r=1 means changing lanes to the target lane; (a i * ,r * ) represents the game solution between the target vehicle and the vehicle behind it in the target lane, Γ 2 represents the candidate strategy set for the vehicle behind the target lane, γ 2 (a i ,r) represents the optimal strategy set of the vehicle behind the target lane when the strategy of the lane-changing vehicle is given, Indicates that the calculation method on the left side of the formula is defined as the calculation method on the right side of the formula, a min is the minimum acceleration allowed for a lane-changing vehicle, a max is the maximum acceleration allowed for a lane-changing vehicle, a i is the acceleration of the lane-changing vehicle, v min is the minimum speed allowed for vehicles changing lanes, v maxis the maximum speed allowed for lane-changing vehicles, v i is the speed of the lane-changing vehicle, v j is the speed of the vehicle behind the target lane, a j is the acceleration of the vehicle behind in the target lane, α i and α j is the weight coefficient;

[0139] When the game solution (a i * ,r * ) in r * When it is equal to 1, it means that the lane-changing vehicle game is successful, and the lane-changing vehicle changes lanes to the target lane. When the game solution (a i * ,r * ) in r * When it is equal to 0, it means that the lane-changing vehicle fails in the game. The lane-changing vehicle first slows down and waits for the next lane-changing gap in the target lane. At the next lane-changing gap, it returns to step 51.

[0140] Step 6: If the vehicle that has completed the lane change uses lane i-1 as the target lane, vehicle n+2 uses lane i-1 as the target lane and begins the lane change process from steps 51 to 55. Vehicles that have not completed the lane change continue to change lanes.

[0141] If the vehicle that has completed the lane change sets the i+1th lane as the target lane, vehicle n+2 sets the i+1th lane as the target lane and begins the lane change process from step 51 to step 55. Vehicles that have not completed the lane change continue to change lanes.

[0142] Step 7: When either of the two vehicles changing lanes simultaneously in Step 6 completes the lane change, determine whether there is another connected autonomous driving vehicle in lane i and behind the vehicle involved in the traffic accident, in addition to the vehicle changing lanes in Step 6;

[0143] If there is a connected autonomous vehicle, set n = n + 1 and return to step 6;

[0144] If there is no connected autonomous driving vehicle, the entire lane changing process ends after both vehicles that change lanes simultaneously in step 6 have completed their lane changes.

[0145] The lane changing method of the present invention is further described in detail below. Vehicles 1 and 2 change lanes simultaneously. Because the time required for each vehicle to change lanes is different, after vehicle 1 or vehicle 2 completes the lane change, vehicle 3 is changed lanes. Vehicle 3 uses the target lane of the vehicle that has completed the lane change as the target lane. Vehicle 3 changes lanes simultaneously with the vehicle that has not completed the lane change. If one of the two vehicles that change lanes simultaneously also completes the lane change, vehicle 4 changes lanes simultaneously with the other vehicle that has not completed the lane change, and uses the target lane of the vehicle that has completed the lane change as the target lane. This ensures that the target lanes of the two vehicles that change lanes simultaneously are different. This is repeated until all connected autonomous driving vehicles located in the i-th lane and behind the accident vehicle have completed the lane change.

[0146] If a traffic accident occurs on an edge lane in a tunnel, vehicles on the edge lane that are within the area affected by the traffic accident will change lanes using existing methods.

[0147] Specific embodiment 2: This embodiment differs from specific embodiment 1 in that the length s of the traffic accident impact zone is calculated as follows:

[0148] s=ω(t1-t0) (7)

[0149] Where ω is the traffic wave speed of the road section after the traffic accident occurs, t1 represents the end time of the traffic accident's impact on traffic, and t0 represents the start time of the traffic accident's impact on traffic.

[0150] Other steps and parameters are the same as those in the first embodiment.

[0151] Specific embodiment three: This embodiment differs from specific embodiment one or two in that the method for calculating the traffic wave velocity ω of the road section after the traffic accident occurs is:

[0152] ω=u f [1-(k1+k2) / k j ] (8)

[0153] Where u f is the free flow speed of the tunnel accident section (i.e. the design speed of the tunnel section), k1 is the traffic density of the tunnel accident section, k2 is the traffic density upstream of the accident point, and k j is the traffic congestion density of the tunnel.

[0154]

[0155] k a is the traffic density of section a;

[0156] N a is the number of vehicles on road section a;

[0157] L a is the length of section a.

[0158] Other steps and parameters are the same as those in the first or second embodiment.

[0159] Specific embodiment 4: This embodiment differs from any one of specific embodiments 1 to 3 in that the profit function of the lane-changing vehicle and the vehicle behind in the target lane is:

[0160] P=α i S′ i +(1-α i )E i +R (10)

[0161] Q=α j S′ j +(1-α j )E j +U (11)

[0162] Among them, P represents the benefit of the lane-changing vehicle, Q represents the benefit of the vehicle behind the target lane, and S′ i represents the safety benefit of lane-changing vehicles, E i represents the efficiency benefit of the lane-changing vehicle, R represents the reward for the lane-changing vehicle to successfully change lanes (1 for a successful lane change, 0 otherwise), and S′ j represents the safety benefit of the vehicle behind the target lane, E j represents the efficiency benefit of the vehicle behind the target lane, U represents the cooperative incentive of the vehicle behind the target lane (related to the lane-changing pressure of the lane-changing vehicle. The greater the lane-changing pressure of the lane-changing vehicle, the stronger the cooperative incentive of the vehicle behind the target lane). i and α j is the weight coefficient, α i and α j Characterize the driving styles of the lane-changing vehicle and the vehicle behind in the target lane, respectively.

[0163] The other steps and parameters are the same as those in the first to third embodiments.

[0164] Specific embodiment 5: This embodiment differs from any one of specific embodiments 1 to 4 in that the weight coefficient α i and α j for:

[0165]

[0166]

[0167] Among them, J max is the maximum jerk of the vehicle in the current traffic environment during car-following driving, J min J is the minimum jerk of the vehicle in the current traffic environment when following the vehicle. iis the current acceleration of the lane-changing vehicle, J j is the current acceleration of the vehicle behind in the target lane.

[0168] The other steps and parameters are the same as those in the first to fourth embodiments.

[0169] Specific embodiment 6: This embodiment differs from any one of the specific embodiments 1 to 5 in that the safety benefit S′ of the lane-changing vehicle i The calculation method is:

[0170] S′ i =(1-r)S′ i-lk +rS′ i-lc (14)

[0171] Where r = {0, 1}, r = 0 means to keep the current lane, r = 1 means to change lanes to the target lane; S′ i-lk In order to maintain the driving safety benefit of the current lane, S′ i-lc For the driving safety benefits of lane changing;

[0172] When the vehicle does not change lanes, the lane-changing vehicle mainly considers the collision time with the preceding vehicle i in lane:

[0173]

[0174] Among them, a il is the acceleration of the vehicle in front of the lane-changing vehicle (therefore, there is no lane change at this time, so this is the vehicle in front of the lane-changing vehicle in lane i), v il is the speed of the vehicle in front of the lane-changing vehicle, l i is the distance between the lane-changing vehicle and the accident point, l il is the distance between the front vehicle and the accident point, d is the safe stopping distance, which is 0.5m, l0 is the vehicle length (assuming that the length of each vehicle is l0), TTC * Indicates the standard collision time, which is 5S;

[0175] When a vehicle changes lanes, the main consideration is the collision time between the vehicle changing lanes and the vehicle behind it in the target lane:

[0176]

[0177] Among them, a j is the acceleration of the vehicle behind the target lane, l j is the distance between the vehicle behind in the target lane and the accident point.

[0178] The other steps and parameters are the same as those in the first to fifth embodiments.

[0179] Specific embodiment 7: This embodiment differs from any one of specific embodiments 1 to 6 in that the safety benefit S′ of the vehicle behind the target lane is j The calculation method is:

[0180] When the lane-changing vehicle does not change lanes:

[0181]

[0182] Among them, TTC * represents the standard collision time, v k is the speed of the vehicle in front of the target lane, a k is the acceleration of the vehicle in front of the target lane, l k is the distance between the preceding vehicle in the target lane and the accident point;

[0183] When a lane-changing vehicle changes lanes:

[0184]

[0185] The other steps and parameters are the same as those in the first to sixth embodiments.

[0186] Specific embodiment eight: This embodiment differs from any one of specific embodiments one to seven in that the efficiency gain E of the lane-changing vehicle i The calculation method is:

[0187]

[0188] Among them, v limit Indicates the road speed limit. Indicates the maximum speed at which a lane-changing vehicle can change lanes without colliding with the vehicle ahead in the target lane. Indicates the maximum speed at which a lane-changing vehicle can maintain its current lane without colliding with the vehicle ahead.

[0189] Efficiency gain E of the vehicle behind the target lane j The calculation method is:

[0190]

[0191] in, Indicates the maximum speed at which the vehicle behind in the target lane will not collide with the lane-changing vehicle after giving way. The maximum speed at which the following vehicle in the target lane can avoid colliding with the preceding vehicle if the following vehicle does not yield. This speed is calculated using the GIPPS model in the safety distance model.

[0192] The other steps and parameters are the same as those in the first to seventh embodiments.

[0193] Specific embodiment 9: This embodiment differs from any one of specific embodiments 1 to 8 in that the cooperation incentive U of the vehicle behind the target lane is:

[0194]

[0195] The other steps and parameters are the same as those in Specific Embodiments 1 to 8.

[0196] Specific embodiment ten: This embodiment describes a cooperative lane-changing system for a tunnel accident section in a networked mixed traffic environment, the system comprising a central processing unit, an information acquisition module, a networked communication module, a decision module, and a control module;

[0197] The information acquisition module and the networked communication module are arranged inside the networked manually driven vehicle and the networked autonomous driving vehicle; the decision module and the control module are only arranged inside the networked autonomous driving vehicle;

[0198] The information collection module is used to collect the vehicle's driving status, location information and road information;

[0199] The network communication module is used for communication between vehicles and between the central processing unit and vehicles;

[0200] The central processing unit is used to calculate the impact range of the vehicles involved in the traffic accident and decide which vehicles need to change lanes;

[0201] The connected autonomous vehicle uses the connected communication module to receive lane change instructions from the central processor, and the connected manually driven vehicle chooses the lane change time on its own;

[0202] The decision-making module within the connected autonomous vehicle makes lane-changing decisions based on the speed and position information of traffic in each lane;

[0203] The control module is used to output control instructions based on the lane changing decision to control the networked autonomous driving vehicle to change lanes.

[0204] The above examples are merely illustrative of the calculation model and process of the present invention and are not intended to limit the embodiments of the present invention. Persons skilled in the art will readily appreciate that other variations or modifications based on the above description are possible. This list of embodiments is not exhaustive; however, any obvious variations or modifications derived from the technical solution of the present invention remain within the scope of protection of the present invention.

Claims

1. A coordinated lane-changing method for a tunnel accident section in a networked mixed traffic environment, characterized in that: The method specifically comprises the following steps: Step 1: Number the lanes of the one-way tunnel from right to left along the direction of vehicle travel, and number the lanes as lane 1, lane 2, ..., lane n; Step 2: When a traffic accident occurs on the i-th lane, where i≠1 and i≠n, the position of the vehicle involved in the traffic accident is taken as the starting position, and the extreme position that can be affected by the traffic accident is taken as the ending position. The area between the starting position and the ending position is the traffic accident impact zone on the i-th lane, and the length of the traffic accident impact zone is denoted as s; For the connected autonomous vehicle in lane i that is within the traffic accident impact zone, perform step 3. The connected manually driven vehicle in lane i that is within the traffic accident impact zone selects its own target lane and lane change timing. Step 3: Number the connected autonomous vehicles behind the vehicle involved in the traffic accident, i.e., number the connected autonomous vehicles from smallest to largest according to their distance from the vehicle involved in the traffic accident; Initialize vehicle number n=1, and execute step 4 for vehicle n and vehicle n+1; Step 4: Calculate the current traffic speed of the i-1 lane and the current traffic speed of the i+1 lane; If the current traffic speed of lane i-1 is greater than or equal to the current traffic speed of lane i+1, then lane i-1 is used as the target lane for vehicle n, and lane i+1 is used as the target lane for vehicle n+1. Otherwise, if the current traffic speed of lane i-1 is less than the current traffic speed of lane i+1, lane i-1 is used as the target lane for vehicle n+1, and lane i+1 is used as the target lane for vehicle n; Step 5: Vehicle n and vehicle n+1 are both referred to as lane-changing vehicles. Steps 51 to 55 are performed simultaneously for vehicle n and vehicle n+1 until either vehicle n or vehicle n+1 completes the lane change, at which point step 6 is performed. Step 51: Note the distance between the lane-changing vehicle and the preceding vehicle k in the target lane as L1, and determine whether the distance L1 satisfies the condition of formula (1): L1≥S i -S k +Wsinθ (1) Where: S i is the horizontal distance traveled by the lane-changing vehicle in time t, S k is the horizontal distance traveled by the preceding vehicle k in the target lane within time t, W is the vehicle width, and θ is the angle between the lane-changing vehicle and the horizontal line during the lane-changing process; Step 52: If the lane-changing vehicle satisfies the conditions of formula (1), then execute step 53; if the lane-changing vehicle does not satisfy the conditions of formula (1), then the lane-changing vehicle first decelerates and waits for the next lane-changing gap in the target lane, and then returns to execute step 51 at the next lane-changing gap; Step 53: Note the distance between the lane-changing vehicle and the vehicle behind the target lane as L2, and determine whether the distance L2 satisfies the condition of formula (3): L2≥S j -S i +Wsinθ (3) Where: S j is the horizontal distance traveled by vehicle j in the target lane within time t; Step 54: If the lane-changing vehicle satisfies the conditions of formula (3), the lane-changing vehicle executes the lane change; If the lane-changing vehicle does not satisfy the conditions of formula (3), then execute step 55; Step 55: If the vehicle behind the target lane j is an autonomous vehicle, the vehicle behind the target lane j slows down to yield and the lane-changing vehicle accelerates to change lanes; If the vehicle behind j in the target lane is a manually driven vehicle, a lane-changing game is performed; The specific process of the lane-changing game is as follows: Construct the profit function P of the lane-changing vehicle and the profit function Q of the vehicle behind the target lane, and make decisions based on the profit functions of the lane-changing vehicle and the vehicle behind the target lane: Subject to r∈{0,1},r(r-1)＝0 a i ∈[a min ,a max ] v i ∈[v min ,v max ] a j ∈[a min ,a max ] v j ∈[v min ,v max ] Among them, r={0,1}, r=0 means keeping the current lane, r=1 means changing lanes to the target lane; (a i * ,r * ) represents the game solution between the target vehicle and the vehicle behind it in the target lane, Γ 2 represents the candidate strategy set for the vehicle behind the target lane, γ 2 (a i ,r) represents the optimal strategy set of the vehicle behind the target lane when the strategy of the lane-changing vehicle is given, Indicates that the calculation method on the left side of the formula is defined as the calculation method on the right side of the formula, a min is the minimum acceleration allowed for a lane-changing vehicle, a max is the maximum acceleration allowed for a lane-changing vehicle, a i is the acceleration of the lane-changing vehicle, v min is the minimum speed allowed for vehicles changing lanes, v max is the maximum speed allowed for lane-changing vehicles, v i is the speed of the lane-changing vehicle, v j is the speed of the vehicle behind the target lane, a j is the acceleration of the vehicle behind in the target lane, α i and α j is the weight coefficient; When the game solution (a i * ,r * ) in r * When it is equal to 1, it means that the lane-changing vehicle game is successful, and the lane-changing vehicle changes lanes to the target lane. When the game solution (a i * ,r * ) in r * When it is equal to 0, it means that the lane-changing vehicle fails in the game. The lane-changing vehicle first slows down and waits for the next lane-changing gap in the target lane. At the next lane-changing gap, it returns to step 51. Step 6: If the vehicle that has completed the lane change uses lane i-1 as the target lane, vehicle n+2 uses lane i-1 as the target lane and begins the lane change process from steps 51 to 55. Vehicles that have not completed the lane change continue to change lanes. If the vehicle that has completed the lane change sets the i+1th lane as the target lane, vehicle n+2 sets the i+1th lane as the target lane and begins the lane change process from step 51 to step 55. Vehicles that have not completed the lane change continue to change lanes. Step 7: When either of the two vehicles changing lanes simultaneously in Step 6 completes the lane change, determine whether there is another connected autonomous driving vehicle in lane i and behind the vehicle involved in the traffic accident, in addition to the vehicle changing lanes in Step 6; If there is a connected autonomous vehicle, set n = n + 1 and return to step 6; If there is no connected autonomous driving vehicle, the entire lane changing process ends after both vehicles that change lanes simultaneously in step 6 have completed their lane changes.

2. The method for coordinated lane changing in a tunnel accident section under a networked mixed traffic environment according to claim 1 is characterized in that: The length s of the traffic accident impact zone is calculated as follows: s=ω(t1-t0) (7) Where ω is the traffic wave speed of the road section after the traffic accident occurs, t1 represents the end time of the traffic accident's impact on traffic, and t0 represents the start time of the traffic accident's impact on traffic.

3. The coordinated lane-changing method for a tunnel accident section in a networked mixed traffic environment according to claim 2 is characterized in that: The calculation method of the traffic wave speed ω of the road section after the traffic accident occurs is: ω=u f [1-(k1+k2) / k j ] (8) Where u f is the free flow speed of the tunnel accident section, k1 is the traffic density of the tunnel accident section, k2 is the traffic density upstream of the accident point, and k j is the traffic congestion density of the tunnel.

4. The coordinated lane-changing method for a tunnel accident section in a networked mixed traffic environment according to claim 3 is characterized in that: The profit function of the lane-changing vehicle and the vehicle behind in the target lane is: P=a i S′ i +(1-a i )E i +R (10) Q=a j S′ j +(1-a j )E j +U (11) Among them, P represents the benefit of the lane-changing vehicle, Q represents the benefit of the vehicle behind the target lane, and S′ i represents the safety benefit of lane-changing vehicles, E i represents the efficiency gain of the lane-changing vehicle, R represents the reward for the lane-changing vehicle to successfully change lanes, and S′ j represents the safety benefit of the vehicle behind the target lane, E j represents the efficiency benefit of the vehicle behind the target lane, U represents the cooperative incentive of the vehicle behind the target lane, and α i and α j is the weight coefficient.

5. The method for coordinated lane changing in a tunnel accident section under a networked mixed traffic environment according to claim 4 is characterized in that: The weight coefficient α i and α j for: Among them, J max is the maximum jerk of the vehicle in the current traffic environment during car-following driving, J min J is the minimum jerk of the vehicle in the current traffic environment when following the vehicle. i is the current acceleration of the lane-changing vehicle, J j is the current acceleration of the vehicle behind in the target lane.

6. The coordinated lane-changing method for a tunnel accident section in a networked mixed traffic environment according to claim 5 is characterized in that: The safety benefit S′ of the lane-changing vehicle i The calculation method is: S′ i =(1-r)S′ i-lk +rS′ i-lc (14) Where r = {0, 1}, r = 0 means to keep the current lane, r = 1 means to change lanes to the target lane; S′ i-lk In order to maintain the driving safety benefit of the current lane, S′ i-lc For the driving safety benefits of lane changing; Among them, a il is the acceleration of the vehicle in front of the lane-changing vehicle, v il is the speed of the vehicle in front of the lane-changing vehicle, l i is the distance between the lane-changing vehicle and the accident point, l il is the distance between the front vehicle and the accident point, d is the safe stopping distance, l0 is the vehicle length, TTC * represents the standard collision time; Among them, a j is the acceleration of the vehicle behind the target lane, l j is the distance between the vehicle behind in the target lane and the accident point.

7. The coordinated lane-changing method for a tunnel accident section in a networked mixed traffic environment according to claim 6 is characterized in that: The safety benefit S′ of the vehicle behind the target lane j The calculation method is: When the lane-changing vehicle does not change lanes: Among them, TTC * represents the standard collision time, v k is the speed of the vehicle in front of the target lane, a k is the acceleration of the vehicle in front of the target lane, l k is the distance between the preceding vehicle in the target lane and the accident point; When a lane-changing vehicle changes lanes:

8. The method for coordinated lane changing in a tunnel accident section under a networked mixed traffic environment according to claim 7, characterized in that: The efficiency gain E of the lane-changing vehicle i The calculation method is: Among them, v limit Indicates the road speed limit. Indicates the maximum speed at which a lane-changing vehicle can change lanes without colliding with the vehicle ahead in the target lane. Indicates the maximum speed at which a lane-changing vehicle can maintain its current lane without colliding with the vehicle ahead. Efficiency gain E of the vehicle behind the target lane j The calculation method is: in, Indicates the maximum speed at which the vehicle behind in the target lane will not collide with the lane-changing vehicle after giving way. Indicates the maximum speed at which the vehicle behind in the target lane can avoid colliding with the vehicle ahead if the vehicle behind does not yield.

9. The coordinated lane-changing method for a tunnel accident section in a networked mixed traffic environment according to claim 8 is characterized in that: The cooperative incentive U of the vehicle behind the target lane is:

10. A coordinated lane changing system based on a coordinated lane changing method for a tunnel accident section in a networked mixed traffic environment as described in any one of claims 1 to 9, characterized in that: The system includes a central processing unit, an information acquisition module, a network communication module, a decision module and a control module; The information acquisition module and the networked communication module are arranged inside the networked manually driven vehicle and the networked autonomous driving vehicle; the decision module and the control module are only arranged inside the networked autonomous driving vehicle; The information collection module is used to collect the vehicle's driving status, location information and road information; The network communication module is used for communication between vehicles and between the central processing unit and vehicles; The central processing unit is used to calculate the impact range of the vehicles involved in the traffic accident and decide which vehicles need to change lanes; The connected autonomous vehicle uses the connected communication module to receive lane change instructions from the central processor, and the connected manually driven vehicle chooses the lane change time on its own; The decision-making module within the connected autonomous vehicle makes lane-changing decisions based on the speed and position information of traffic in each lane; The control module is used to output control instructions based on the lane changing decision to control the networked autonomous driving vehicle to change lanes.

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