A vehicle access control method and related device

Abstract

The application discloses a vehicle gathering control method for vehicle passing and related equipment, and the method comprises the following steps: determining a plurality of target vehicles in a preset area, assigning IDs to the plurality of target vehicles, and obtaining an initial vehicle gathering scheme according to the ID assignment result; when a preset specific vehicle enters the preset area, determining adjacent vehicles which have an ID adjacent relationship with the preset specific vehicle among the plurality of target vehicles, and if the preset specific vehicle and the adjacent vehicles are not in the same lane, calculating a vehicle gathering result between the preset specific vehicle and the adjacent vehicles; adjusting the initial vehicle gathering scheme according to the vehicle gathering result to obtain a current vehicle gathering scheme, and controlling the preset specific vehicle and the adjacent vehicles to gather and pass according to the current vehicle gathering scheme. In the application, when a specific vehicle is detected to enter a preset vehicle gathering area, vehicle gathering decision calculation is performed on the specific vehicle and the target vehicles in the area, so that the vehicle gathering passing efficiency of the specific vehicle can be effectively improved, and the emergency rescue demand of the specific vehicle is ensured.

Description

Technical Field

[0001] This invention relates to the field of traffic monitoring technology, and in particular to a vehicle merging control method and related equipment. Background Technology

[0002] Traffic congestion is a significant social problem in modern society, reducing road efficiency, increasing fuel consumption, and wasting road resources. In scenarios involving merging traffic, vehicles on main roads and ramps often conflict over priority. To avoid collisions and ensure driving safety, vehicles on different roads must slow down, significantly reducing efficiency and driving comfort. In fact, disorderly merging increases the probability of traffic accidents and exacerbates congestion; therefore, determining appropriate merging schemes is crucial to solving the problem.

[0003] Existing technologies offer numerous schemes and criteria for determining vehicle merging sequences, such as "first-in, first-out" or merging based on vehicle speed or fuel consumption. Different merging sequences require different vehicle control strategies. However, they fail to consider the urgency of special vehicles versus general vehicles. For example, ambulances carrying patients, police cars on duty, or fire trucks for emergency rescue should have priority merging points when merging on main roads and ramps. Current technologies do not consider the urgency of these specific vehicles, leading to low merging efficiency on main roads and ramps, failing to meet emergency rescue needs.

[0004] Therefore, existing technologies still need to be improved and developed. Summary of the Invention

[0005] The main objective of this invention is to provide a vehicle merging control method, system, terminal, and computer-readable storage medium, aiming to solve the problem that the prior art does not consider the urgency of specific vehicles (such as ambulances carrying patients, police cars on duty, or fire trucks for emergency rescue), resulting in low merging efficiency of specific vehicles on main roads and ramps, and failing to meet emergency rescue needs.

[0006] To achieve the above objectives, the present invention provides a vehicle merging control method, which includes the following steps:

[0007] Identify multiple target vehicles within a preset area, assign IDs to the multiple target vehicles, and obtain an initial vehicle convergence plan based on the ID assignment results;

[0008] When a specific vehicle enters the preset area, the adjacent vehicle with an ID adjacency relationship with the specific vehicle is determined among the multiple target vehicles. If the specific vehicle and the adjacent vehicle are not in the same lane, the first reference value of the specific vehicle and the second reference value of the adjacent vehicle are calculated.

[0009] The convergence result between the preset specific vehicle and the adjacent vehicle is calculated based on the first reference value and the second reference value, wherein the convergence result includes the preset specific vehicle executing an overtaking strategy and the adjacent vehicle executing a following strategy, or the preset specific vehicle executing a following strategy and the adjacent vehicle executing an overtaking strategy.

[0010] The initial vehicle merging scheme is adjusted based on the vehicle merging results to obtain the current vehicle merging scheme, and the preset specific vehicle is controlled to merge with the adjacent vehicle according to the current vehicle merging scheme.

[0011] Optionally, the vehicle merging control method, wherein determining multiple target vehicles within a preset area, assigning IDs to the multiple target vehicles, and obtaining an initial merging scheme based on the ID assignment results, specifically includes:

[0012] Determine the merging point between the main road and the ramp, and set a coverage radius centered on the merging point to obtain the preset area;

[0013] Multiple target vehicles within the preset area are identified, and their IDs are assigned according to the order in which they enter the preset area. The initial vehicle convergence plan is then obtained based on the ID assignment results.

[0014] Optionally, in the vehicle merging control method, when a preset specific vehicle enters the preset area, determining adjacent vehicles among multiple target vehicles that have an ID adjacency relationship with the preset specific vehicle, and if the preset specific vehicle and the adjacent vehicle are not in the same lane, calculating a first reference value for the preset specific vehicle and a second reference value for the adjacent vehicle, specifically includes:

[0015] When the preset specific vehicle enters the preset area, an ID is assigned to the preset specific vehicle to obtain the current ID corresponding to the preset specific vehicle;

[0016] Based on the current ID, a neighboring ID lookup is performed in the initial vehicle convergence scheme to obtain the neighboring vehicles among the target vehicles that have an ID adjacent relationship with the preset specific vehicle;

[0017] If the preset specific vehicle and the adjacent vehicle are not in the same lane, then the first vehicle parameter data of the preset specific vehicle and the second vehicle parameter data of the adjacent vehicle are obtained.

[0018] Calculate the first reference value of the preset specific vehicle based on the first vehicle parameter data, and calculate the second reference value of the adjacent vehicle based on the second vehicle parameter data;

[0019] The expressions for the first reference value and the second reference value are as follows:

[0020]

[0021] Among them, G k，p Let k ∈ {I, I-1} be the reference value for the preset specific vehicle or the adjacent vehicle, where I is the preset specific vehicle and I-1 is the adjacent vehicle, p ∈ {F, L} is the strategy selection for the preset specific vehicle or the adjacent vehicle, where F is the following strategy and L is the overtaking strategy, and M is the overtaking strategy. k，p The total time loss of the preset specific vehicle or the adjacent vehicles under different strategies, where γ is the first weight value, and J is the total time loss of the preset specific vehicle or the adjacent vehicles under different strategies. k，p For the comfort level of the preset specific vehicle or the adjacent vehicles under different strategies, C k T represents the urgency level of the passage of the preset specific vehicle or the adjacent vehicle. k，p The time loss of the preset specific vehicle or the adjacent vehicles under different strategies. The time it takes for the preset specific vehicle or the adjacent vehicles to arrive at the meeting point under different strategies. The preset time for a specific vehicle to enter the preset area, where W1 is the second weight value, w2 is the third weight value, and a k，p (t) represents the acceleration of the preset specific vehicle or the adjacent vehicle under different strategies, u k，p (t) is the control input of the preset specific vehicle or the adjacent vehicle under different strategies, and dt is the vehicle position of the preset specific vehicle or the adjacent vehicle.

[0022] Optionally, the vehicle merging control method, wherein calculating the merging result between the preset specific vehicle and the adjacent vehicle based on the first reference value and the second reference value specifically includes:

[0023] A reference matrix is ​​constructed based on the first reference value and the second reference value, and the maximum reference value for vehicle convergence between the preset specific vehicle and the adjacent vehicle is calculated based on the reference matrix, wherein the expression for the maximum reference value is: G * ≡max m，n∈{1，2}× { 1，2} (Amn +B mn );

[0024] Among them, G * The maximum reference value is given by `max`, where `m` is the number of rows in the matrix and `n` is the number of columns. A mn B is the reference matrix for the preset specific vehicle. mn This is the reference matrix for the adjacent vehicles;

[0025] The solution for the decision between the preset specific vehicle and the adjacent vehicle is calculated based on the maximum reference value, and the vehicle convergence result is obtained based on the solution of the decision.

[0026] Optionally, the vehicle merging control method, wherein calculating the solution for the decision between the preset specific vehicle and the adjacent vehicles based on the maximum reference value, and obtaining the merging result based on the solution, specifically includes:

[0027] Calculate the first probability that the preset specific vehicle will execute the following strategy and the second probability that it will execute the overtaking strategy based on the threat strategy, and calculate the first expected value of the preset specific vehicle based on the first probability and the second probability;

[0028] Calculate the third probability of the adjacent vehicle executing the following strategy and the fourth probability of executing the overtaking strategy based on the threat strategy, and calculate the second expected value of the adjacent vehicle based on the third probability and the fourth probability;

[0029] The solution for the decision between the preset specific vehicle and the adjacent vehicle is calculated based on the first expected value, the second expected value and the maximum reference value, and the vehicle convergence result is obtained based on the solution of the decision.

[0030] Optionally, the vehicle merging control method, wherein adjusting the initial merging scheme according to the merging result to obtain the current merging scheme, and controlling the preset specific vehicle to merge with the adjacent vehicle according to the current merging scheme, specifically includes:

[0031] When the vehicle convergence result is that the preset specific vehicle executes the overtaking strategy and the adjacent vehicle executes the following strategy, the current ID corresponding to the preset specific vehicle and the ID corresponding to the adjacent vehicle are updated;

[0032] The initial vehicle merging scheme is adjusted according to the current ID of the preset specific vehicle after the update, to obtain the current vehicle merging scheme, and the preset specific vehicle and the adjacent vehicle are controlled to merge and pass according to the current vehicle merging scheme;

[0033] When the convergence result is that the preset specific vehicle executes the following strategy and the adjacent vehicle executes the overtaking strategy, the preset specific vehicle and the adjacent vehicle are controlled to converge and pass each other according to the initial convergence plan.

[0034] Optionally, the vehicle merging control method further includes, after adjusting the initial merging scheme according to the current ID of the preset specific vehicle after its update to obtain the current merging scheme:

[0035] Based on the current ID of the preset specific vehicle after its update, find the latest adjacent vehicle with an adjacent ID that is in the current vehicle convergence scheme and whose order is before the updated current ID;

[0036] When the preset specific vehicle and the latest adjacent vehicle are not in the same lane, calculate the merging decision between the preset specific vehicle and the latest adjacent vehicle to obtain the latest merging result;

[0037] The current vehicle merging scheme is updated based on the latest vehicle merging result until the latest vehicle merging result is that the preset specific vehicle executes the following strategy and the latest adjacent vehicle executes the overtaking strategy, or the preset specific vehicle and the latest adjacent vehicle are in the same lane, at which point the vehicle merging decision calculation is terminated.

[0038] Furthermore, to achieve the above objectives, the present invention also provides a vehicle merging control system, wherein the vehicle merging control system includes:

[0039] The initial vehicle convergence scheme construction module is used to determine multiple target vehicles within a preset area, assign IDs to the multiple target vehicles, and obtain an initial vehicle convergence scheme based on the ID assignment results.

[0040] The reference value calculation module is used to determine, when a preset specific vehicle enters the preset area, an adjacent vehicle among multiple target vehicles that has an ID adjacent relationship with the preset specific vehicle. If the preset specific vehicle and the adjacent vehicle are not in the same lane, the module calculates a first reference value of the preset specific vehicle and a second reference value of the adjacent vehicle.

[0041] The vehicle convergence result generation module is used to calculate the vehicle convergence result between the preset specific vehicle and the adjacent vehicle based on the first reference value and the second reference value, wherein the vehicle convergence result includes the preset specific vehicle executing an overtaking strategy and the adjacent vehicle executing a following strategy, or the preset specific vehicle executing a following strategy and the adjacent vehicle executing an overtaking strategy.

[0042] The vehicle merging result execution module is used to adjust the initial vehicle merging plan according to the vehicle merging result to obtain the current vehicle merging plan, and control the preset specific vehicle to merge with the adjacent vehicle according to the current vehicle merging plan.

[0043] In addition, to achieve the above objectives, the present invention also provides a terminal, wherein the terminal includes: a memory, a processor, and a vehicle passage merging control program stored in the memory and executable on the processor, wherein when the vehicle passage merging control program is executed by the processor, it implements the steps of the vehicle passage merging control method as described above.

[0044] Furthermore, to achieve the above objectives, the present invention also provides a computer-readable storage medium, wherein the computer-readable storage medium stores a vehicle passage merging control program, which, when executed by a processor, implements the steps of the vehicle passage merging control method as described above.

[0045] In this invention, multiple target vehicles within a preset area are identified, and IDs are assigned to these target vehicles. An initial merging scheme is obtained based on the ID assignment results. When a specific vehicle enters the preset area, adjacent vehicles with ID adjacency relationships with the specific vehicle are identified among the multiple target vehicles. If the specific vehicle and the adjacent vehicle are not in the same lane, a first reference value for the specific vehicle and a second reference value for the adjacent vehicle are calculated. A merging result between the specific vehicle and the adjacent vehicle is calculated based on the first and second reference values. The merging result includes either the specific vehicle executing an overtaking strategy and the adjacent vehicle executing a following strategy, or the specific vehicle executing a following strategy and the adjacent vehicle executing an overtaking strategy. The initial merging scheme is adjusted based on the merging result to obtain a current merging scheme, and the specific vehicle and the adjacent vehicle are controlled to merge according to the current merging scheme. This invention, when a specific vehicle (such as a medical vehicle carrying patients, a police car on duty, or a fire truck for emergency rescue) enters a preset area, performs a convergence decision calculation between the specific vehicle and target vehicles within the preset area. This determines whether the specific vehicle or the target vehicle should make an overtaking or following decision. By incorporating the urgency of the specific vehicle's passage into the convergence decision calculation, it can prompt other target vehicles in the same direction to actively give way to these specific vehicles during convergence on main roads and ramps, thereby improving the convergence efficiency of specific vehicles and ensuring the emergency rescue needs of specific vehicles are met. Attached Figure Description

[0046] Figure 1 This is a flowchart of a preferred embodiment of the vehicle merging control method of the present invention;

[0047] Figure 2 This is a schematic diagram of the algorithm execution flow of a preferred embodiment of the vehicle passage merging control method of the present invention;

[0048] Figure 3 This is a schematic diagram of a merging scenario, which is a preferred embodiment of the vehicle merging control method of the present invention.

[0049] Figure 4 This is a schematic diagram of the vehicle merging trajectory of a preferred embodiment of the vehicle merging control method of the present invention;

[0050] Figure 5 This is a schematic diagram comparing the performance of a preferred embodiment of the vehicle merging control method of the present invention with that of other merging algorithms;

[0051] Figure 6 This is a structural diagram of a preferred embodiment of the vehicle passage merging control system of the present invention;

[0052] Figure 7 This is a structural diagram of a preferred embodiment of the terminal of the present invention. Detailed Implementation

[0053] To make the objectives, technical solutions, and advantages of this invention clearer and more explicit, the invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.

[0054] Traffic congestion is a significant social problem in modern society, reducing road efficiency, increasing fuel consumption, and wasting road resources. Many factors contribute to traffic congestion, but merging traffic is a major one. In merging scenarios, vehicles on main roads and ramps often conflict over priority. To avoid collisions and ensure driving safety, vehicles on different roads must slow down, significantly reducing efficiency and driving comfort. In fact, disorderly merging increases the probability of traffic accidents and reduces efficiency, leading to congestion. Therefore, determining appropriate merging schemes is crucial to solving the problem.

[0055] Existing technologies offer numerous schemes and criteria for determining vehicle merging sequences, such as "first-in, first-out" or merging based on vehicle speed or fuel consumption. Different merging sequences require different vehicle control strategies. However, they fail to consider the urgency of special vehicles versus general vehicles. For example, ambulances carrying patients, police cars on duty, or fire trucks for emergency rescue should have priority merging points when merging on main roads and ramps. Current technologies do not consider the urgency of these specific vehicles, leading to low merging efficiency on main roads and ramps, failing to meet emergency rescue needs.

[0056] Meanwhile, the emergence and increasing maturity of autonomous driving and vehicle-to-everything (V2X) technologies have provided a technological foundation for determining merging order and vehicle cooperative control. This enables vehicles in merging situations to achieve cooperative merging after a merging plan is determined, thereby improving driving safety and road traffic efficiency. This invention, based on the urgency requirements of specific vehicles during travel, utilizes merging decision-making to determine a reasonable merging plan, achieving cooperative merging between specific vehicles and target vehicles.

[0057] The vehicle merging control method described in the preferred embodiment of the present invention, such as... Figure 1 He Ru Figure 2 As shown, the vehicle merging control method includes the following steps:

[0058] Step S10: Determine multiple target vehicles within a preset area, assign IDs to the multiple target vehicles, and obtain an initial vehicle convergence plan based on the ID assignment results.

[0059] Specifically, the merging points of the main roads and ramps are determined, and a coverage radius is set with the merging points as the center to obtain the preset area; multiple target vehicles within the preset area are identified, and the multiple target vehicles are assigned IDs according to the order in which they enter the preset area, and the initial merging scheme is obtained based on the ID assignment results.

[0060] like Figure 3 As shown, with the merging point (MP) as the center, the coverage radius of the control area for merging is defined as D. When a specific vehicle H enters the control area, the system assigns a unique ID number (EID)i according to the order of its entry. Simultaneously, the system calculates the order in which each vehicle passes through the merging point based on the merging decision, i.e., the vehicle's order (MID)I in the merging scheme. Therefore, a specific vehicle H can be denoted as...

[0061] Step S20: When a preset specific vehicle enters the preset area, determine the adjacent vehicle among the multiple target vehicles that has an ID adjacent relationship with the preset specific vehicle. If the preset specific vehicle and the adjacent vehicle are not in the same lane, calculate the first reference value of the preset specific vehicle and the second reference value of the adjacent vehicle.

[0062] like Figure 2 As shown, when a specific vehicle When entering the preset area, it will merge with the adjacent vehicle whose merging order is ahead of it. A vehicle-passing decision is calculated to re-determine the passing order. In this decision, the strategy set for both vehicles is {Follow (F), Overtake (L)}. The final strategy pair can only be {F, L} or {L, F}, because a collision will occur if both vehicles choose the same strategy.

[0063] Specifically, when the preset specific vehicle enters the preset area, the preset specific vehicle is assigned an ID to obtain the current ID corresponding to the preset specific vehicle; based on the current ID, an adjacent ID search is performed in the initial vehicle convergence scheme to obtain the adjacent vehicles among the target vehicles that have an ID adjacent relationship with the preset specific vehicle.

[0064] If the preset specific vehicle and the adjacent vehicle are not in the same lane, then the first vehicle parameter data of the preset specific vehicle and the second vehicle parameter data of the adjacent vehicle are obtained.

[0065] The train merging decision is based on the parameter values ​​of each train to determine the merging order. From a higher-level decision-making perspective, each train can be abstracted as a point mass, and its dynamic model is as follows:

[0066] Where d(t), v(t), a(t), and u(t) represent the vehicle position, vehicle speed, vehicle acceleration, and vehicle control input, respectively.

[0067] Assume that when a vehicle enters the controlled area, it meets the following two assumptions:

[0068] 1. The speed of the vehicle passing through the merging point is a constant. 1. The vehicle's acceleration is 0; 2. The time interval between vehicles passing through the meeting point is a constant T. s .

[0069] The first reference value of the preset specific vehicle is calculated based on the first vehicle parameter data, and the second reference value of the adjacent vehicle is calculated based on the second vehicle parameter data.

[0070] Assumption 1 ensures that a stable queue can be formed after all vehicles have passed the merging point; Assumption 2 indicates that the time for adjacent vehicles to pass through the merging point satisfies: in, This indicates the time it takes for a vehicle to pass through the junction. It sets the vehicle that passes through the junction first. It will not participate in any car-passing decision calculations because it is always at the forefront of the car-passing plan. Therefore, once the vehicle... Time at the transfer point If confirmed, then the time for vehicles to pass through the meeting point in the subsequent vehicle-to-vehicle transfer plan will be determined. That's it. In the decision-making process for vehicle merging, different strategies correspond to different... For the sake of simplicity without sacrificing generality, let's define the two vehicles involved in the merging decision as follows: and H I-1 Calculate separately The corresponding first reference value and H I-1 The corresponding second reference value.

[0071] The expressions for the first reference value and the second reference value are as follows:

[0072]

[0073] Among them, G k，p Let k ∈ {I, I-1} be the reference value for the preset specific vehicle or the adjacent vehicle, where I is the preset specific vehicle and I-1 is the adjacent vehicle, p ∈ {F, L} is the strategy selection for the preset specific vehicle or the adjacent vehicle, where F is the following strategy and L is the overtaking strategy, and M is the overtaking strategy. k，p The total time loss of the preset specific vehicle or the adjacent vehicles under different strategies, where γ is the first weight value, and J is the total time loss of the preset specific vehicle or the adjacent vehicles under different strategies. k，p For the comfort level of the preset specific vehicle or the adjacent vehicles under different strategies, C k T represents the urgency level of the passage of the preset specific vehicle or the adjacent vehicle. k，p The time loss of the preset specific vehicle or the adjacent vehicles under different strategies. The time it takes for the preset specific vehicle or the adjacent vehicles to arrive at the meeting point under different strategies. The preset time for a specific vehicle to enter the preset area, where W1 is the second weight value, w2 is the third weight value, and a k，p (t) represents the acceleration of the preset specific vehicle or the adjacent vehicle under different strategies, u k，p (t) is the control input of the preset specific vehicle or the adjacent vehicle under different strategies, and dt is the vehicle position of the preset specific vehicle or the adjacent vehicle.

[0074] Wherein, the T k，p The expression is: Where Ts is the time interval, p is the decision type, F is the following decision, and L is the overtaking decision.

[0075] Step S30: Calculate the convergence result between the preset specific vehicle and the adjacent vehicle based on the first reference value and the second reference value, wherein the convergence result includes the preset specific vehicle executing an overtaking strategy and the adjacent vehicle executing a following strategy, or the preset specific vehicle executing a following strategy and the adjacent vehicle executing an overtaking strategy.

[0076] Specifically, a reference matrix is ​​constructed based on the first reference value and the second reference value, and the maximum reference value for vehicle convergence between the preset specific vehicle and the adjacent vehicle is calculated based on the reference matrix, wherein the expression for the maximum reference value is: G * ≡max m,n∈{1,2}×{1,2} (A mn +B mn );

[0077] Among them, G * The maximum reference value is given by `max`, where `m` is the number of rows in the matrix and `n` is the number of columns. A mn B is the reference matrix for the preset specific vehicle. mn This is the reference matrix for the adjacent vehicles.

[0078] The reference matrices for specific vehicles and their adjacent vehicles are shown in Table 1.

[0079] Table 1: Reference Matrix for Preset Specific Vehicles and Adjacent Vehicles

[0080]

[0081] Where A is a preset reference matrix for a specific vehicle, and B is a reference matrix for the adjacent vehicles. The expressions for matrices A and B are as follows:

[0082]

[0083] Here, M is a very large positive number.

[0084] Based on the aforementioned reference values ​​for specific vehicles and adjacent vehicles, the optimal strategy pair for both vehicles can be calculated. The maximum total reference value for the decision is defined as G. * Furthermore, the strategy pair for vehicles to achieve the maximum total reference value in the convergence decision is:

[0085]

[0086] Calculate how to allocate G* This refers to the solution to the decision. The solution to the decision is influenced by the pre-defined strategies chosen by a specific vehicle and its neighbors under non-cooperation, i.e., threat strategies.

[0087] The first probability of the preset specific vehicle executing the following strategy and the second probability of executing the overtaking strategy are calculated based on the threat strategy, and the first expected value of the preset specific vehicle is calculated based on the first probability and the second probability.

[0088] The third probability of the adjacent vehicle executing the following strategy and the fourth probability of executing the overtaking strategy are calculated based on the threat strategy, and the second expected value of the adjacent vehicle is calculated based on the third probability and the fourth probability.

[0089] The solution for the decision between the preset specific vehicle and the adjacent vehicle is calculated based on the first expected value, the second expected value and the maximum reference value, and the vehicle convergence result is obtained based on the solution of the decision.

[0090] Threat strategy calculation method: Let u = [u + 1 - u], where u represents a specific vehicle H I The probability of choosing the "follow" strategy in the threat strategy is represented by 1-u, while the probability of choosing the "overtake" strategy is represented by 1-u. Similarly, let v = [v + 1-v], where v represents the probability of choosing the "overtake" strategy for adjacent vehicles H. I-1 Let 1-v represent the probability of choosing the "follow" strategy in the threat strategy, and 1-v represent the probability of choosing the "overtake" strategy. Then the expected values ​​for the two parties making the merging decision are E and E, respectively. I =u Av and E I-1 =u Bv, and point (E) I E I-1 This is referred to as a threat point. It is important to emphasize that a specific vehicle H... I and adjacent vehicle H I-1 The final allocated expected value should be no less than E. I and E I-1 Therefore, the solution to the decision will fall at point (E). I G * -E I ) and point (G) * -E I-1 E I-1 The solution to the decision can be represented by the midpoint between these two points, i.e.

[0091] In the decision-making process for vehicle H, both parties should choose threat strategies that maximize their expected value, i.e., for a specific vehicle H. I E should be made as much as possible I -E I-1 Maximum, and adjacent vehicle H I-1 E should be made as much as possibleI-1 -E I Maximum. Because: Where T represents the transpose of the matrix.

[0092] Therefore, vehicle H I and H I-1 The choice of threat strategy can be represented as a null and non-null decision, and the matrix of this decision is AB, where:

[0093] Whether matrix AB has a saddle point determines the form of the threat strategy (mixed strategy or pure strategy). If it has a saddle point, the threat strategy is a pure strategy; otherwise, it is a mixed strategy.

[0094] If AB has a saddle point, then: (AB) 12 ×(AB) 21 <0. And its saddle point is (AB). 11 and (AB) 22 One of them corresponds to vehicle H I and H I-1 The threat strategy pairs are {follow, follow} or {overtake, overtake}, and u = v = [1 0] or u = v = [0 1]. Therefore: E I =E I-1 =0.

[0095] If AB has no saddle point, then the threat policy is a mixed policy, and we have:

[0096]

[0097]

[0098] Where 1 is the row vector [1 1], * denotes the adjoint of the matrix, and · denotes the determinant of the matrix. In summary, after obtaining E... I -E I-1 Then, the solution to the decision can be obtained.

[0099] Step S40: Adjust the initial vehicle merging scheme according to the vehicle merging result to obtain the current vehicle merging scheme, and control the preset specific vehicle to merge with the adjacent vehicle according to the current vehicle merging scheme.

[0100] Specifically, when the convergence result is that the preset specific vehicle executes the overtaking strategy and the adjacent vehicle executes the following strategy, the current ID corresponding to the preset specific vehicle and the ID corresponding to the adjacent vehicle are updated.

[0101] like Figure 2As shown, the merging decision for both vehicles calculates their respective decision parameter values ​​and selects the strategy pair that maximizes the parameter values. If a specific vehicle... If the final execution strategy is {overtaking (L)}, then the order of a specific vehicle in the merging scheme will be advanced, becoming... Correspondingly, at this time, adjacent vehicles The order will be delayed, becoming...

[0102] The initial vehicle merging scheme is adjusted according to the current ID of the preset specific vehicle after the update, to obtain the current vehicle merging scheme; the preset specific vehicle is controlled to merge with the adjacent vehicle according to the current vehicle merging scheme.

[0103] When the convergence result is that the preset specific vehicle executes the following strategy and the adjacent vehicle executes the overtaking strategy, the preset specific vehicle and the adjacent vehicle are controlled to converge and pass each other according to the initial convergence plan.

[0104] Further, based on the updated current ID of the preset specific vehicle, the latest adjacent vehicle with an adjacent ID that is in the current merging scheme and whose order is before the updated current ID is found; when the preset specific vehicle and the latest adjacent vehicle are not in the same lane, the merging decision between the preset specific vehicle and the latest adjacent vehicle is calculated to obtain the latest merging result;

[0105] like Figure 2 As shown, a specific vehicle that has just entered the preset area will continuously perform convergence decision calculations with the vehicles in front of it until its final strategy is {follow (F)} or the vehicle in front of it is in the same lane as it.

[0106] The current vehicle merging scheme is updated based on the latest vehicle merging result until the latest vehicle merging result is that the preset specific vehicle executes the following strategy and the latest adjacent vehicle executes the overtaking strategy, or the preset specific vehicle and the latest adjacent vehicle are in the same lane, at which point the vehicle merging decision calculation is terminated.

[0107] Based on the above analysis, the vehicles involved in the merging decision are essentially related to different merging trajectories corresponding to different strategies, i.e., solving for J (for different merging decisions) in the reference value. According to the form of J (the comfort level of the preset specific vehicle or the adjacent vehicles under different strategies), this is essentially an optimal control problem. Considering the differential constraints and boundary constraints of the vehicles, this invention will first discretize the differential constraints, transforming them into a nonlinear programming problem, and then solve it through numerical optimization methods. Consider the general form of the following optimal control problem:

[0108] minJ(χ(t f ))

[0109] Here, J is set as the objective function, min is the optimal control calculation, and χ represents the state vector. Let U represent the terminal condition, F represent the control input vector, F represent the dynamic mapping, and G represent the input constraint. Let t0 represent the initial conditions, and t represent the initial time. f Let χ(t), U(t), and t represent the final time, t represent the time domain, and t represent the final time. f These are decision variables.

[0110] The key to solving the above problem lies in how to handle the dynamic constraints, which are expressed as differential equations. This invention uses a simultaneous method based on finite element configuration to discretize the dynamic equations, and then transforms them into a nonlinear programming problem, which can be directly solved by the interior-point method solver IPOPT.

[0111] The time domain [t0,t f Divide into N equal-length units, and have

[0112] in Representation unit [t] j-1 ,t j The time interval t f =t N Furthermore, located in the j-th unit [t] j-1 ,t j Any point t in the region can be represented as: N is the number of time units, t j Let τ represent the right endpoint of the j-th time unit, and let τ represent the weight coefficient in the time unit, in order to obtain continuous time.

[0113] For each time unit, the present invention uses a Lagrange polynomial with K+1 interpolation points to fit the state of the system, resulting in:

[0114]

[0115] Where, χ j，k This represents the k-th interpolation state in the j-th time unit. Indicates the first The interpolation points are distinguished from the k-th interpolation point; the two cannot be equal. k (τ) represents the Lagrange interpolation polynomial corresponding to the k-th interpolation point, where K represents the number of interpolation points, and τ0,…,τ K The interpolation point is represented by τ0, which can be determined based on the Gaussian orthogonal precision theory, and τ0=0,τ k <τ k+1 k = 0, ..., K-1 Since the state is continuous and differentiable, it satisfies χ. j+1,0 =χ j,K j = 0, ..., N-1. Similarly, the control input U can also be fitted by a Lagrange polynomial:

[0116]

[0117] Where U(t) represents the control input, U represents the Langron interpolation polynomial of the control input at the k-th interpolation point. j，k U represents the k-th interpolation control input in the j-th time unit. It should be noted that U can be discontinuous at the unit boundaries, therefore this invention does not require U to be discontinuous. j+1,0 =U j,K ,j=1,…,N-1.

[0118] Based on the above transformation, the optimal control problem can be transformed into:

[0119] minJ(χ(t f ))

[0120]

[0121] in It can be computed discretely. It is transformed into a typical nonlinear programming problem, which can be directly solved by the interior point method solver IPOPT, and then the merging trajectory of the vehicles can be obtained.

[0122] like Figure 3 As shown, based on the vehicle merging decision calculation, the central controller determines the merging order of vehicles and calculates the merging trajectory of each vehicle and the final merging ID (MID). Figure 3 As can be seen, every vehicle was able to pass through the junction in an orderly and safe manner, without any congestion. Figure 3 The middle ramp is the ramp; the main road is the arterial road; and the EID is the ID updated after the merging decision order adjustment.

[0123] Example illustration: Still considering a specific vehicle H I and adjacent vehicle H I-1 H I Located on the ramp, H I-1 Located on the main road, and H I Later than H I-1 Entering the control area. These two vehicles have different initial states and varying degrees of urgency. The central controller needs to determine the merging order of these two vehicles at the merging point based on merging decisions. The parameters of this simulation experiment are shown in Table 2:

[0124] Table 2: Parameters of the simulation experiment

[0125]

[0126] Based on the above parameters, the vehicle H can be obtained. I and H I-1 The corresponding reference values ​​are obtained, and reference matrices (A and B) are obtained based on the reference values, as shown in Table 3.

[0127] Table 3: Simulation Reference Matrix

[0128]

[0129] Therefore, the highest parameter value G in the car-passing decision is... * for:

[0130]

[0131] And the solution to the decision is:

[0132] Where E I =E I-1 =0. Then vehicle H I and H I-1 The final strategy is {overtake, follow}, which means that for a specific vehicle H I Compared to adjacent vehicles H I-1 Get to the meeting point faster.

[0133] In the vehicle merging control method proposed in this invention, the merging order is influenced by the urgency of vehicle passage. To better verify the effectiveness of the algorithm, this invention compares the proposed algorithm with the "FIFO" algorithm (i.e., First In First Out, EID equals MID). This scenario considers the coordinated merging of 200 vehicles, excluding T. s Except for 2 seconds, all other parameters remain the same. The overall parameter value B is: Where V represents the total number of vehicles (n is actually the vehicle's EID), G n Let I be the number of times a vehicle n makes a merging decision. n,g (Can be negative) represents the parameter value of vehicle n in the g-th decision, where n is the number of vehicles, g is the number of decisions, and J n,g (Can be negative) is the parameter value of vehicle n in the g-th decision. J n ,g The expression is:

[0134] Where C n T represents the urgency level of vehicle n's passage. n ,gt is the time delay of vehicle n in the g-th decision. n,g This is the time it takes for vehicle n to complete the g-th car-passing decision (the vehicle's dynamics are updated once with each car-passing decision). It's important to note that... T n,G+1 =0, I n,G+1 =0, and For the "FIFO" algorithm, there is G n =0 and I n,g =0.

[0135] like Figure 4 As shown, the simulation results for the overall parameter values ​​are presented, with the total parameter values ​​calculated every ten vehicles. Figure 4 Although the overall parameter values ​​are negative for both algorithms, it is clear that the overall parameter values ​​of the algorithm proposed in this invention are still greater than those of the "FIFO" algorithm. The algorithm proposed in this invention is at most 63.8% larger than the "FIFO" algorithm (when the number of vehicles is 30) and at least 34.3% larger than the "FIFO" algorithm (when the number of vehicles is 200).

[0136] Furthermore, such as Figure 6 As shown, based on the above-mentioned vehicle merging control method, the present invention also provides a vehicle merging control system, wherein the vehicle merging control system includes:

[0137] The initial vehicle convergence scheme construction module 51 is used to determine multiple target vehicles in a preset area, assign IDs to the multiple target vehicles, and obtain an initial vehicle convergence scheme based on the ID assignment results.

[0138] The reference value calculation module 52 is used to determine, when a preset specific vehicle enters the preset area, an adjacent vehicle among multiple target vehicles that has an ID adjacent relationship with the preset specific vehicle, and if the preset specific vehicle and the adjacent vehicle are not in the same lane, calculate the first reference value of the preset specific vehicle and the second reference value of the adjacent vehicle.

[0139] The vehicle convergence result generation module 53 is used to calculate the vehicle convergence result between the preset specific vehicle and the adjacent vehicle based on the first reference value and the second reference value, wherein the vehicle convergence result includes the preset specific vehicle executing an overtaking strategy and the adjacent vehicle executing a following strategy, or the preset specific vehicle executing a following strategy and the adjacent vehicle executing an overtaking strategy.

[0140] The vehicle merging result execution module 54 is used to adjust the initial vehicle merging plan according to the vehicle merging result to obtain the current vehicle merging plan, and control the preset specific vehicle to merge with the adjacent vehicle according to the current vehicle merging plan.

[0141] Furthermore, such as Figure 7 As shown, based on the above-mentioned vehicle passage merging control method and system, the present invention also provides a terminal, which includes a processor 10, a memory 20 and a display 30. Figure 7 Only some of the terminal components are shown; however, it should be understood that it is not required to implement all of the components shown, and more or fewer components may be implemented instead.

[0142] In some embodiments, the memory 20 may be an internal storage unit of the terminal, such as a hard disk or memory. In other embodiments, the memory 20 may be an external storage device of the terminal, such as a plug-in hard disk, smart media card (SMC), secure digital card (SD), flash card, etc. Further, the memory 20 may include both internal and external storage devices. The memory 20 is used to store application software and various types of data installed on the terminal, such as the program code installed on the terminal. The memory 20 can also be used to temporarily store data that has been output or will be output. In one embodiment, the memory 20 stores a vehicle passage merging control program 40, which can be executed by the processor 10 to implement the vehicle passage merging control method of this application.

[0143] In some embodiments, the processor 10 may be a central processing unit (CPU), a microprocessor, or other data processing chip, used to run program code stored in the memory 20 or process data, such as executing the vehicle passage merging control method.

[0144] In some embodiments, the display 30 may be an LED display, a liquid crystal display, a touch-sensitive liquid crystal display, or an OLED (Organic Light-Emitting Diode) touchscreen. The display 30 is used to display information on the terminal and to display a visual user interface. The components 10-30 of the terminal communicate with each other via a system bus.

[0145] In one embodiment, the steps of the vehicle passage merging control method are implemented when the processor 10 executes the vehicle passage merging control program 40 in the memory 20.

[0146] The present invention also provides a computer-readable storage medium, wherein the computer-readable storage medium stores a vehicle passage merging control program, which, when executed by a processor, implements the steps of the vehicle passage merging control method as described above.

[0147] In summary, the present invention provides a vehicle merging control method and related equipment. The method includes: determining multiple target vehicles within a preset area; assigning IDs to the multiple target vehicles; and obtaining an initial merging scheme based on the ID assignment results; when a preset specific vehicle enters the preset area, determining adjacent vehicles among the multiple target vehicles that have an ID adjacency relationship with the preset specific vehicle; if the preset specific vehicle and the adjacent vehicle are not in the same lane, calculating a first reference value for the preset specific vehicle and a second reference value for the adjacent vehicle; calculating a merging result between the preset specific vehicle and the adjacent vehicle based on the first reference value and the second reference value, wherein the merging result includes the preset specific vehicle executing an overtaking strategy and the adjacent vehicle executing a following strategy, or the preset specific vehicle executing a following strategy and the adjacent vehicle executing an overtaking strategy; adjusting the initial merging scheme based on the merging result to obtain a current merging scheme; and controlling the preset specific vehicle and the adjacent vehicle to merge according to the current merging scheme. This invention, when a specific vehicle (such as a medical vehicle carrying patients, a police car on duty, or a fire truck for emergency rescue) enters a preset area, performs a convergence decision calculation between the specific vehicle and target vehicles within the preset area. This determines whether the specific vehicle or the target vehicle should make an overtaking or following decision. By incorporating the urgency of the specific vehicle's passage into the convergence decision calculation, it can prompt other target vehicles in the same direction to actively give way to these specific vehicles during convergence on main roads and ramps, thereby improving the convergence efficiency of specific vehicles and ensuring the emergency rescue needs of specific vehicles are met.

[0148] It should be noted that, in this document, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or terminal that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or terminal. Unless otherwise specified, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or terminal that includes that element.

[0149] Of course, those skilled in the art will understand that all or part of the processes in the above embodiments can be implemented by a computer program instructing related hardware (such as a processor, controller, etc.). The program can be stored in a computer-readable storage medium, and when executed, it can include the processes described in the above method embodiments. The computer-readable storage medium can be a memory, magnetic disk, optical disk, etc.

[0150] It should be understood that the application of the present invention is not limited to the examples above. Those skilled in the art can make improvements or modifications based on the above description, and all such improvements and modifications should fall within the protection scope of the appended claims.

Claims

1. A vehicle merging control method, characterized in that, The vehicle merging control method includes: Identify multiple target vehicles within a preset area, assign IDs to the multiple target vehicles, and obtain an initial vehicle convergence plan based on the ID assignment results; When a specific vehicle enters the preset area, the adjacent vehicle with an ID adjacency relationship with the specific vehicle is determined among the multiple target vehicles. If the specific vehicle and the adjacent vehicle are not in the same lane, the first reference value of the specific vehicle and the second reference value of the adjacent vehicle are calculated. The convergence result between the preset specific vehicle and the adjacent vehicle is calculated based on the first reference value and the second reference value, wherein the convergence result includes the preset specific vehicle executing an overtaking strategy and the adjacent vehicle executing a following strategy, or the preset specific vehicle executing a following strategy and the adjacent vehicle executing an overtaking strategy. The step of calculating the convergence result between the preset specific vehicle and the adjacent vehicle based on the first reference value and the second reference value specifically includes: A reference matrix is ​​constructed based on the first reference value and the second reference value, and the maximum reference value for vehicle convergence between the preset specific vehicle and the adjacent vehicle is calculated based on the reference matrix, wherein the expression for the maximum reference value is: ; in, The maximum reference value is defined by `max`, which is used to calculate the maximum reference value. m The number of rows in the matrix. n The number of columns in the matrix. A mn For the preset reference matrix of the specific vehicle, B mn This is the reference matrix for the adjacent vehicles; The expressions for the first reference value and the second reference value are as follows: ； in, The reference value is the preset value for a specific vehicle or the value for adjacent vehicles. , I For the preset specific vehicle, I -1 represents the adjacent vehicle. Strategy selection for the preset specific vehicle or the adjacent vehicle. F For a follower strategy, L For overtaking strategy, The total time loss of the preset specific vehicle or the adjacent vehicles under different strategies. As the first weight value, The comfort level of the preset specific vehicle or the adjacent vehicles under different strategies. The urgency level of the passage of the preset specific vehicle or the adjacent vehicles, The time loss of the preset specific vehicle or the adjacent vehicles under different strategies. The time it takes for the preset specific vehicle or the adjacent vehicles to arrive at the meeting point under different strategies. The preset time for a specific vehicle to enter the preset area. w 1 is the second weight value. w 2 is the third weight value. The acceleration of the preset specific vehicle or the adjacent vehicles under different strategies. The control input of the preset specific vehicle or the adjacent vehicle under different strategies, where dt is the vehicle position of the preset specific vehicle or the adjacent vehicle; The solution for the decision between the preset specific vehicle and the adjacent vehicle is calculated based on the maximum reference value, and the vehicle convergence result is obtained based on the solution of the decision. The initial vehicle merging scheme is adjusted based on the vehicle merging results to obtain the current vehicle merging scheme, and the preset specific vehicle is controlled to merge with the adjacent vehicle according to the current vehicle merging scheme.

2. The vehicle merging control method according to claim 1, characterized in that, The process of determining multiple target vehicles within a preset area, assigning IDs to these target vehicles, and obtaining an initial vehicle convergence plan based on the ID assignment results specifically includes: Determine the merging point between the main road and the ramp, and set a coverage radius centered on the merging point to obtain the preset area; Multiple target vehicles within the preset area are identified, and their IDs are assigned according to the order in which they enter the preset area. The initial vehicle convergence plan is then obtained based on the ID assignment results.

3. The vehicle merging control method according to claim 1, characterized in that, When a preset specific vehicle enters the preset area, the system identifies adjacent vehicles among multiple target vehicles that have an ID adjacency relationship with the preset specific vehicle. If the preset specific vehicle and the adjacent vehicle are not in the same lane, the system calculates a first reference value for the preset specific vehicle and a second reference value for the adjacent vehicle, specifically including: When the preset specific vehicle enters the preset area, an ID is assigned to the preset specific vehicle to obtain the current ID corresponding to the preset specific vehicle; Based on the current ID, a neighboring ID lookup is performed in the initial vehicle convergence scheme to obtain the neighboring vehicles among the target vehicles that have an ID adjacent relationship with the preset specific vehicle; If the preset specific vehicle and the adjacent vehicle are not in the same lane, then the first vehicle parameter data of the preset specific vehicle and the second vehicle parameter data of the adjacent vehicle are obtained. The first reference value of the preset specific vehicle is calculated based on the first vehicle parameter data, and the second reference value of the adjacent vehicle is calculated based on the second vehicle parameter data.

4. The vehicle merging control method according to claim 1, characterized in that, The step of calculating the solution for the decision between the preset specific vehicle and the adjacent vehicles based on the maximum reference value, and obtaining the vehicle convergence result based on the solution, specifically includes: Calculate the first probability that the preset specific vehicle will execute the following strategy and the second probability that it will execute the overtaking strategy based on the threat strategy, and calculate the first expected value of the preset specific vehicle based on the first probability and the second probability; Calculate the third probability of the adjacent vehicle executing the following strategy and the fourth probability of executing the overtaking strategy based on the threat strategy, and calculate the second expected value of the adjacent vehicle based on the third probability and the fourth probability; The solution for the decision between the preset specific vehicle and the adjacent vehicle is calculated based on the first expected value, the second expected value and the maximum reference value, and the vehicle convergence result is obtained based on the solution of the decision.

5. The vehicle merging control method according to claim 1, characterized in that, The step of adjusting the initial vehicle-merging plan based on the vehicle-merging result to obtain the current vehicle-merging plan, and controlling the preset specific vehicle to merge and pass with the adjacent vehicle according to the current vehicle-merging plan, specifically includes: When the vehicle convergence result is that the preset specific vehicle executes the overtaking strategy and the adjacent vehicle executes the following strategy, the current ID corresponding to the preset specific vehicle and the ID corresponding to the adjacent vehicle are updated; The initial vehicle merging scheme is adjusted according to the current ID of the preset specific vehicle after the update, to obtain the current vehicle merging scheme, and the preset specific vehicle and the adjacent vehicle are controlled to merge and pass according to the current vehicle merging scheme; When the convergence result is that the preset specific vehicle executes the following strategy and the adjacent vehicle executes the overtaking strategy, the preset specific vehicle and the adjacent vehicle are controlled to converge and pass each other according to the initial convergence plan.

6. The vehicle merging control method according to claim 5, characterized in that, The process of adjusting the initial vehicle rendezvous plan based on the updated current ID of the preset specific vehicle to obtain the current vehicle rendezvous plan further includes: Based on the current ID of the preset specific vehicle after its update, find the latest adjacent vehicle with an adjacent ID that is in the current vehicle convergence scheme and whose order is before the updated current ID; When the preset specific vehicle and the latest adjacent vehicle are not in the same lane, calculate the merging decision between the preset specific vehicle and the latest adjacent vehicle to obtain the latest merging result; The current vehicle merging scheme is updated based on the latest vehicle merging result until the latest vehicle merging result is that the preset specific vehicle executes the following strategy and the latest adjacent vehicle executes the overtaking strategy, or the preset specific vehicle and the latest adjacent vehicle are in the same lane, at which point the vehicle merging decision calculation is terminated.

7. A vehicle merging control system, characterized in that, The vehicle passage merging control system is used to implement the vehicle passage merging control method as described in any one of claims 1-6, wherein the vehicle passage merging control system includes: The initial vehicle convergence scheme construction module is used to determine multiple target vehicles within a preset area, assign IDs to the multiple target vehicles, and obtain an initial vehicle convergence scheme based on the ID assignment results. The reference value calculation module is used to determine, when a preset specific vehicle enters the preset area, an adjacent vehicle among multiple target vehicles that has an ID adjacent relationship with the preset specific vehicle. If the preset specific vehicle and the adjacent vehicle are not in the same lane, the module calculates a first reference value of the preset specific vehicle and a second reference value of the adjacent vehicle. The vehicle convergence result generation module is used to calculate the vehicle convergence result between the preset specific vehicle and the adjacent vehicle based on the first reference value and the second reference value, wherein the vehicle convergence result includes the preset specific vehicle executing an overtaking strategy and the adjacent vehicle executing a following strategy, or the preset specific vehicle executing a following strategy and the adjacent vehicle executing an overtaking strategy. The vehicle merging result execution module is used to adjust the initial vehicle merging plan according to the vehicle merging result to obtain the current vehicle merging plan, and control the preset specific vehicle to merge with the adjacent vehicle according to the current vehicle merging plan.

8. A terminal, characterized in that, The terminal includes: a memory, a processor, and a vehicle passage merging control program stored in the memory and executable on the processor. When the vehicle passage merging control program is executed by the processor, it implements the steps of the vehicle passage merging control method as described in any one of claims 1-6.

9. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores a vehicle passage merging control program, which, when executed by a processor, implements the steps of the vehicle passage merging control method as described in any one of claims 1-6.

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