Method and system for a convoy to quickly pass through a congested intersection

Abstract

The present invention belongs to the field of intelligent transportation, and proposes a method and system for a convoy to quickly pass through a crowded intersection. The method includes the following steps: collecting real-time traffic data of the convoy through monitoring equipment; analyzing and processing the collected real-time traffic data to obtain the current traffic conditions at the intersection; calculating the time sensitivity coefficient of each convoy according to the current traffic conditions at the intersection; determining the time-sensitive convoy through the time sensitivity coefficient of each convoy; determining the initial passage order through the time sequence of the convoy arriving at the control line before the intersection; calculating the cost of exchanging the passage order; and exchanging the passage order of the first convoy and the second convoy after the time-sensitive convoy pays the cost of exchanging the passage order. According to the convoy passing method of the embodiment of the present invention, the convoy passing efficiency can be improved while ensuring the safety and privacy of the convoy, and the reliability and user satisfaction of the intersection passage system can be comprehensively improved.

Description

Technical Field

[0001] The invention belongs to the field of intelligent transportation, and in particular relates to a method and a system for a motorcade to quickly pass through a congested intersection. Background Art

[0002] In the current urban intersection management, driverless fleets use vehicle-road collaboration technology to cope with complex traffic conditions, in which the dynamic changes in real-time traffic conditions determine the order and duration of the fleets in each direction. This method is considered to be the first choice for solving the complex traffic congestion problems in large cities. However, the current main method of intersection traffic order based on collaboration is to use information interaction and collaboration between the fleet and the road equipment RSU (Roadside Unit), and the RSU performs unified road rights allocation.

[0003] However, the centralized approach makes the system very sensitive to network attacks on the RSU. Once an attack occurs, it may cause the intersection to lose control and even cause road safety problems. Moreover, after a traffic accident occurs, each party often has their own story, resulting in high costs for tracing the source and tracing responsibility. In addition, the current intersection traffic strategy focuses more on overall factors such as efficiency and safety, and lacks sufficient consideration of the individual wishes of the fleet. Summary of the invention

[0004] The present invention aims to solve at least one of the technical problems in the related art to a certain extent. To this end, the first purpose of the present invention is to propose a method for a convoy to quickly pass through a congested intersection, which can improve the convoy's traffic efficiency and safety, protect the convoy's privacy, and comprehensively improve the reliability and user satisfaction of the intersection traffic system;

[0005] A second object of the present invention is to provide a system for a convoy to quickly pass through a congested intersection.

[0006] To achieve the above object, a first embodiment of the present invention provides a method for a convoy to quickly pass through a congested intersection, the method comprising the following steps:

[0007] S100, collecting real-time traffic data at the intersection through a traffic monitoring device, wherein the traffic data includes the number of convoys, the speed of the convoys, the type of the convoys, and the time when each convoy arrives at the intersection;

[0008] S200, analyzing and processing the collected real-time traffic data to obtain the current traffic conditions at the intersection, wherein the current traffic conditions at the intersection include the degree of congestion and the waiting time of each convoy;

[0009] S300, determining an initial passing order according to the time sequence of each convoy arriving at the intersection;

[0010] S400, receiving the current driving path distance and required time of all fleets at the intersection, calculating the time sensitivity coefficient value of each fleet, and marking the fleet whose time sensitivity coefficient value is higher than the average value of the time sensitivity coefficient values ​​of all fleets as a time sensitive fleet;

[0011] S500, record the time-sensitive convoy as the first convoy, record the convoy that is one position ahead of the time-sensitive convoy in the passing order as the second convoy, and calculate the passing time cost of the first convoy and the passing time cost of the second convoy;

[0012] S600, calculating a cost for exchanging the passage order according to the passage time cost of the first fleet and the passage time cost of the second fleet, wherein the cost for exchanging the passage order includes any one of a digital certificate, a transportation card balance, an ETC card balance, and a credit score;

[0013] S700, sending a cost for exchanging passing order to the first convoy and the second convoy. After the time-sensitive convoy pays the cost for exchanging passing order, the passing order of the first convoy and the second convoy is exchanged.

[0014] It can improve the efficiency and safety of fleet traffic, protect the privacy of the fleet, and comprehensively enhance the reliability and user satisfaction of the intersection traffic system.

[0015] Furthermore, in step S100, real-time traffic data of the intersection is collected by traffic monitoring equipment, and the traffic data includes the number of convoys, the speed of the convoy, the type of the convoy and the time when each convoy arrives at the intersection. The number of convoys and the type of the convoy are obtained by processing images obtained by a traffic camera (model KDO-PC6605D) using computer image recognition technology, and the speed of the convoy is obtained by a radar meter (model STALKER BASIC);

[0016] Furthermore, in response to the problem of traffic order at intersections, each intersection maintains an independent IoTA (Internet-of-Things) chain to record the traffic order change process at this intersection. The IoTA chain includes a master node and a light node, where the roadside unit RSU is the master node and the vehicle-mounted unit of the fleet is a light node. Each light node is connected to the nearest master node within the communication range, and an intersection control line is set at a certain distance from the intersection. The fleet entering the intersection control line will create a record of the fleet's traffic order. Within the intersection control line area, all fleets will save the most recent partial copy of the IoTA chain and keep it in a synchronized update state. When the fleet safely exits the intersection control line area, it can choose to delete the local IoTA chain to reduce the storage load of the fleet. The complete IoTA chain will be saved on the roadside unit RSU at this intersection for query at any time.

[0017] Furthermore, when the convoy enters the control line of the intersection, it receives the excitation signal sent by the roadside unit RSU and obtains the current timestamp information as the arrival time of the convoy at the intersection. The receiving roadside unit RSU is a full node. The RSU is the RU3110E / 5000E series, which is a multi-functional roadside communication terminal developed based on C-V2X technology. The product supports LTE-V2X PC5 and 4G / 5G Uu dual-mode communications, and can be used to realize real-time information interaction between roadside facilities and vehicles, as well as network connection functions between the roadside and the cloud platform.

[0018] Furthermore, the complete chain of traffic information and events of the intersection and adjacent sections is recorded through the roadside unit RSU. The on-board unit of the fleet is a light node, which only records the relevant traffic information of the current section. When entering an intersection, it joins the IoTA blockchain and creates a transaction record of the intersection sequence, and starts to maintain the local chain. After leaving the current road for a certain period of time, in addition to the streamlined storage of traffic events closely related to itself, it automatically deletes outdated road information to ensure sufficient storage space.

[0019] Specifically, the convoy also includes a group of adjacent convoys, which travel near the same intersection. The convoy is a collaborative entity that implements intelligent management of the traffic order at the intersection through interaction and negotiation.

[0020] Further, in step S200, the collected real-time traffic data is analyzed and processed to obtain the current traffic condition at the intersection, wherein the current traffic condition at the intersection includes the degree of congestion and the waiting time of each convoy. The process is as follows: collecting the real-time traffic data, including the number of convoys, speed, vehicle type and other information, through a roadside unit (RSU) at the intersection; analyzing and processing the collected real-time traffic data to obtain the current traffic condition at the intersection, including the degree of congestion and the waiting time of each convoy;

[0021] Preferably, the roadside unit (RSU) at the intersection obtains the IoTA blockchain information of the current intersection, and the IoTA blockchain information includes the traffic information and event records of the intersection and adjacent sections, such as traffic flow, fleet driving trajectory, traffic accidents, etc. By integrating real-time traffic data and IoTA blockchain information, the real-time traffic data is integrated with the IoTA blockchain information to improve the credibility and security of traffic data; finally, the analyzed traffic condition data is output to the IoTA blockchain or traffic management system. The beneficial effect of this step: by adding IoTA blockchain information for traffic condition analysis, the traffic conditions of the intersection can be more accurately obtained, the credibility and security of traffic data are improved, and more accurate and real-time traffic information is provided for traffic management and drivers, thereby helping to improve traffic efficiency and safety.

[0022] Furthermore, once the convoy enters an intersection, the roadside unit RSU sends an excitation signal, prompting the convoy's onboard unit to make a request to the IoTA blockchain, and provides the convoy's onboard unit with a detailed chain of traffic status and events at the current intersection and adjacent sections through the roadside unit RSU. The integrity of this chain is guaranteed by the roadside unit RSU as a full node, ensuring the authenticity and reliability of the IoTA blockchain information obtained.

[0023] Furthermore, by obtaining this IoTA blockchain information, the fleet can understand the traffic conditions near the intersection, historical events and other information related to the traffic order. This provides the necessary basic data for the fleet's subsequent changes to the traffic order at the intersection, helping the fleet make intelligent traffic decisions in the intersection scenario.

[0024] Furthermore, in step S300, determining the initial traffic order according to the time sequence of each convoy arriving at the intersection includes:

[0025] The roadside unit (RSU) at the intersection collects the arrival time information of each convoy at the intersection through IoTA blockchain information and real-time traffic data, and assigns a priority to each convoy based on the order of their arrival. The convoy that arrives first will be assigned a higher priority and will have priority passage.

[0026] Preferably, higher priority is given based on the type and needs of the fleet, including family cars, trucks and emergency service fleets (such as ambulances, fire trucks) to ensure that they pass through the intersection quickly.

[0027] Furthermore, based on the time information and priority of each convoy arriving at the intersection, the system formulates an initial convoy passage order. The convoy that arrives first and has a higher priority will be allowed to pass through the intersection first, which can minimize the convoy waiting time and traffic delays. The passage order may be adjusted in subsequent real-time monitoring to cope with changes in traffic conditions and special circumstances.

[0028] Further, in step S400, the current driving path distance and required time of all fleets at the intersection are accepted, the time sensitivity coefficient value of each fleet is calculated, and the fleet with a time sensitivity coefficient value higher than the average value of the time sensitivity coefficient values ​​of each fleet is marked as a time sensitive fleet, including: for each fleet, the time sensitivity coefficient is calculated according to its driving path distance and required time. The time sensitivity coefficient includes the ratio of the driving path distance to the required time. The larger the time sensitivity coefficient, the more sensitive the fleet is to time;

[0029] Furthermore, the average time sensitivity coefficient of all fleets at the current intersection is calculated, and the fleets with time sensitivity coefficients greater than the average time sensitivity coefficient are marked as time-sensitive fleets.

[0030] In step S500, the time-sensitive convoy is recorded as the first convoy, and the convoy that precedes the time-sensitive convoy in the passing order is recorded as the second convoy. The calculation of the passing time cost of the first convoy and the passing time cost of the second convoy includes: the passing time cost of the first convoy is the time required for the first convoy to pass the intersection, recorded as C A The travel time cost of the second convoy is the time required for the second convoy to pass the intersection, denoted by C B

[0031] In step S600, the exchange pass order cost is calculated according to the pass time cost of the first fleet and the pass time cost of the second fleet, and the exchange pass order cost includes any one of a digital certificate, a transportation card balance, an ETC card balance and a credit point, including:

[0032] The exchange of the pass order cost is based on a micro road right trading system with patent number CN113055474A;

[0033] Furthermore, calculating the cost of exchanging the passage sequence includes: obtaining the time cost coefficients of the first convoy and the second convoy, respectively recorded as and The time cost coefficient is a coefficient used to measure the time required for a convoy to pass through an intersection. It is calculated based on the ratio of the convoy's driving path distance to the time required to pass through the intersection. The time cost coefficient of each convoy is obtained through actual testing or roadside unit RSU simulation calculation; the time taken by the first vehicle in the first convoy to pass through the intersection is recorded as t Bf , the time taken by the first vehicle in the second convoy to pass the intersection is recorded as t Af ; The time interval between the first and second vehicles in the first convoy is defined as t sB The time interval between the two vehicles in the second convoy is defined as t sA ; The additional time required for the convoy to stop at the intersection and pass through the intersection is t p ;

[0034] Furthermore, the estimated time benefit ΔC of the first fleet after exchanging the passing order is calculated B The estimated time loss of the second convoy after exchanging the passing order is ΔC A , where the estimated time benefit of the first fleet after exchanging the passing order is ΔC B The calculation formula is:

[0035]

[0036] Among them, CB is the original time cost of the first team, C B is the estimated time cost after the first convoy exchanges the order of passage, which is calculated by simulation of the roadside unit RSU; N B is the number of teams in the first team, N A is the number of teams in the second team, t sA is the time interval between the front and rear vehicles of the second convoy. By calculating the estimated time benefit of the first convoy after exchanging the order of passage, compared with the ordinary calculation method, it can reflect the time benefit problem of the convoy from the perspective of the composition of the vehicles in the convoy, and provide a premise for linking the benefits of the convoy's early passage with the costs of exchanging the order of passage.

[0037] The estimated time loss of the second team after exchanging the passing order is ΔC A The calculation formula is:

[0038]

[0039] Among them, C A is the original time cost of the second team, C A is the estimated time cost after the second convoy exchanges the passing order. The estimated time cost after the second convoy exchanges the passing order is calculated by the roadside unit RSU simulation; N B is the number of teams in the first team, N A is the number of teams in the second team, t sB The time interval between the front and rear vehicles of the first convoy is calculated by comparing the time loss with the ordinary calculation method, which can correspond to the estimated time loss of the second convoy after exchanging the order of passage. From the perspective of the composition of the vehicles in the convoy, it reflects the time loss problem of the convoy, and provides a premise for the convoy to postpone the passage loss and link it with the cost of exchanging the order of passage.

[0040] Furthermore, the estimated time benefit ΔC of the first fleet after exchanging the passing order is B and time loss is ΔC A Calculate the exchange pass order cost p0, where the exchange pass order cost p0 is calculated as follows:

[0041]

[0042] Where δ is the communication loss factor between the first and second convoys each time, δ∈(0,1). ΔC B represents the estimated time benefit of the first fleet after exchanging the passing order; ΔC AIt represents the estimated time loss of the second convoy after exchanging the order of passage. By calculating the cost of exchanging the order of passage according to the situations of the first and second convoys, it can quickly and intelligently calculate the cost of exchanging the order of passage. On the one hand, it comprehensively considers the maximization of the interests of both parties; on the other hand, it saves the communication overhead and time cost required for multiple games.

[0043] Furthermore, the new DAG blockchain technology, IoTA, is used as the underlying blockchain architecture for the exchange order cost. Each vehicle is regarded as a node, and its initial exchange order cost when joining the system is 0. The total exchange order cost of the entire road traffic credit system is set to a fixed value. The exchange order cost is changed according to the actual role played by the fleet in maintaining road safety and efficient traffic.

[0044] Furthermore, in S700, the cost of exchanging the passing order is sent to the first fleet and the second fleet. When the time-sensitive fleet pays the cost of exchanging the passing order and exchanges the passing order of the first fleet and the second fleet, all fleets obtain the latest passing order and transmit it to the IoTA chain to complete the change of the passing order of the intersection. The obtained latest passing order is transmitted to the IoTA chain, which can ensure that the passing order information is recorded on the IoTA chain to provide traceability and transparency of the intersection passing history; finally, the fleet completes the negotiation and recording of the intersection passing order on the IoTA chain, which includes the passing order and related traffic information, to ensure the verifiability of the entire process.

[0045] The first aspect of the present invention proposes a method for a convoy to quickly pass through a congested intersection, which can improve the convoy's travel efficiency and safety, protect the convoy's privacy, and comprehensively improve the reliability and user satisfaction of the intersection's travel system.

[0046] To achieve the above-mentioned purpose, the second aspect of the present invention further proposes a system for a convoy to quickly pass through a congested intersection, wherein the system for a convoy to quickly pass through a congested intersection comprises: a processor, a memory, and a computer program stored in the memory and executable on the processor, wherein the processor implements the steps in a method for a convoy to quickly pass through a congested intersection when executing the computer program, and the system for a convoy to quickly pass through a congested intersection runs on a desktop computer, a notebook, a PDA, and a computing device in a cloud data center.

[0047] The method of implementing a convoy's rapid passage through a congested intersection through a system can improve the convoy's passage efficiency and safety, emphasize the convoy's privacy protection, and comprehensively improve the reliability of the intersection passage system and user satisfaction. BRIEF DESCRIPTION OF THE DRAWINGS

[0048] Figure 1 Shown is a flow chart of a method for a convoy to quickly pass through a congested intersection;

[0049] Figure 2 Shown is a system architecture diagram for a convoy to quickly pass through a congested intersection. DETAILED DESCRIPTION

[0050] Embodiments of the present invention are described in detail below, examples of which are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are intended to be used to explain the present invention, and should not be construed as limiting the present invention.

[0051] Figure 1 Shown is a flow chart of a method for a convoy to quickly pass through a congested intersection.

[0052] Reference Figure 1 The present invention proposes a method for a convoy to quickly pass through a congested intersection, the method comprising the following steps:

[0053] To achieve the above object, a first embodiment of the present invention provides a method for a convoy to quickly pass through a congested intersection, the method comprising the following steps:

[0054] S100, collecting real-time traffic data at the intersection through a traffic monitoring device, wherein the traffic data includes the number of convoys, the speed of the convoys, the type of the convoys, and the time when each convoy arrives at the intersection;

[0055] S200, analyzing and processing the collected real-time traffic data to obtain the current traffic conditions at the intersection, wherein the current traffic conditions at the intersection include the degree of congestion and the waiting time of each convoy;

[0056] S300, determining an initial passing order according to the time sequence of each convoy arriving at the intersection;

[0057] S400, receiving the current driving path distance and required time of all fleets at the intersection, calculating the time sensitivity coefficient value of each fleet, and marking the fleet whose time sensitivity coefficient value is higher than the average value of the time sensitivity coefficient values ​​of all fleets as a time sensitive fleet;

[0058] S500, record the time-sensitive convoy as the first convoy, record the convoy that is one position ahead of the time-sensitive convoy in the passing order as the second convoy, and calculate the passing time cost of the first convoy and the passing time cost of the second convoy;

[0059] S600, calculating a cost for exchanging the passage order according to the passage time cost of the first fleet and the passage time cost of the second fleet, wherein the cost for exchanging the passage order includes any one of a digital certificate, a transportation card balance, an ETC card balance, and a credit score;

[0060] S700, sending a cost for exchanging passing order to the first convoy and the second convoy. After the time-sensitive convoy pays the cost for exchanging passing order, the passing order of the first convoy and the second convoy is exchanged.

[0061] It can improve the efficiency and safety of fleet traffic, protect the privacy of the fleet, and comprehensively enhance the reliability and user satisfaction of the intersection traffic system.

[0062] Furthermore, in step S100, real-time traffic data of the intersection is collected by traffic monitoring equipment, and the traffic data includes the number of convoys, the speed of the convoy, the type of the convoy and the time when each convoy arrives at the intersection. The number of convoys and the type of the convoy are obtained by processing images obtained by a traffic camera (model KDO-PC6605D) using computer image recognition technology, and the speed of the convoy is obtained by a radar meter (model STALKER BASIC);

[0063] Furthermore, in response to the problem of traffic order at intersections, each intersection maintains an independent IoTA (Internet-of-Things) chain to record the traffic order change process at this intersection. The IoTA chain includes a master node and a light node, where the roadside unit RSU is the master node and the vehicle-mounted unit of the fleet is a light node. Each light node is connected to the nearest master node within the communication range, and an intersection control line is set at a certain distance from the intersection. The fleet entering the intersection control line will create a record of the fleet's traffic order. Within the intersection control line area, all fleets will save the most recent partial copy of the IoTA chain and keep it in a synchronized update state. When the fleet safely exits the intersection control line area, it can choose to delete the local IoTA chain to reduce the storage load of the fleet. The complete IoTA chain will be saved on the roadside unit RSU at this intersection for query at any time.

[0064] Furthermore, when the convoy enters the control line of the intersection, it receives the excitation signal sent by the roadside unit RSU and obtains the current timestamp information as the arrival time of the convoy at the intersection. The receiving roadside unit RSU is a full node. The RSU is the RU3110E / 5000E series, which is a multi-functional roadside communication terminal developed based on C-V2X technology. The product supports LTE-V2X PC5 and 4G / 5G Uu dual-mode communications, and can be used to realize real-time information interaction between roadside facilities and vehicles, as well as network connection functions between the roadside and the cloud platform.

[0065] Furthermore, the complete chain of traffic information and events of the intersection and adjacent sections is recorded through the roadside unit RSU. The on-board unit of the fleet is a light node, which only records the relevant traffic information of the current section. When entering an intersection, it joins the IoTA blockchain and creates a transaction record of the intersection sequence, and starts to maintain the local chain. After leaving the current road for a certain period of time, in addition to the streamlined storage of traffic events closely related to itself, it automatically deletes outdated road information to ensure sufficient storage space.

[0066] Specifically, the convoy also includes a group of adjacent convoys, which travel near the same intersection. The convoy is a collaborative entity that implements intelligent management of the traffic order at the intersection through interaction and negotiation.

[0067] Further, in step S200, the collected real-time traffic data is analyzed and processed to obtain the current traffic condition at the intersection, wherein the current traffic condition at the intersection includes the degree of congestion and the waiting time of each convoy. The process is as follows: collecting the real-time traffic data, including the number of convoys, speed, vehicle type and other information, through a roadside unit (RSU) at the intersection; analyzing and processing the collected real-time traffic data to obtain the current traffic condition at the intersection, including the degree of congestion and the waiting time of each convoy;

[0068] Preferably, the roadside unit (RSU) at the intersection obtains the IoTA blockchain information of the current intersection, and the IoTA blockchain information includes the traffic information and event records of the intersection and adjacent sections, such as traffic flow, fleet driving trajectory, traffic accidents, etc. By integrating real-time traffic data and IoTA blockchain information, the real-time traffic data is integrated with the IoTA blockchain information to improve the credibility and security of traffic data; finally, the analyzed traffic condition data is output to the IoTA blockchain or traffic management system. The beneficial effect of this step: by adding IoTA blockchain information for traffic condition analysis, the traffic conditions of the intersection can be more accurately obtained, the credibility and security of traffic data are improved, and more accurate and real-time traffic information is provided for traffic management and drivers, thereby helping to improve traffic efficiency and safety.

[0069] Furthermore, once the convoy enters an intersection, the roadside unit RSU sends an excitation signal, prompting the convoy's onboard unit to make a request to the IoTA blockchain, and provides the convoy's onboard unit with a detailed chain of traffic status and events at the current intersection and adjacent sections through the roadside unit RSU. The integrity of this chain is guaranteed by the roadside unit RSU as a full node, ensuring the authenticity and reliability of the IoTA blockchain information obtained.

[0070] Furthermore, by obtaining this IoTA blockchain information, the fleet can understand the traffic conditions near the intersection, historical events and other information related to the traffic order. This provides the necessary basic data for the fleet's subsequent changes to the traffic order at the intersection, helping the fleet make intelligent traffic decisions in the intersection scenario.

[0071] Furthermore, in step S300, determining the initial traffic order according to the time sequence of each convoy arriving at the intersection includes:

[0072] The roadside unit (RSU) at the intersection collects the arrival time information of each convoy at the intersection through IoTA blockchain information and real-time traffic data, and assigns a priority to each convoy based on the order of their arrival. The convoy that arrives first will be assigned a higher priority and will have priority passage.

[0073] Preferably, higher priority is given based on the type and needs of the fleet, including family cars, trucks and emergency service fleets (such as ambulances, fire trucks) to ensure that they pass through the intersection quickly.

[0074] Furthermore, based on the time information and priority of each convoy arriving at the intersection, the system formulates an initial convoy passage order. The convoy that arrives first and has a higher priority will be allowed to pass through the intersection first, which can minimize the convoy waiting time and traffic delays. The passage order may be adjusted in subsequent real-time monitoring to cope with changes in traffic conditions and special circumstances.

[0075] Further, in step S400, the current driving path distance and required time of all fleets at the intersection are accepted, the time sensitivity coefficient value of each fleet is calculated, and the fleet with a time sensitivity coefficient value higher than the average value of the time sensitivity coefficient values ​​of each fleet is marked as a time sensitive fleet, including: for each fleet, the time sensitivity coefficient is calculated according to its driving path distance and required time. The time sensitivity coefficient includes the ratio of the driving path distance to the required time. The larger the time sensitivity coefficient, the more sensitive the fleet is to time;

[0076] Furthermore, the average time sensitivity coefficient of all fleets at the current intersection is calculated, and the fleets with time sensitivity coefficients greater than the average time sensitivity coefficient are marked as time-sensitive fleets.

[0077] In step S500, the time-sensitive convoy is recorded as the first convoy, and the convoy that precedes the time-sensitive convoy in the passing order is recorded as the second convoy. The calculation of the passing time cost of the first convoy and the passing time cost of the second convoy includes: the passing time cost of the first convoy is the time required for the first convoy to pass the intersection, recorded as C AThe travel time cost of the second convoy is the time required for the second convoy to pass the intersection, denoted by C B

[0078] In step S600, the exchange pass order cost is calculated according to the pass time cost of the first fleet and the pass time cost of the second fleet, and the exchange pass order cost includes any one of a digital certificate, a transportation card balance, an ETC card balance and a credit point, including:

[0079] The exchange of the pass order cost is based on a micro road right trading system with patent number CN113055474A;

[0080] Furthermore, calculating the cost of exchanging the passage sequence includes: obtaining the time cost coefficients of the first convoy and the second convoy, respectively recorded as and The time cost coefficient is a coefficient used to measure the time required for a convoy to pass through an intersection. It is calculated based on the ratio of the convoy's driving path distance to the time required to pass through the intersection. The time cost coefficient of each convoy is obtained through actual testing or roadside unit RSU simulation calculation; the time taken by the first vehicle in the first convoy to pass through the intersection is recorded as t Bf , the time taken by the first vehicle in the second convoy to pass the intersection is recorded as t Af ; The time interval between the first and second vehicles in the first convoy is defined as t sB The time interval between the two vehicles in the second convoy is defined as t sA ; The additional time required for the convoy to stop at the intersection and pass through the intersection is t p ;

[0081] Furthermore, the estimated time benefit ΔC of the first fleet after exchanging the passing order is calculated B The estimated time loss of the second convoy after exchanging the passing order is ΔC A , where the estimated time benefit of the first fleet after exchanging the passing order is ΔC B The calculation formula is:

[0082]

[0083] Among them, C B is the original time cost of the first team, C B is the estimated time cost after the first convoy exchanges the order of passage, which is calculated by simulation of the roadside unit RSU; N B is the number of teams in the first team, N A is the number of teams in the second team, t sAis the time interval between the front and rear vehicles of the second convoy. By calculating the estimated time benefit of the first convoy after exchanging the order of passage, compared with the ordinary calculation method, it can reflect the time benefit problem of the convoy from the perspective of the composition of the vehicles in the convoy, and provide a premise for linking the benefits of the convoy's early passage with the costs of exchanging the order of passage.

[0084] The estimated time loss of the second team after exchanging the passing order is ΔC A The calculation formula is:

[0085]

[0086] Among them, C A is the original time cost of the second team, C A is the estimated time cost after the second convoy exchanges the passing order. The estimated time cost after the second convoy exchanges the passing order is calculated by the roadside unit RSU simulation; N B is the number of teams in the first team, N A is the number of teams in the second team, t sB The time interval between the front and rear vehicles of the first convoy is calculated by comparing the time loss with the ordinary calculation method, which can correspond to the estimated time loss of the second convoy after exchanging the order of passage. From the perspective of the composition of the vehicles in the convoy, it reflects the time loss problem of the convoy, and provides a premise for the convoy to postpone the passage loss and link it with the cost of exchanging the order of passage.

[0087] Furthermore, the estimated time benefit ΔC of the first fleet after exchanging the passing order is B and time loss is ΔC A Calculate the exchange pass order cost p0, where the exchange pass order cost p0 is calculated as follows:

[0088]

[0089] Where δ is the communication loss factor between the first and second convoys each time, δ∈(0,1). ΔC B represents the estimated time benefit of the first fleet after exchanging the passing order; ΔC A It represents the estimated time loss of the second convoy after exchanging the order of passage. By calculating the cost of exchanging the order of passage according to the situations of the first and second convoys, it can quickly and intelligently calculate the cost of exchanging the order of passage. On the one hand, it comprehensively considers the maximization of the interests of both parties; on the other hand, it saves the communication overhead and time cost required for multiple games.

[0090] Furthermore, the new DAG blockchain technology, IoTA, is used as the underlying blockchain architecture for the exchange order cost. Each vehicle is regarded as a node, and its initial exchange order cost when joining the system is 0. The total exchange order cost of the entire road traffic credit system is set to a fixed value. The exchange order cost is changed according to the actual role played by the fleet in maintaining road safety and efficient traffic.

[0091] Furthermore, in S700, the cost of exchanging the passing order is sent to the first fleet and the second fleet. When the time-sensitive fleet pays the cost of exchanging the passing order and exchanges the passing order of the first fleet and the second fleet, all fleets obtain the latest passing order and transmit it to the IoTA chain to complete the change of the passing order of the intersection. The obtained latest passing order is transmitted to the IoTA chain, which can ensure that the passing order information is recorded on the IoTA chain to provide traceability and transparency of the intersection passing history; finally, the fleet completes the negotiation and recording of the intersection passing order on the IoTA chain, which includes the passing order and related traffic information, to ensure the verifiability of the entire process.

[0092] The first aspect of the present invention proposes a method for a convoy to quickly pass through a congested intersection, which can improve the convoy's travel efficiency and safety, protect the convoy's privacy, and comprehensively improve the reliability and user satisfaction of the intersection's travel system.

[0093] Figure 2 Shown is a system architecture diagram for a convoy to quickly pass through a congested intersection.

[0094] Reference Figure 2 The present invention also proposes a system 20 for a convoy to quickly pass through a congested intersection. The system 20 for a convoy to quickly pass through a congested intersection includes: a processor, a memory, and a computer program stored in the memory and executable on the processor. When the processor executes the computer program, steps in a method for a convoy to quickly pass through a congested intersection are implemented. The system 20 for a convoy to quickly pass through a congested intersection runs on a desktop computer, a notebook, a PDA, and a computing device in a cloud data center.

[0095] The fleet passing system comprises: a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the computer program to run in the following units of the fleet passing system:

[0096] A collection unit 21, used to collect real-time traffic data of the intersection through a traffic monitoring device;

[0097] An analysis unit 22, used to analyze and process the collected real-time traffic data to obtain the current traffic conditions at the intersection, wherein the current traffic conditions at the intersection include the degree of congestion and the waiting time of each convoy;

[0098] A first calculation unit 23, used to calculate the time sensitivity coefficient of each convoy according to the current traffic conditions at the intersection;

[0099] A reorganization unit 24, used to determine an initial passage sequence and a time-sensitive fleet according to a time-sensitive coefficient of each fleet;

[0100] The second calculation unit 25 is used to record the time-sensitive convoy as the first convoy, record the convoy that is one position ahead of the time-sensitive convoy in the passing order as the second convoy, and calculate the passing time cost of the first convoy and the passing time cost of the second convoy;

[0101] The third calculation unit 26 is used to calculate the exchange pass order cost according to the pass time cost of the first fleet and the pass time cost of the second fleet, wherein the exchange pass order cost includes any one of a digital certificate, a transportation card balance, an ETC card balance and a credit score;

[0102] The changing unit 27 is used for sending the cost of exchanging the passing order to the first convoy and the second convoy. When the time-sensitive convoy pays the cost of exchanging the passing order, the passing order of the first convoy and the second convoy is exchanged.

[0103] The system for a convoy to quickly pass through a congested intersection can be run on computing devices such as desktop computers, notebooks, PDAs, and cloud servers. The system for a convoy to quickly pass through a congested intersection, the convoy passing system that can be run may include, but is not limited to, a processor and a memory. Those skilled in the art will understand that the example is only an example of a system 20 for a convoy to quickly pass through a congested intersection, and does not constitute a limitation on a system 20 for a convoy to quickly pass through a congested intersection, and may include more or fewer components than the example, or a combination of certain components, or different components. For example, the system for a convoy to quickly pass through a congested intersection may also include input and output devices, network access devices, buses, etc.

[0104] The method of executing a convoy's rapid passage through a congested intersection through the system 20 for the convoy to rapidly pass through a congested intersection can improve the convoy's passage efficiency and safety, and also emphasizes the convoy's privacy protection, thereby comprehensively improving the reliability of the intersection passage system and user satisfaction.

[0105] It should be noted that the logic and / or steps represented in the flowchart or otherwise described herein, for example, can be considered as a sequenced list of executable instructions for implementing logical functions, and can be specifically implemented in any computer-readable medium for use by an instruction execution system, device or apparatus (such as a computer-based system, a system including a processor, or other system that can fetch instructions from an instruction execution system, device or apparatus and execute instructions), or in combination with these instruction execution systems, devices or apparatuses. For the purposes of this specification, "computer-readable medium" can be any device that can contain, store, communicate, propagate or transmit a program for use by an instruction execution system, device or apparatus, or in combination with these instruction execution systems, devices or apparatuses. More specific examples of computer-readable media (a non-exhaustive list) include the following: an electrical connection portion with one or more wirings (electronic device), a portable computer disk box (magnetic device), a random access memory (RAM), a read-only memory (ROM), an erasable and programmable read-only memory (EPROM or flash memory), an optical fiber device, and a portable compact disk read-only memory (CDROM). In addition, the computer-readable medium may even be paper or other suitable medium on which the program is printed, since the program may be obtained electronically, for example, by optically scanning the paper or other medium and then editing, interpreting or processing in other suitable ways if necessary, and then stored in a computer memory.

[0106] It should be understood that the various parts of the present invention can be implemented by hardware, software, firmware or a combination thereof. In the above-mentioned embodiments, a plurality of steps or methods can be implemented by software or firmware stored in a memory and executed by a suitable instruction execution system. For example, if implemented by hardware, as in another embodiment, it can be implemented by any one of the following technologies known in the art or their combination: a discrete logic circuit having a logic gate circuit for implementing a logic function for a data signal, a dedicated integrated circuit having a suitable combination of logic gate circuits, a programmable gate array (PGA), a field programmable gate array (FPGA), etc.

[0107] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "examples", "specific examples", or "some examples" means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representation of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner.

[0108] In the description of the present invention, it is to be understood that the terms “center”, “longitudinal”, “lateral”, “length”, “width”, “thickness”, “up”, “down”, “front”, “back”, “left”, “right”, “vertical”, “horizontal”, “top”, “bottom”, “inside”, “outside”, “clockwise”, “counterclockwise”, “axial”, “radial”, “circumferential”, etc., indicating orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as limiting the present invention.

[0109] In addition, the terms "first", "second", etc. used in the embodiments of the present invention are only used for descriptive purposes and should not be understood as indicating or implying relative importance, or implicitly indicating the number of technical features indicated in the present embodiment. Therefore, the features defined by the terms "first", "second", etc. in the embodiments of the present invention can explicitly or implicitly indicate that the embodiment includes at least one of the features. In the description of the present invention, the word "multiple" means at least two or two or more, such as two, three, four, etc., unless otherwise clearly and specifically defined in the embodiments.

[0110] In the present invention, unless otherwise clearly specified or limited in the embodiments, the terms "installed", "connected", "connected" and "fixed" etc. in the embodiments should be understood in a broad sense. For example, the connection can be a fixed connection, a detachable connection, or an integrated connection. It can be understood that it can also be a mechanical connection, an electrical connection, etc.; of course, it can also be a direct connection, or an indirect connection through an intermediate medium, or it can be the internal connection of two elements, or the interaction relationship between two elements. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to the specific implementation situation.

[0111] In the present invention, unless otherwise clearly specified and limited, a first feature being "above" or "below" a second feature may mean that the first and second features are in direct contact, or the first and second features are in indirect contact through an intermediate medium. Moreover, a first feature being "above", "above" or "above" a second feature may mean that the first feature is directly above or obliquely above the second feature, or simply means that the first feature is higher in level than the second feature. A first feature being "below", "below" or "below" a second feature may mean that the first feature is directly below or obliquely below the second feature, or simply means that the first feature is lower in level than the second feature.

[0112] Although the embodiments of the present invention have been shown and described above, it is to be understood that the above embodiments are exemplary and are not to be construed as limitations of the present invention. A person skilled in the art may change, modify, replace and vary the above embodiments within the scope of the present invention.

Claims

1. A method for a convoy to quickly pass through a congested intersection, characterized in that: The method comprises the following steps: S100, collecting real-time traffic data of the intersection through traffic monitoring equipment, wherein the traffic data includes the number of convoys, the speed of the convoys, the type of the convoys, and the time when each convoy arrives at the intersection; S200, analyzing and processing the collected real-time traffic data to obtain the current traffic conditions at the intersection, wherein the current traffic conditions at the intersection include the degree of congestion and the waiting time of each convoy; S300, determining an initial passing order according to the time sequence of each convoy arriving at the intersection; S400, accepting the current driving path distance and required time of all convoys at the intersection, calculating the time sensitivity coefficient value of each convoy, and marking the convoy whose time sensitivity coefficient value is higher than the average value of the time sensitivity coefficient values ​​of all convoys as a time-sensitive convoy; the said accepting the current driving path distance and required time of all convoys at the intersection, calculating the time sensitivity coefficient value of each convoy, and marking the convoy whose time sensitivity coefficient value is higher than the average value of the time sensitivity coefficient values ​​of all convoys as a time-sensitive convoy includes: for each convoy, calculating its time sensitivity coefficient according to its driving path distance and required time; the time sensitivity coefficient includes the ratio of the driving path distance to the required time, when the time sensitivity coefficient is larger, it means that the convoy is more sensitive to time; calculating the average time sensitivity coefficient of all convoys at the current intersection, marking the convoy whose time sensitivity coefficient is greater than the average time sensitivity coefficient as a time-sensitive convoy; S500, record the time-sensitive convoy as the first convoy, record the convoy that is one position ahead of the time-sensitive convoy in the passing order as the second convoy, and calculate the passing time cost of the first convoy and the passing time cost of the second convoy; S600, calculating the exchange pass order cost according to the pass time cost of the first fleet and the pass time cost of the second fleet, wherein the exchange pass order cost includes any one of a digital certificate, a transportation card balance, an ETC card balance, and a credit score; the calculation of the exchange pass order cost according to the pass time cost of the first fleet and the pass time cost of the second fleet, wherein the exchange pass order cost includes any one of a digital certificate, a transportation card balance, an ETC card balance, and a credit score includes: The time cost coefficients of the first and second fleets are respectively recorded as and The time cost coefficient is a coefficient used to measure the time required for a convoy to pass through an intersection. It is calculated based on the ratio of the convoy's driving path distance to the time required to pass through the intersection. The time cost coefficient of each convoy is obtained through actual testing or roadside unit RSU simulation calculation; the time taken by the first vehicle in the first convoy to pass through the intersection is recorded as t Bf , the time taken by the first vehicle in the second convoy to pass the intersection is recorded as t Af ; The time interval between the first and second vehicles in the first convoy is defined as t sB The time interval between the two vehicles in the second convoy is defined as t sA ; The additional time required for the convoy to stop at the intersection and pass through the intersection is t p ; Among them, the estimated time benefit ΔC of the first fleet after exchanging the passing order is calculated B The estimated time loss of the second convoy after exchanging the passing order is ΔC A , where the estimated time benefit of the first fleet after exchanging the passing order is ΔC B The calculation formula is: Among them, C B is the original time cost of the first team, C′ B is the estimated time cost after the first convoy exchanges the order of passage, which is calculated by simulation of the roadside unit RSU; N B is the number of teams in the first team, N A is the number of convoys in the second convoy; The estimated time loss of the second team after exchanging the passing order is ΔC A The calculation formula is: Among them, C A is the original time cost of the second team, C′ A is the estimated time cost after the second convoy exchanges the passing order. The estimated time cost after the second convoy exchanges the passing order is calculated by simulation of the roadside unit RSU; Furthermore, the estimated time benefit ΔC of the first fleet after exchanging the passing order is B and the time loss of the second team ΔC A Calculate the exchange pass order cost p0, where the exchange pass order cost p0 is calculated as follows: Where δ is the communication loss factor between the first and second convoys each time, δ∈(0,1); S700, sending a cost for exchanging passing order to the first convoy and the second convoy. After the time-sensitive convoy pays the cost for exchanging passing order, the passing order of the first convoy and the second convoy is exchanged.

2. A method for a convoy to quickly pass through a congested intersection according to claim 1, characterized in that: The number and type of convoys are obtained by processing images obtained by traffic cameras using computer image recognition technology, and the convoy speed is obtained by using a radar counter.

3. The method for a convoy to quickly pass through a congested intersection according to claim 1, characterized in that: The process of analyzing and processing the collected real-time traffic data to obtain the current traffic conditions at the intersection, wherein the current traffic conditions at the intersection include the degree of congestion and the waiting time of each convoy includes: Real-time traffic data, including the number, speed and vehicle type of vehicle convoys, are collected through the roadside units at the intersections. The collected real-time traffic data are analyzed and processed to obtain the current traffic conditions at the intersections, including the degree of congestion and the waiting time of each vehicle convoy.

4. A method for a convoy to quickly pass through a congested intersection according to claim 3, characterized in that: The process of analyzing and processing the collected real-time traffic data to obtain the current traffic conditions at the intersection, wherein the current traffic conditions at the intersection include the degree of congestion and the waiting time of each convoy, further includes the roadside unit at the intersection obtaining the IoTA blockchain information of the current intersection, wherein the IoTA blockchain information includes the traffic information and event records of the intersection and adjacent sections, wherein the traffic information and event records include traffic flow, convoy driving trajectory and traffic accidents; By integrating real-time traffic data and IoTA blockchain information, real-time traffic data is integrated with IoTA blockchain information; finally, the analyzed traffic condition data is output to the IoTA blockchain or traffic management system.

5. A method for a convoy to quickly pass through a congested intersection according to claim 4, characterized in that: The initial traffic order is determined by the time sequence of each convoy arriving at the intersection, including: The roadside unit at the intersection collects the arrival time information of each convoy at the intersection through IoTA blockchain information and real-time traffic data, and assigns a priority to each convoy based on the order of their arrival. The convoy that arrives first will be assigned a higher priority and will have priority passage.

6. A system for a motorcade to quickly pass through a congested intersection, characterized in that: The system for allowing a convoy to quickly pass through a congested intersection comprises: a processor, a memory, and a computer program stored in the memory and running on the processor. When the processor executes the computer program, the steps of the method for allowing a convoy to quickly pass through a congested intersection described in any one of claims 1 to 5 are implemented. The system for allowing a convoy to quickly pass through a congested intersection runs on a desktop computer, a laptop computer, a PDA, a server, or a cloud data center.

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