Signal-lamp-free intersection multi-vehicle cooperation system and method based on cloud control basic platform

Abstract

The invention provides a signal-lamp-free intersection multi-vehicle cooperation system and method based on a cloud control basic platform, and relates to the field of intelligent driving. The system comprises a data reading module which is used for obtaining vehicle operation basic data reported by a network connection vehicle in real time; the data storage module is used for determining the positions of the vehicle on the road and the corresponding lane and binding the vehicle to the road; the intersection searching module is used for determining the positions of the vehicle on the road and the corresponding lane, and determining a signal-lamp-free intersection in the effective range in front of the vehicle and a network-connected vehicle in the corresponding effective range according to the effective range from the vehicle to the front intersection and the topological connection relation of the road; and the collaborative planning module is used for determining the conflict relation of all the network-connected vehicles in the effective range of the intersection entering direction of the intersection and carrying out collaborative speed planning and scheduling on the network-connected vehicles with potential conflicts. According to the invention, conflicts of network-connected vehicles passing through the intersection can be eliminated, and safe and efficient passing of the intersection without signal lamps can be effectively ensured.

Description

Technical Field

[0001] The present invention relates to the field of intelligent driving technology, and in particular to a multi-vehicle coordination system and method at a non-signal light intersection based on a cloud control basic platform. Background Art

[0002] With the development of intelligent connected vehicle technology, new opportunities have been brought to the intelligent transportation system. However, when multiple connected vehicles pass through an intersection at the same time, there will be a series of complex problems, which mainly involve coordination, communication, decision-making and safety between vehicles. In particular, when multiple connected vehicles pass through an intersection without traffic lights at the same time, the risk of collision increases significantly. Vehicles need to accurately predict the behavior of other vehicles and take corresponding collision avoidance measures. At present, the common vehicle cooperative adaptive cruise control (CACC) is an advanced vehicle cooperative technology that realizes close following and cooperative driving of vehicle formations through real-time communication and cooperative control between vehicles. This technology can significantly improve road traffic efficiency and safety. Although the existing technology has made some progress, its stability and reliability in complex environments and extreme conditions still need to be further improved. Therefore, it is urgent to solve the problem of how to make accurate decisions and coordination when multiple connected vehicles pass through intersections without traffic lights to avoid collisions and congestion. Summary of the invention

[0003] In order to overcome the shortcomings of the above-mentioned prior art, the present invention provides a multi-vehicle cooperative system and method at a traffic light-free intersection based on a cloud control basic platform, aiming to solve the technical problem of how to avoid conflicts and improve stability and reliability when multiple connected vehicles enter a traffic light-free intersection.

[0004] To achieve the above objectives, in a first aspect, the present invention provides a multi-vehicle cooperative system for intersections without signal lights based on a cloud control basic platform, comprising:

[0005] A data reading module, used to obtain the basic vehicle operation data reported by the connected vehicles in real time, and send the basic data to the intersection search module and the data storage module respectively;

[0006] A data storage module, for determining the position of the vehicle on the road and the corresponding lane according to the basic data and binding the vehicle to the road, and storing relevant data;

[0007] An intersection search module is used to determine the position of the vehicle on the road and the corresponding lane according to the basic data, and determine the intersection without signal lights within the effective range in front of the vehicle and the corresponding connected vehicles within the effective range according to the effective range from the vehicle to the front intersection and the topological connection relationship of the road;

[0008] The collaborative planning module is used to determine the conflict relationship between all connected vehicles within the effective range of the entrance direction of the intersection, and to perform collaborative speed planning and scheduling for connected vehicles with potential conflicts.

[0009] Further, the data storage module is used to determine the position of the vehicle on the road and the corresponding lane according to the basic data and bind the vehicle to the road, and store relevant data, including:

[0010] The longitude and latitude of the connected vehicle are obtained from the basic data, and the road ID and lane ID of the vehicle are determined by calling the map service, and the position of the vehicle on the road and the corresponding lane is determined, thereby binding the vehicle to the road.

[0011] Furthermore, the intersection search module is used to determine the position of the vehicle on the road and the corresponding lane according to the basic data, and determine the intersection without signal lights within the effective range in front of the vehicle and the corresponding connected vehicles within the effective range according to the effective range from the vehicle to the front intersection and the topological connection relationship of the road, including:

[0012] Obtain the longitude and latitude from the basic data of the vehicle, call the map service to locate the road ID and lane ID where the vehicle is located, and obtain the effective range configuration calibration quantity from the vehicle to the intersection ahead from the configuration management. According to the topological connection relationship of the road, determine whether the intersection within the effective range ahead of the vehicle is an intersection without traffic lights;

[0013] If so, it is determined that the intersection within the effective range in front of the vehicle is an intersection without traffic lights, and there are connected vehicles within the effective range.

[0014] Furthermore, the collaborative planning module is used to determine the conflict relationship of all connected vehicles within the effective range of the entrance direction of the intersection, and to perform collaborative speed planning and scheduling for the connected vehicles with potential conflicts, including:

[0015] Obtain the valid roads in the direction of the intersection, query all connected vehicles within the valid range of the intersection, and determine the conflict relationship among all connected vehicles according to the topological connection relationship of the roads;

[0016] For connected vehicles with potential conflicts, the speed planning algorithm is called to plan the speed of each vehicle, and the speed is sent to the connected vehicles with potential conflicts for coordinated scheduling.

[0017] Furthermore, the intersection search module also includes:

[0018] Query the road ID of the vehicle and determine whether the road is a non-intersection road;

[0019] If yes, search along the previous direction of the non-intersection road to see if there is an intersection within the effective range;

[0020] According to the topological connection relationship of the road, determine whether the intersection within the effective range in front of the vehicle is an intersection without traffic lights;

[0021] If so, obtain the intersection ID of the vehicle contact intersection and assign it to the same thread for processing according to the intersection ID.

[0022] Furthermore, the effective road construction process for entering the intersection direction includes:

[0023] According to all the road ID sequences in the intersection, all the road ID sequences in the direction of entering the intersection are obtained;

[0024] Determine whether there is a road ID sequence in the direction of the entrance. If so, search for all road IDs within the effective range of the road ID's subsequent direction according to the topological connection relationship of the roads and construct a sequence to obtain the road ID sequence within the effective range of all entrance directions, which is used to trigger the collaborative planning module to search for connected vehicles within the effective range.

[0025] Furthermore, the system further comprises:

[0026] Get all valid range road ID sequences in the direction of the intersection;

[0027] If the trigger period is not less than 200ms, search for all connected vehicles on the road ID within the valid range;

[0028] Bind the legal and valid connected vehicles to be coordinated to the lanes in the intersection;

[0029] According to the connected vehicles bound to the lanes in the intersection, the conflict relationship of the connected vehicles is established;

[0030] Call the speed planning algorithm package, generate the speed plan and send it to the connected vehicles with potential conflicts.

[0031] Furthermore, the basic vehicle operation data includes: vehicle ID, longitude, latitude, heading angle, and speed.

[0032] Furthermore, the effective range is within 200 meters.

[0033] In a second aspect, the present invention provides a multi-vehicle coordination method at a non-signal light intersection based on a cloud control basic platform, comprising:

[0034] Obtain basic vehicle operation data reported by connected vehicles in real time;

[0035] Based on the basic data, determine the position of the vehicle on the road and the corresponding lane and bind the vehicle to the road, and store the relevant data;

[0036] Determine the position of the vehicle on the road and the corresponding lane based on the basic data, and determine the intersection without signal lights within the effective range ahead of the vehicle and the corresponding connected vehicles within the effective range based on the effective range from the vehicle to the intersection ahead and the topological connection relationship of the road;

[0037] Determine the conflict relationship of all connected vehicles within the effective range of the entrance direction of the intersection, and conduct coordinated speed planning and scheduling for connected vehicles with potential conflicts.

[0038] Compared with the prior art, the present invention has the following beneficial effects:

[0039] The present invention is based on a cloud control basic platform. When connected vehicles pass through intersections without signal lights, decisions are made on their longitudinal driving behaviors to eliminate conflicts when connected vehicles pass through intersections, which can effectively ensure safe and efficient passage through intersections without signal lights. The location information of all connected vehicles is obtained through the cloud control basic platform, and the conflict relationship of connected vehicles about to enter the intersection without signal lights can be determined through the topological connection relationship of roads and lanes on high-precision maps. By planning and controlling the driving speed of connected vehicles, conflict relationships are eliminated for connected vehicles, ensuring that each connected vehicle passes through the intersection without signal lights safely and efficiently. BRIEF DESCRIPTION OF THE DRAWINGS

[0040] Figure 1 A schematic diagram of a module of a multi-vehicle cooperative system at a non-signal intersection based on a cloud control basic platform provided by an embodiment of the present invention;

[0041] Figure 2 A schematic diagram of a multi-vehicle cooperative system at a non-signal intersection based on a cloud control basic platform provided by an embodiment of the present invention;

[0042] Figure 3 A flow chart of the intersection search module provided in an embodiment of the present invention in realizing the search for the intersection ahead of the vehicle;

[0043] Figure 4 A flow chart of constructing a valid road in the direction of entering an intersection provided by an embodiment of the present invention;

[0044] Figure 5 A flowchart of establishing conflict relations of connected vehicles provided by an embodiment of the present invention;

[0045] Figure 6 A flowchart of a multi-vehicle coordination method at a non-signal light intersection based on a cloud control basic platform is provided in an embodiment of the present invention. DETAILED DESCRIPTION

[0046] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0047] Figure 1 A schematic diagram of a module of a real-time monitoring device for time series abnormality indicators based on a model is provided for an embodiment of the present invention; Figure 2 The schematic diagram of a multi-vehicle cooperative system at a non-signal intersection based on a cloud control basic platform provided by an embodiment of the present invention. Figure 1 to Figure 2 As shown, a multi-vehicle cooperative system 100 at a non-signal light intersection based on a cloud control basic platform includes:

[0048] The data reading module 110 is used to obtain the basic vehicle operation data reported by the connected vehicle in real time (at a certain frequency, such as 10 Hz), and send the basic data to the intersection search module 130 and the data storage module 120 respectively; wherein the basic vehicle operation data includes: vehicle ID, longitude, latitude, heading angle, speed, etc.

[0049] A data storage module 120, for determining the position of the vehicle on the road and the corresponding lane according to the basic data and binding the vehicle to the road, and storing relevant data;

[0050] Specifically, in some embodiments, the data storage module 120 includes: obtaining the longitude and latitude of the connected vehicle from the basic data, determining the road ID and lane ID of the vehicle by calling the map service, determining the position of the vehicle on the road and the corresponding lane, and thereby binding the vehicle to the road.

[0051] The intersection search module 130 is used to determine the position of the vehicle on the road and the corresponding lane based on the basic data, and determine the intersection without signal lights within the effective range in front of the vehicle and the corresponding connected vehicles within the effective range based on the effective range from the vehicle to the intersection ahead and the topological connection relationship of the road; wherein the effective vehicle calculated by the intersection search module 130 and the intersection ahead is an intersection without signal lights are sent to the collaborative planning module 140.

[0052] Specifically, in some embodiments, the intersection search module 130 includes:

[0053] The longitude and latitude are obtained from the basic data of the vehicle, the road ID and lane ID where the vehicle is located are located are located by calling the map service, and the effective range configuration calibration quantity from the vehicle to the intersection ahead is obtained from the configuration management (for example, a distance of 200 meters before entering the intersection is selected for coordination). Based on the topological connection relationship of the road, it is determined whether the intersection within the effective range ahead of the vehicle is an intersection without a traffic light;

[0054] If so, it is determined that the intersection within the effective range in front of the vehicle is an intersection without traffic lights, and there are connected vehicles within the effective range.

[0055] The collaborative planning module 140 is used to determine the conflict relationship between all connected vehicles within the effective range of the entrance direction of the intersection, and to perform collaborative speed planning and scheduling for the connected vehicles with potential conflicts.

[0056] Specifically, in some embodiments, the collaborative planning module 140 includes:

[0057] Obtain the valid roads in the direction of the intersection, query all the connected vehicles in the effective range of the intersection according to the aforementioned binding relationship between the vehicle and the road, and determine the conflict relationship of all the connected vehicles according to the topological connection relationship of the roads;

[0058] For connected vehicles with potential conflicts, the speed planning algorithm is called to plan the speed of each vehicle, and the speed is sent to the connected vehicles with potential conflicts for coordinated scheduling.

[0059] According to the above-mentioned embodiment of the present invention, based on the cloud control basic platform, when the connected vehicles pass through the intersection without signal lights, decisions can be made on the longitudinal driving behaviors of multiple connected vehicles, thereby eliminating conflicts among the connected vehicles passing through the intersection, and effectively ensuring safe and efficient passage at intersections without signal lights.

[0060] Figure 3 The flowchart of the intersection search module provided in the embodiment of the present invention in realizing the intersection search in front of the vehicle. Preferably, in some embodiments, such as Figure 3 As shown, the intersection search module 130 also includes:

[0061] Query the road ID of the vehicle and determine whether the road is a non-intersection road;

[0062] If yes, search along the previous direction of the non-intersection road to see if there is an intersection within the effective range;

[0063] According to the topological connection relationship of the road, determine whether the intersection within the effective range in front of the vehicle is an intersection without traffic lights;

[0064] If so, obtain the intersection ID of the vehicle contact intersection and assign it to the same thread for processing according to the intersection ID.

[0065] According to this embodiment, the intersection search module 130 searches for the intersection in front of the connected vehicle based on the road connection topology of the high-precision map, obtains the intersection ID of the intersection without traffic lights, and assigns it to the same thread for processing based on the intersection ID.

[0066] Preferably, wherein Figure 4 As shown in the figure, the effective road construction process for entering the intersection direction includes:

[0067] According to all the road ID sequences in the intersection, obtain all the road ID sequences in the direction of entering the intersection;

[0068] Determine whether there is a road ID sequence in the direction of the entrance. If so, search for all road IDs within the effective range of the road ID's subsequent direction according to the topological connection relationship of the roads and construct a sequence to obtain the road ID sequence within the effective range of all entrance directions, which is used to trigger the collaborative planning module to search for connected vehicles within the effective range.

[0069] According to this embodiment, the intersection search module 130 constructs a road ID sequence within a valid range (e.g., 200 meters) of all directions entering the intersection based on the intersection ID of the intersection without a traffic light and the road topology connection relationship of the high-precision map, so as to trigger multi-vehicle speed planning and search for connected vehicles within the valid range.

[0070] Preferably, wherein Figure 5 As shown in the figure, the flow chart of the conflict relationship construction of the connected vehicle is as follows:

[0071] Get all valid range road ID sequences in the direction of the intersection;

[0072] If the trigger period is not less than 200ms, search for all connected vehicles on the road ID within the valid range;

[0073] Bind the legal and valid connected vehicles to be coordinated to the lanes in the intersection;

[0074] According to the connected vehicles bound to the lanes in the intersection, the conflict relationship of the connected vehicles is established;

[0075] Call the speed planning algorithm package, generate the speed plan and send it to the connected vehicles with potential conflicts.

[0076] According to this embodiment, the collaborative planning module 140 searches for all legal (i.e., vehicles that need to collaborate within the effective range) connected vehicles, constructs the conflict relationship of the connected vehicles based on the topological connection relationship of the high-precision map, and plans and distributes the speed of the connected vehicles.

[0077] The above is an introduction to the device embodiment. The following is a method embodiment to further illustrate the solution of the present invention.

[0078] Figure 6 The flowchart of a multi-vehicle coordination method 200 at a non-signal light intersection based on a cloud control basic platform is provided in an embodiment of the present invention. Figure 6 As shown, a multi-vehicle coordination method 200 at a non-signal light intersection based on a cloud control basic platform includes:

[0079] S210: Acquire basic vehicle operation data reported by the connected vehicle in real time;

[0080] S220: Determine the position of the vehicle on the road and the corresponding lane according to the basic data and bind the vehicle to the road, and store relevant data;

[0081] S230: Determine the position of the vehicle on the road and the corresponding lane according to the basic data, and determine the intersection without signal lights within the effective range in front of the vehicle and the corresponding connected vehicles within the effective range according to the effective range from the vehicle to the front intersection and the topological connection relationship of the road;

[0082] S240: Determine the conflict relationship among all connected vehicles within the effective range of the approach direction of the intersection, and perform coordinated speed planning and scheduling for the connected vehicles with potential conflicts.

[0083] Those skilled in the art can clearly understand that, for the convenience and brevity of description, the specific working process of the described module can refer to the corresponding process in the aforementioned method embodiment, and will not be repeated here.

[0084] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. The multi-vehicle cooperative system at intersections without signal lights based on the cloud control basic platform is characterized by: include: A data reading module, used to obtain the basic vehicle operation data reported by the connected vehicles in real time, and send the basic data to the intersection search module and the data storage module respectively; A data storage module, for determining the position of the vehicle on the road and the corresponding lane according to the basic data and binding the vehicle to the road, and storing relevant data; An intersection search module is used to determine the position of the vehicle on the road and the corresponding lane according to the basic data, and determine the intersection without signal lights within the effective range in front of the vehicle and the corresponding connected vehicles within the effective range according to the effective range from the vehicle to the front intersection and the topological connection relationship of the road; The collaborative planning module is used to determine the conflict relationship between all connected vehicles within the effective range of the entrance direction of the intersection, and to perform collaborative speed planning and scheduling for connected vehicles with potential conflicts.

2. The multi-vehicle cooperative system at a non-signalized intersection according to claim 1, characterized in that: in, The data storage module is used to determine the position of the vehicle on the road and the corresponding lane according to the basic data and bind the vehicle to the road, and store relevant data, including: The longitude and latitude of the connected vehicle are obtained from the basic data, and the road ID and lane ID of the vehicle are determined by calling the map service, and the position of the vehicle on the road and the corresponding lane is determined, thereby binding the vehicle to the road.

3. The multi-vehicle cooperative system at a non-signalized intersection according to claim 1, characterized in that: The intersection search module is used to determine the position of the vehicle on the road and the corresponding lane according to the basic data, and determine the intersection without signal lights within the effective range in front of the vehicle and the corresponding connected vehicles within the effective range according to the effective range from the vehicle to the front intersection and the topological connection relationship of the road, including: Obtain the longitude and latitude from the basic data of the vehicle, call the map service to locate the road ID and lane ID where the vehicle is located, and obtain the effective range configuration calibration quantity from the vehicle to the intersection ahead from the configuration management. According to the topological connection relationship of the road, determine whether the intersection within the effective range ahead of the vehicle is an intersection without traffic lights; If so, it is determined that the intersection within the effective range in front of the vehicle is an intersection without traffic lights, and there are connected vehicles within the effective range.

4. The multi-vehicle cooperative system at a non-signalized intersection according to claim 1, characterized in that: The collaborative planning module is used to determine the conflict relationship of all connected vehicles within the effective range of the entrance direction of the intersection, and to perform collaborative speed planning and scheduling for connected vehicles with potential conflicts, including: Obtain the valid roads in the direction of the intersection, query all connected vehicles within the valid range of the intersection, and determine the conflict relationship among all connected vehicles according to the topological connection relationship of the roads; For connected vehicles with potential conflicts, the speed planning algorithm is called to plan the speed of each vehicle, and the speed is sent to the connected vehicles with potential conflicts for coordinated scheduling.

5. The multi-vehicle cooperative system at a non-signalized intersection according to claim 3, characterized in that: The intersection search module also includes: Query the road ID of the vehicle and determine whether the road is a non-intersection road; If yes, search along the previous direction of the non-intersection road to see if there is an intersection within the effective range; According to the topological connection relationship of the road, determine whether the intersection within the effective range in front of the vehicle is an intersection without traffic lights; If so, obtain the intersection ID of the vehicle contact intersection and assign it to the same thread for processing according to the intersection ID.

6. The multi-vehicle cooperative system at a non-signalized intersection according to claim 4, characterized in that: in, The effective road construction process for the direction of entering the intersection includes: According to all the road ID sequences in the intersection, obtain all the road ID sequences in the direction of entering the intersection; Determine whether there is a road ID sequence in the direction of the entrance. If so, search for all road IDs within the effective range of the road ID's subsequent direction according to the topological connection relationship of the roads and construct a sequence to obtain the road ID sequence within the effective range of all entrance directions, which is used to trigger the collaborative planning module to search for connected vehicles within the effective range.

7. The device according to claim 6, characterized in that in, The system further comprises: Get all valid range road ID sequences in the direction of the entrance; If the trigger period is not less than 200ms, search for all connected vehicles on the road ID within the valid range; Bind the legal and valid connected vehicles to be coordinated to the lanes in the intersection; According to the connected vehicles bound to the lanes in the intersection, the conflict relationship of the connected vehicles is established; Call the speed planning algorithm package, generate the speed plan and send it to the connected vehicles with potential conflicts.

8. The device according to claim 1, characterized in that in, The basic vehicle operation data includes: vehicle ID, longitude, latitude, heading angle, and speed.

9. The device according to claim 8, characterized in that in, The effective range is within 200 meters.

10. A multi-vehicle coordination method at a non-signal intersection based on a cloud control platform is characterized in that: include: Obtain basic vehicle operation data reported by connected vehicles in real time; Based on the basic data, determine the position of the vehicle on the road and the corresponding lane and bind the vehicle to the road, and store relevant data; Determine the position of the vehicle on the road and the corresponding lane based on the basic data, and determine the intersection without signal lights within the effective range ahead of the vehicle and the corresponding connected vehicles within the effective range based on the effective range from the vehicle to the intersection ahead and the topological connection relationship of the road; Determine the conflict relationship of all connected vehicles within the effective range of the entrance direction of the intersection, and conduct coordinated speed planning and scheduling for connected vehicles with potential conflicts.

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