Road confluence area intelligent vehicle cooperation method, computer and storage medium

Abstract

The invention provides an intelligent vehicle cooperation method in a road confluence area, a computer and a storage medium. The method comprises the following steps: comparing the average speed of a main line vehicle with a first speed threshold value; in response to the fact that the average speed exceeds a first speed threshold value, conflict resolution is conducted on ramp vehicles and main line vehicles; in response to the fact that the average speed is smaller than a first speed threshold value, the maximum waiting duration and a second speed threshold value of the ramp vehicles are set according to the average speed, and the ramp vehicles are controlled to stop and wait until the average speed of the main line vehicles is larger than or equal to the second speed threshold value or the waiting time exceeds the maximum waiting duration. The problems that in the prior art, when intelligent network connection vehicles converge in a road confluence area, most conflict resolution modes are conservative deceleration or parking avoidance measures, the safety risk of the confluence area can be increased, and the passing efficiency is affected are solved.

Description

Technical Field

[0001] The present invention relates to the field of intelligent transportation technology, and in particular to an intelligent vehicle cooperation method, a computer and a storage medium in a road merging area. Background Art

[0002] Intelligent connected vehicles can provide driving references and even autonomous driving functions through their powerful perception capabilities, but due to the subjectivity of human driving, the complexity of roads, the limitations of perception and high pricing, there are certain risks and obstacles in the large-scale application and implementation of intelligent connected autonomous driving technology. Under the vehicle-road-cloud integrated architecture, through the beyond-visual-range perception capabilities of the cloud and road testing, collaborative strategies can be issued in the cloud and road testing, vehicle conflicts can be resolved and vehicle movement can be controlled, so that L2 vehicles can have autonomous driving capabilities and empower the development of autonomous driving technology.

[0003] At present, for human drivers, the collaboration and conflict resolution in merging areas under mixed traffic conditions mainly rely on their driving experience and preferences to achieve the merging process; for intelligent connected autonomous driving vehicles, they mainly rely on their own perception and fusion capabilities to judge the surrounding traffic conditions, and make conflict resolution and merging decisions on the vehicle side, and the conflict resolution method is mostly conservative deceleration or parking avoidance measures.

[0004] Existing technical solutions are difficult to provide decision-making assistance for human drivers, and vehicles are independent individuals, and vehicle interaction during driving cannot be achieved, making vehicles highly random and discrete, which will increase the safety risk in the merging area and affect traffic efficiency. The specific manifestations are as follows: ① Impact on traffic efficiency. When intelligent connected vehicles detect a conflict, they take conservative deceleration or even stop to avoid measures. When the traffic flow on the road section is large, the intelligent connected vehicles will stop and wait for a long time and stay in the intersection, causing queues; ② Potential driving risks. The traffic conditions in the merging area are complex and there is a lack of interaction between vehicles, which will lead to the closed nature of vehicle intentions, thereby increasing the uncertainty and risk of driving. Summary of the invention

[0005] In view of the deficiencies in the prior art, the present invention provides a method, computer and storage medium for intelligent vehicle cooperation in a road merging area, which solves the problem in the prior art that the conflict resolution methods of intelligent connected vehicles when merging in a road merging area are mostly conservative deceleration or parking avoidance measures, which will increase the safety risks of the merging area and affect traffic efficiency.

[0006] According to an embodiment of the present invention, a method for intelligent vehicle cooperation in a road merging area includes:

[0007] comparing an average speed of mainline vehicles with a first speed threshold;

[0008] In response to the average speed exceeding a first speed threshold, performing conflict resolution on ramp vehicles and mainline vehicles;

[0009] In response to the average speed being less than the first speed threshold, the maximum waiting time and the second speed threshold of the ramp vehicle are set according to the average speed, and the ramp vehicle is controlled to stop and wait until the average speed of the main line vehicle is greater than or equal to the second speed threshold or the waiting time exceeds the maximum waiting time.

[0010] Preferably, a detection area is provided on the main line of the merging area, the length of the detection area is equal to the length of the acceleration lane, and only the average speed of the main line vehicles within the detection area is calculated.

[0011] Preferably, in response to the average speed being less than the first speed threshold, a minimum waiting time for the ramp vehicle is also set according to the average speed, and the waiting time for the ramp vehicle to stop and wait must be greater than the minimum waiting time.

[0012] Preferably, if the ramp vehicle is released because the waiting time of the ramp vehicle exceeds the maximum waiting time, the main line vehicles on the lanes on the main line close to the ramp are stopped and waited for a preset time before the merging point, and the ramp vehicle is released, and then the ramp vehicle stops and waits again.

[0013] Preferably, the step of resolving conflicts between ramp vehicles and mainline vehicles includes:

[0014] Divide the conflict judgment area on the ramp;

[0015] When the ramp vehicle enters the conflict judgment area, the first time required for the mainline vehicle to travel to the merging point of the mainline and the ramp, and the second time required for the ramp vehicle to travel to the merging point are calculated;

[0016] Calculate the difference between the first time and the second time, and if the difference is less than the preset time difference, determine that a merging conflict will occur;

[0017] Detect the types of mainline vehicles and ramp vehicles, and select appropriate conflict resolution solutions based on the types of mainline vehicles and ramp vehicles.

[0018] Preferably, selecting a suitable conflict resolution scheme according to the types of mainline vehicles and ramp vehicles includes:

[0019] If both the mainline vehicles and the ramp vehicles are human-driven vehicles, no conflict resolution will be adopted;

[0020] If the main line vehicle is an intelligent networked vehicle and the ramp vehicle is a human-driven vehicle, the main line vehicle will slow down and accelerate to the original speed after the ramp vehicle enters the main line;

[0021] If the mainline vehicle is a human-driven vehicle and the ramp vehicle is an intelligent networked vehicle, the ramp vehicle will decelerate and enter the acceleration lane, and then enter the mainline after the mainline vehicle passes;

[0022] If both the main line vehicles and the ramp vehicles are intelligent networked vehicles, the ramp vehicles will slow down and enter the acceleration lane, and then enter the main line after the main line vehicles pass.

[0023] Preferably, a merging control area is divided on the lane of the main line close to the ramp, and when the ramp vehicle enters the conflict judgment area, the first time of all main line vehicles in the merging control area is calculated.

[0024] Preferably, the distances between the conflict judgment area and the merging control area and the merging point are both greater than 100m.

[0025] On the other hand, the present invention also provides a computer device, including a memory and a processor, wherein the memory stores a computer program, and when the computer program is executed by the processor, the processor executes the above-mentioned intelligent vehicle cooperation method in a road merging area.

[0026] On the other hand, the present invention further provides a computer storage medium storing a computer program, which, when executed by a processor, enables the processor to execute the above-mentioned intelligent vehicle cooperation method in a road merging area.

[0027] Compared with the prior art, the present invention has the following beneficial effects:

[0028] The traffic conditions of the main line are evaluated by detecting the average speed of the main line. If the average speed is less than the speed threshold, it means that the main line is congested. When the main line vehicles have priority, the ramp vehicles stop and wait first, and then the main line vehicles stop and wait, while the ramp vehicles pass. In this way, the main line vehicles and ramp vehicles alternately pass and merge, thereby improving the traffic efficiency. If the average speed is greater than or equal to the speed threshold, it means that the main line traffic is unobstructed. At this time, the conflicts between the main line vehicles and the ramp vehicles are resolved to avoid them arriving at the merging point at the same time, thereby reducing safety risks. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] Figure 1 This is a flow chart of a vehicle cooperation method according to an embodiment of the present invention.

[0030] Figure 2 Schematic diagram of a confluence area according to an embodiment of the present invention. DETAILED DESCRIPTION

[0031] The technical solution of the present invention is further described below in conjunction with the accompanying drawings and embodiments.

[0032] like Figure 1 As shown, an embodiment of the present invention proposes a method for intelligent vehicle cooperation in a road merging area, including:

[0033] The average speed of the mainline vehicles is compared to a first speed threshold.

[0034] like Figure 2 As shown, the road merging area includes the main line, the ramp and the acceleration lane. A detection area parallel to the acceleration lane is set on the main line and the length of the detection area is equal to the length of the acceleration lane, both of which are 300m. The length of the ramp is 200m, and the intersection of the ramp and the main line is the merging point.

[0035] The traffic condition of the main line can be measured by the average speed of all vehicles in the detection area. The average speed of all vehicles in the area can be detected in real time by setting up instruments such as speed detectors in the detection area.

[0036] Assume that the number of mainline vehicles in the current detection area is N, the vehicle speed is Vi, and the average vehicle speed is The calculation of is as follows:

[0037]

[0038] Assume the maximum speed limit of the main line is V max =60km / h (16.67m / s), let 0.5 times the maximum speed limit be the first speed threshold V of the main line threshold =8.33m / s, when When , it indicates that the main line traffic is congested and the running speed of the entire merging area is slow. To ensure the passage, execute step S2. When , it indicates that the main line traffic is unobstructed, and S4 should be performed to predict and resolve conflicts between main line vehicles and ramp vehicles in the merging area to ensure that ramp vehicles merge safely into the main line.

[0039] In response to the average speed being less than the first speed threshold, a maximum waiting time for ramp vehicles and a second speed threshold are set according to the average speed.

[0040] when , it indicates that the main line traffic is congested and the operating speed of the entire merging area is slow.

[0041] Assuming that the average speed of the main line reaches 0.8 times (the multiple can be set according to actual needs, and this embodiment takes 0.8 times as an example) the maximum speed limit, it is considered that the main line traffic situation is relieved, that is, the second speed threshold V improve =0.8V max , the minimum waiting time is calculated as follows:

[0042]

[0043] The maximum waiting time is calculated as follows:

[0044]

[0045] in, is the average acceleration of mainline vehicles in the detection area.

[0046] The ramp vehicle is controlled to stop and wait until the average speed of the main line vehicles is greater than or equal to the second speed threshold or the waiting time exceeds the maximum waiting time.

[0047] when When the vehicle type of the first ramp vehicle in the ramp is detected, if it is a human-driven vehicle, since human-driven vehicles do not have the networking function, they can only accept the signal guidance of the road test and cannot be remotely controlled. They can only be released, and then continue to detect the next ramp vehicle until the ramp vehicle is an intelligent networked vehicle. Then the ramp vehicle stops and waits in the ramp. The first ramp vehicle in the ramp stops and waits first. min_wait seconds, if t min_wait Seconds later, the mainline vehicles meet If the main line traffic has been relieved, the vehicle will proceed directly to step S4. Otherwise, the vehicle will continue to stop and wait, and a judgment will be made every time the waiting time increases by 1 second to determine the average speed of the main line vehicles. Is it greater than the second speed threshold?

[0048] If the waiting time of the ramp vehicle exceeds the maximum waiting time, the ramp vehicle should be released to allow it to merge normally. At the same time, the vehicle type of the first main-line vehicle on the lane on the main line close to the ramp at the merging point is detected. If it is a human-driven vehicle, since human-driven vehicles do not have the networking function, they can only accept the signal guidance of the road test and cannot be remotely controlled. They can only be released, and then the next main-line vehicle is detected until the main-line vehicle is an intelligent networked vehicle. Then the main-line vehicle stops and waits for a preset time before the merging point. Due to the large traffic volume on the main line, in order to ensure the main line traffic efficiency, the preset time is generally set to 20S. After that, the ramp vehicle continues to stop and wait, and step S3 is repeated.

[0049] In response to the average speed exceeding a first speed threshold, conflict resolution is performed on ramp vehicles and mainline vehicles.

[0050] When there is no traffic congestion on the main line and the average speed of vehicles on the main line in the detection area Or the average speed of vehicles on the main line in the detection area after traffic congestion occurs on the main line Ramp vehicles can merge freely into the merging area. To ensure the safety of the merging area and prevent vehicle collisions, the real-time status of mainline vehicles and merging vehicles should be monitored, and conflict prediction should be performed to determine whether a conflict will occur.

[0051] The conflict prediction method is as follows:

[0052] A conflict judgment area is divided at 100m-120m away from the merging point on the ramp, and a merging control area is divided at 100m-120m away from the merging point on the lane of the main line close to the ramp. Vehicles in the conflict judgment area are detected in real time. Whenever a ramp vehicle enters the conflict judgment area, a conflict prediction is performed on the ramp vehicle currently entering the conflict judgment area.

[0053] Assume that the distance between any mainline vehicle in the merging control area and the merging point is x A , the acceleration is a A , the distance between the ramp vehicle and the merging point is x B , the acceleration is a B , let T A and T B They are the time when any mainline vehicle and ramp vehicle in the merging control area arrives at the merging point.

[0054] Generally speaking, the movement of mainline vehicles in the merging control area can be approximated by uniform deceleration. The movement time T of the vehicle before reaching the merging point is A It can be obtained by the following formula:

[0055]

[0056] Find:

[0057]

[0058] After entering the conflict judgment area, the ramp vehicle will first undergo a period of uniform acceleration. Assume that the duration of the uniform acceleration is t B1 , and then perform uniform motion. Assume that the reaction time to uniform motion is t B2 , then the time it takes for the ramp vehicle to reach the starting point of the conflict area is T B =t B1 , in T B The distance traveled by ramp vehicles within the time satisfies:

[0059]

[0060] In order to ensure maximum safety, a certain safety distance is usually required. Let d0 be the safety distance, d0 = v B t B2 , then the distance between the ramp vehicle and the merging point satisfies:

[0061]

[0062] The time it takes for ramp vehicles to reach the merging point is calculated as follows:

[0063]

[0064] The time difference between mainline vehicles and ramp vehicles arriving at the merging point is: ΔT = |T A -T B |.

[0065] When ΔT is less than the preset time difference (generally set to 3S), it is considered that there is a potential merging conflict and the conflict needs to be resolved.

[0066] First, the types of mainline vehicles and ramp vehicles are detected to determine whether vehicles A and B are smart networked vehicles. There are three situations: case 1: both the mainline vehicle and the ramp vehicle are human-driven vehicles; case 2: the mainline vehicle is a smart networked vehicle, and the ramp vehicle is a human-driven vehicle; case 3: the mainline vehicle is a human-driven vehicle, and the ramp vehicle is a smart networked vehicle; case 4: both the mainline vehicle and the ramp vehicle are smart networked vehicles.

[0067] Take conflict resolution measures: Case 1: Since both the main line vehicles and the ramp vehicles are human-driven vehicles, this type of vehicle does not have networking functions and can only be guided by road test signals. When conflicts arise at the intersection of vehicles, they are resolved independently by the drivers, so no conflict resolution measures are taken.

[0068] Case 2: As the main line vehicles are intelligent networked vehicles that can receive remote dispatch information, while the ramp vehicles are human-driven vehicles that can only receive guidance from road test signals, in order to prevent congestion on the main line, the main line vehicles are slowed down and the ramp vehicles are accelerated to their original speed after entering the main line.

[0069] Case 3: Since ramp vehicles are intelligent networked vehicles that can receive remote dispatch information, while mainline vehicles are human-driven vehicles that can only receive guidance from road test signals and follow the mainline priority principle, ramp vehicles slow down and enter the acceleration lane, and then merge into the mainline after the mainline vehicles pass.

[0070] Case 4: Similar to case 3, following the principle of main line priority, ramp vehicles slow down and enter the acceleration lane, and then merge into the main line after the main line vehicles pass.

[0071] On the other hand, the present invention also provides a computer device, including a memory and a processor, wherein the memory stores a computer program, and when the computer program is executed by the processor, the processor executes the above-mentioned intelligent vehicle cooperation method in a road merging area.

[0072] On the other hand, the present invention further provides a computer storage medium storing a computer program, which, when executed by a processor, enables the processor to execute the above-mentioned intelligent vehicle cooperation method in a road merging area.

[0073] Finally, it should be noted that the above embodiments are only used to illustrate the technical solution of the present invention rather than to limit it. Although the present invention has been described in detail with reference to the preferred embodiments, those skilled in the art should understand that the technical solution of the present invention can be modified or replaced by equivalents without departing from the purpose and scope of the technical solution of the present invention, which should be included in the scope of the claims of the present invention.

Claims

1. A method for intelligent vehicle cooperation in a road merging area, characterized by: include: comparing an average speed of mainline vehicles with a first speed threshold; In response to the average speed exceeding a first speed threshold, performing conflict resolution on ramp vehicles and mainline vehicles; In response to the average speed being less than the first speed threshold, the maximum waiting time and the second speed threshold of the ramp vehicle are set according to the average speed, and the ramp vehicle is controlled to stop and wait until the average speed of the main line vehicle is greater than or equal to the second speed threshold or the waiting time exceeds the maximum waiting time.

2. The intelligent vehicle cooperation method in a road merging area according to claim 1, characterized in that: A detection area is provided on the main line of the merging area. The length of the detection area is equal to the length of the acceleration lane, and only the average speed of the main line vehicles within the detection area is calculated.

3. The intelligent vehicle cooperation method in a road merging area according to claim 1, characterized in that: In response to the average speed being less than the first speed threshold, a minimum waiting time for the ramp vehicle is also set according to the average speed, and the waiting time for the ramp vehicle to stop and wait must be greater than the minimum waiting time.

4. The intelligent vehicle cooperation method in a road merging area according to claim 1, characterized in that: If the ramp vehicle is released because the waiting time of the ramp vehicle exceeds the maximum waiting time, the main line vehicles in the lane on the main line close to the ramp will stop and wait for the preset time before the merging point, and the ramp vehicle will be released, and then the ramp vehicle will stop and wait again.

5. The intelligent vehicle cooperation method in a road merging area according to claim 1, characterized in that: The steps for resolving conflicts between ramp vehicles and mainline vehicles include: Divide the conflict judgment area on the ramp; When the ramp vehicle enters the conflict judgment area, the first time required for the mainline vehicle to travel to the merging point of the mainline and the ramp, and the second time required for the ramp vehicle to travel to the merging point are calculated; Calculate the difference between the first time and the second time, and if the difference is less than the preset time difference, determine that a merging conflict will occur; Detect the types of mainline vehicles and ramp vehicles, and select appropriate conflict resolution solutions based on the types of mainline vehicles and ramp vehicles.

6. The intelligent vehicle cooperation method in a road merging area according to claim 5, characterized in that: Select appropriate conflict resolution solutions based on the types of mainline vehicles and ramp vehicles, including: If both the mainline vehicles and the ramp vehicles are human-driven vehicles, no conflict resolution will be adopted; If the main line vehicle is an intelligent networked vehicle and the ramp vehicle is a human-driven vehicle, the main line vehicle will slow down and accelerate to the original speed after the ramp vehicle enters the main line; If the mainline vehicle is a human-driven vehicle and the ramp vehicle is an intelligent networked vehicle, the ramp vehicle will decelerate and enter the acceleration lane, and then enter the mainline after the mainline vehicle passes; If both the main line vehicles and the ramp vehicles are intelligent networked vehicles, the ramp vehicles will slow down and enter the acceleration lane, and then enter the main line after the main line vehicles pass.

7. The intelligent vehicle cooperation method in a road merging area according to claim 5, characterized in that: A merging control area is divided on the lane of the main line close to the ramp. When the ramp vehicle enters the conflict judgment area, the first time of all main line vehicles in the merging control area is calculated.

8. The intelligent vehicle cooperation method in a road merging area according to claim 7, characterized in that: The distances between the conflict judgment area and the merging control area and the merging point are all greater than 100m.

9. A computer device, characterized in that: It comprises a memory and a processor, wherein the memory stores a computer program, and when the computer program is executed by the processor, the processor executes a method for intelligent vehicle cooperation in a road merging area as claimed in any one of claims 1 to 8.

10. A computer storage medium, characterized in that: A computer program is stored, and when the computer program is executed by a processor, the processor executes a method for intelligent vehicle cooperation in a road merging area according to any one of claims 1 to 8.

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