Vehicle passing cooperation method and device for intersection without signal lamp

Abstract

The invention provides a vehicle passing cooperation method and device for an intersection without signal lamps. The method comprises the following steps: acquiring driving data of service vehicles in an intersection identification range; predicting a target lane when the service vehicle passes through the intersection according to the driving data; based on the flow direction flow rate ratio, the waiting time and the passing speed of the service vehicle at the intersection are determined, and the flow direction flow rate ratio represents the flow rate ratio of the corresponding flow direction; and sending suggested driving information to the service vehicle, wherein the suggested driving information comprises the waiting time and the passing speed. The method is used for achieving the effect of improving the vehicle passing efficiency at the intersection without signal lamps.

Description

Technical Field

[0001] The present application relates to the field of vehicle technology, and in particular to a method and device for vehicle traffic cooperation at an intersection without signal lights. Background Art

[0002] The vehicle-road cooperative system uses advanced full-time and space dynamic traffic information collection and fusion technology to perform vehicle active safety control and traffic collaborative management through all-round implementation of vehicle-to-vehicle and vehicle-to-road dynamic real-time information interaction. It is a large-scale real-time distributed system involving multiple factors and multi-level complex relationships.

[0003] At present, at intersections without traffic lights, the vehicle-road cooperative system only predicts the collision risk of the service vehicle, but does not improve the vehicle traffic efficiency at intersections without traffic lights. Therefore, there is an urgent need for a vehicle traffic cooperation method that can improve the vehicle traffic efficiency at intersections without traffic lights. Summary of the invention

[0004] The present application provides a vehicle traffic cooperation method and device at an intersection without signal lights, so as to solve the problem of low vehicle traffic efficiency at an intersection without signal lights in the prior art.

[0005] In a first aspect, the present application provides a vehicle traffic cooperation method at an intersection without a signal light, comprising:

[0006] Obtain driving data of service vehicles within the intersection recognition range;

[0007] Based on driving data, predict the target lane for the service vehicle when passing through the intersection;

[0008] Based on the flow direction flow rate ratio, the waiting time and the passing speed of the service vehicle at the intersection are determined, and the flow direction flow rate ratio represents the flow rate ratio of the corresponding flow direction;

[0009] Send suggested driving information to the service vehicle, including waiting time and passing speed.

[0010] In some embodiments, based on the flow direction flow rate ratio, determining the waiting time and passing speed of the service vehicle at the intersection includes:

[0011] Form a platoon for vehicles in each flow direction;

[0012] Determine the order of passage of each formation according to the time it takes for each formation to arrive at the intersection;

[0013] According to the formation passage order and flow direction flow rate ratio, the waiting time and passage speed of service vehicles in different formations at the intersection are determined.

[0014] In some embodiments, vehicles in each flow direction are platooned, including:

[0015] In the same lane, when the distance between two vehicles is less than the preset distance, the two vehicles are determined to be in the same formation;

[0016] When the distance difference between the first vehicle and the stop line in multiple lanes of the same flow direction is less than a preset difference, the first vehicles in the multiple lanes of the same flow direction are determined to be in the same formation;

[0017] When the number of vehicles in multiple lanes for left turn and straight going is less than a preset number and the distance difference between the first vehicle in the multiple lanes for left turn and straight going and the stop line is less than a preset difference, it is determined that the first vehicles in the multiple lanes for left turn and straight going are in the same formation.

[0018] In some embodiments, the driving data includes trajectory data and / or path planning information;

[0019] Obtain driving data of service vehicles within the intersection recognition range, including:

[0020] Collect trajectory data of service vehicles within the intersection identification range through roadside equipment;

[0021] and / or

[0022] The path planning information of the service vehicle is obtained through the service vehicle.

[0023] In some embodiments, predicting a target lane for a service vehicle when passing through an intersection based on driving data includes:

[0024] Based on the driving data, determine whether there is path planning information for the service vehicle;

[0025] If it exists, the target lane of the service vehicle is determined based on the path planning information;

[0026] If not, the current lane of the service vehicle is determined as the target lane based on the trajectory data of the service vehicle.

[0027] In some embodiments, the suggested driving information also includes a deceleration parameter or a parking parameter;

[0028] Before sending suggested driving information to the service vehicle, it also includes:

[0029] When it is determined that the service vehicle needs to decelerate based on the waiting time of the service vehicle, the current vehicle speed, and the distance between the service vehicle and the stop line, a deceleration parameter is generated.

[0030] When it is determined that the service vehicle needs to stop based on the waiting time of the service vehicle, the current speed of the service vehicle, and the distance between the service vehicle and the stop line, parking parameters are generated.

[0031] In some embodiments, based on the flow direction flow rate ratio, determining the waiting time and passing speed of the service vehicle at the intersection includes:

[0032] Based on the minimum intersection delay principle and the flow rate ratio, the traffic flow ratio of the intersection is determined;

[0033] Determine the optimal signal cycle duration of the intersection according to the traffic flow rate ratio of the intersection;

[0034] Determine the travel time and waiting time for each direction based on the optimal signal cycle time at the intersection;

[0035] Based on the travel time and waiting time of each flow direction, the waiting time and travel speed of the service vehicle at the intersection are determined.

[0036] In a second aspect, the present application provides a vehicle traffic cooperation device at a non-signal intersection, comprising:

[0037] An acquisition module, used to acquire driving data of service vehicles within the intersection recognition range;

[0038] A prediction module, used to predict the target lane when the service vehicle passes through the intersection based on the driving data;

[0039] a determination module, for determining a waiting time and a passing speed of a service vehicle at an intersection based on a flow direction flow rate ratio, wherein the flow direction flow rate ratio represents a flow rate ratio of a corresponding flow direction;

[0040] The suggestion module is used to send suggested driving information to the service vehicle, and the suggested driving information includes waiting time and passing speed.

[0041] In a third aspect, the present application provides an electronic device, including: a memory and a processor;

[0042] The memory is used to store computer programs; the processor is used to execute the computer programs stored in the memory to implement the vehicle traffic cooperation method at a non-signal light intersection in the first aspect and any one of the embodiments of the first aspect.

[0043] In a fourth aspect, the present application provides a computer-readable storage medium, in which a computer program is stored. When the computer program is executed by a processor, the vehicle traffic cooperation method at a non-signal light intersection in the first aspect and any one of the embodiments of the first aspect is implemented.

[0044] In a fifth aspect, the present application provides a computer program product, which includes a computer program. When the computer program is executed by a processor, it implements the vehicle traffic cooperation method at a non-signal light intersection in the first aspect and any one of the embodiments of the first aspect.

[0045] The vehicle traffic cooperation method and equipment for intersections without signal lights provided in the present application determine the waiting time and recommended travel speed of the service vehicle at the intersection according to the intersection flow rate ratio and the traffic lane of the service vehicle when passing through the intersection, and send the waiting time and recommended travel speed to the service vehicle, so that the service vehicle can pass through the intersection without signal lights according to the waiting time and recommended travel speed, thereby improving the safety of the service vehicles passing through the intersection without signal lights and the traffic efficiency of the entire intersection. BRIEF DESCRIPTION OF THE DRAWINGS

[0046] In order to more clearly illustrate the technical solutions in the present application or the prior art, a brief introduction will be given below to the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0047] Figure 1 A schematic diagram of a scenario of vehicle traffic cooperation at an intersection without a signal light provided in an embodiment of the present application;

[0048] Figure 2 A flowchart of a vehicle traffic cooperation method at an intersection without a signal light provided in one embodiment of the present application;

[0049] Figure 3 A schematic diagram of a vehicle formation provided in an embodiment of the present application;

[0050] Figure 4 A partial flow chart of a vehicle traffic cooperation method at an intersection without signal lights provided in one embodiment of the present application;

[0051] Figure 5 A schematic diagram of the structure of a vehicle traffic cooperation device at an intersection without a signal light provided in one embodiment of the present application;

[0052] Figure 6 A schematic diagram of the hardware structure of an electronic device provided in one embodiment of the present application. DETAILED DESCRIPTION

[0053] In order to make the purpose, technical solutions and advantages of this application clearer, the technical solutions in this application will be clearly and completely described below in conjunction with the drawings in this application. Obviously, the described embodiments are part of the embodiments of this application, not all of the embodiments. Based on the embodiments in this application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0054] Depending on the context, the word "if" may be interpreted as "when" or "when" or "in response to determining."

[0055] It should be understood that the terms “comprises” and “includes” indicate the existence of features, steps, operations, elements, components, items, types, and / or groups, but do not exclude the existence, occurrence, or addition of one or more other features, steps, operations, elements, components, items, types, and / or groups.

[0056] The terms "or" and "and / or" used herein are interpreted as inclusive, or mean any one or any combination. Thus, "A, B and / or C" means "any of the following: A; B; C; A and B; A and C; B and C; A, B and C". An exception to this definition will only occur when a combination of elements, functions, steps or operations are inherently mutually exclusive in some manner.

[0057] It should be noted that the user information (including but not limited to user device information, user personal information, etc.) and data (including but not limited to data used for analysis, stored data, displayed data, etc.) involved in this application are all information and data authorized by the user or fully authorized by all parties, and the collection, use and processing of relevant data must comply with the relevant laws, regulations and standards of the relevant countries and regions, and provide corresponding operation entrances for users to choose to authorize or refuse.

[0058] The vehicle-road cooperative system was born to solve traffic congestion and improve traffic efficiency and safety against the backdrop of a surge in the number of cars and accelerated urbanization. The vehicle-road cooperative system uses advanced full-time and space dynamic traffic information collection and fusion technology to achieve real-time interaction between vehicles and transportation infrastructure. Through intelligent management and scheduling, it optimizes the use of traffic resources and improves the overall efficiency of the transportation system, gradually becoming a research hotspot in the transportation field.

[0059] At present, at intersections without signal lights, the vehicle-road cooperative system can predict the collision risk of the service vehicles, but it does not guide the traffic of vehicles at intersections without signal lights, that is, it cannot improve the traffic efficiency of vehicles at intersections without signal lights.

[0060] In response to the above problems, the present application proposes a vehicle traffic cooperation method and device for an intersection without signal lights. In the method, for a service vehicle passing through an intersection without signal lights, the waiting time and the recommended speed of the service vehicle at the intersection are determined based on the intersection flow rate ratio and the lane when the service vehicle passes through the intersection, and the waiting time and the recommended speed are sent to the service vehicle, so that the service vehicle can pass through the intersection without signal lights according to the waiting time and the recommended speed, thereby improving the safety of the service vehicle passing through the intersection without signal lights and the traffic efficiency of the entire intersection.

[0061] The technical solution of the present application is described in detail with specific embodiments below. The following specific embodiments can be combined with each other, and the same or similar concepts or processes may not be described in detail in some embodiments.

[0062] Figure 1 A schematic diagram of a scenario of vehicle traffic cooperation at a non-signalized intersection provided by an embodiment of the present application is shown. In the figure, A represents a service vehicle, that is, a vehicle registered to use the vehicle-road cooperative driving function; B represents a non-service vehicle. Figure 1 As shown, at an intersection without traffic lights, when the traffic volume is heavy, traffic jams or even traffic accidents may occur, so vehicle cooperative passage is required.

[0063] It should be understood that the no-signal-light intersection in this application refers to an intersection of two or more roads, including but not limited to a crossroads and a T-junction. No signal light may mean that no signal light is set or the signal light is faulty, and this application does not limit this.

[0064] In this application, the electronic device is used as the execution subject to execute the vehicle traffic cooperation method at the intersection without signal lights in the following embodiment. Specifically, the execution subject can be a hardware device of the electronic device, or a software application implementing the following embodiment in the electronic device, or a computer-readable storage medium installed with the software application implementing the following embodiment, or a code implementing the software application in the following embodiment.

[0065] Figure 2 FIG. 1 is a flow chart showing a method for vehicle traffic cooperation at a non-signalized intersection provided by an embodiment of the present application. Figure 2 As shown, with the electronic device as the execution subject, the method of this embodiment may include the following steps:

[0066] S101, obtaining driving data of service vehicles within the intersection recognition range.

[0067] In this embodiment, the intersection recognition range includes a preset length range on each road at the intersection, and the preset length is the length extending from the stop line to the road away from the intersection. For example, it can be preset to 200 meters, that is, 200 meters away from the stop line of the current road is in the intersection recognition range. The electronic device can determine the intersection recognition range based on the acquired high-precision map data.

[0068] Optionally, the electronic device may be a cloud server in the vehicle-road cooperative system. The cloud server obtains the driving data of each vehicle within the intersection identification range through the equipment deployed on the roadside, and then selects the driving data of the service vehicle from the driving data of each vehicle obtained according to the identification of the service vehicle stored in advance, so as to realize the coordinated guidance of the vehicle, road and cloud in the passage of vehicles at the intersection without signal lights. For example, the identification of each vehicle within the intersection identification range is obtained, and each vehicle is compared with the identification of the pre-stored service vehicle to determine the identification of the service vehicle at the intersection, and then the driving data of the service vehicle is selected from the driving data of each vehicle according to the identification of the service vehicle at the intersection.

[0069] Optionally, the vehicle driving data may be vehicle trajectory data, such as real-time global center fusion trajectory data of the vehicle. The real-time global center fusion trajectory data of the vehicle refers to the information such as vehicle position, speed, direction, etc. collected in real time by multiple sensors and data sources, which is processed, analyzed and fused by a central processing unit (such as a data center or a cloud platform) to form a comprehensive, accurate and real-time description of the vehicle's driving trajectory. This data fusion technology can significantly improve the accuracy and reliability of vehicle trajectories.

[0070] S102: predicting the target lane for the service vehicle when passing through the intersection based on the driving data.

[0071] In this embodiment, if the service vehicle has driven into the range where lane change is not allowed, the lane currently in which the service vehicle is located can be determined to be the target lane when it passes through the intersection. Figure 1 The service vehicle A1 is already in front of the stop line and cannot change lanes here. It can be determined that the target lane of A1 is the through lane.

[0072] If the service vehicle is still in a position where it can change lanes, it is necessary to use other driving data to determine the target lane for the service vehicle when it passes through the intersection. For example, Figure 1 The service vehicle A3 is in a position where the lane can be changed. At this time, the target lane of A3 can be determined by the turn signal information of A3.

[0073] S103. Determine the waiting time and travel speed of the service vehicle at the intersection based on the flow direction flow rate ratio.

[0074] In this embodiment, the flow rate ratio of the flow direction indicates the flow rate ratio of the corresponding flow direction, for example, the flow rate ratio of left turn, straight, and right turn. Based on the flow rate ratio of the flow direction, the time required for each flow direction to pass through the intersection can be calculated. Based on the principle of the shortest passing time of the entire intersection, the passing order and passing time of each flow direction are determined, and the recommended passing speed is further determined. That is, according to the principle of the highest passing efficiency of the intersection, the waiting time and passing speed of the service vehicle at the intersection are determined.

[0075] S104: Send suggested driving information to the service vehicle.

[0076] In this embodiment, the recommended driving information includes waiting time and travel speed.

[0077] The electronic device sends the recommended driving information to the service vehicle. For example, service vehicles with automation levels L3 and below can notify the driver in the form of text or voice broadcast. For service vehicles with automation levels L4 and above, the vehicle control system can control the vehicle to pass the intersection without signal lights according to the recommended driving information.

[0078] In some embodiments, the electronic device may also obtain the driving data of non-service vehicles within the intersection recognition range. On this basis, the electronic device may determine that the service vehicle has a collision risk based on the driving data of the service vehicle and the driving data of the non-service vehicle, and execute steps S103-S104.

[0079] Specifically, when there is no risk of collision for the service vehicle, the electronic device may not send recommended driving information to the service vehicle, that is, the service vehicle passes through the intersection without traffic lights according to the original driving parameters, thus ensuring the service vehicle's safety and efficiency.

[0080] When the service vehicle is at risk of collision, the electronic device sends recommended driving information to the service vehicle. That is, the service vehicle passes through the intersection without traffic lights according to the recommended driving information, thus ensuring the service vehicle's safety and the traffic efficiency of the entire intersection.

[0081] Figure 2 In the vehicle traffic cooperation method at an intersection without signal lights provided in the embodiment, the electronic device collects data by using roadside equipment at the intersection without signal lights to reduce the adverse effects of the vehicle's blind spot on the vehicle passing through the intersection. Specifically, the electronic device determines the target lane when the service vehicle passes through the intersection without signal lights, and based on the flow direction flow rate ratio, determines the waiting time and passing speed of the service vehicle at the intersection, and then sends recommended driving information to the service vehicle, thereby giving early warnings and reminders to the service vehicle, improving the driving safety at the intersection and the comfort and smoothness of the vehicle's driving trajectory, and improving the vehicle traffic efficiency at the intersection.

[0082] In some embodiments, the specific implementation of step S103 includes the following steps:

[0083] S1031. Form a platoon for vehicles in each flow direction.

[0084] In this embodiment, the vehicles to be platooned include service vehicles and non-service vehicles. Platooning vehicles means platooning according to the positions and directions of the vehicles so that the vehicles pass in platoons, thereby reducing the risk of accidents when a single vehicle passes through an intersection.

[0085] S1032. Determine the order of passage of each formation according to the time when each formation arrives at the intersection.

[0086] Specifically, according to the principle of first come first served, the earlier the first vehicle of each formation arrives at the intersection, the earlier the formation will be placed in the passing order.

[0087] If the first vehicles of multiple formations arrive at the intersection within a preset time difference, for example, within 5 seconds, they can be regarded as arriving at the same time, and the formation with more vehicles will pass first.

[0088] S1033. Determine the waiting time and travel speed of service vehicles in different formations at the intersection according to the formation travel order and the flow direction flow rate ratio.

[0089] Specifically, after the formation passage order is determined, the waiting time of the service vehicle at the intersection and the recommended speed can be determined according to the formation passage order and the position of the service vehicle in the formation. The recommended speed can be a speed range. It should be understood that the waiting time of the service vehicle at the intersection described here refers to the waiting time of the service vehicle within the identification range of the intersection, and is not limited to the waiting time before the stop line.

[0090] In some embodiments, the specific implementation of step S1031 includes:

[0091] In the same lane, when the distance between two vehicles is less than the preset distance, the two vehicles are determined to be in the same formation.

[0092] When the distance difference between the first vehicle and the stop line in multiple lanes of the same flow direction is less than a preset difference, the first vehicles in the multiple lanes of the same flow direction are determined to be in the same formation.

[0093] When the number of vehicles in multiple lanes for left turn and straight going is less than a preset number and the distance difference between the first vehicle in the multiple lanes for left turn and straight going and the stop line is less than a preset difference, it is determined that the first vehicles in the multiple lanes for left turn and straight going are in the same formation.

[0094] Figure 3 A schematic diagram of a vehicle formation provided in an embodiment of the present application. Figure 3 As shown, taking a road without a traffic light intersection as an example, the road includes five lanes, namely a left-turn lane, three through lanes and a right-turn lane.

[0095] There are vehicles A1, B1 and B2 in the middle straight lane. If the distance between vehicles A1 and B1 is less than a preset distance, such as 5 meters, then it can be determined that vehicles A1 and B1 are in the same formation. If the distance between vehicles B1 and B2 is greater than or equal to the preset distance, then it can be determined that vehicles B1 and B2 are in different formations.

[0096] The first vehicles in the three straight lanes are vehicle B3, vehicle A1 and vehicle A2. Among them, the distance difference between vehicle B3 and vehicle A1 and the stop line is less than the preset difference, that is, the distance difference between vehicle B3 and vehicle A1 along the lane direction is less than the preset difference, such as 5 meters. At this time, it can be determined that vehicle B3 and vehicle A1 are in the same formation. Combined with the previous formation method, it can be determined that vehicle B1, vehicle B3 and vehicle A1 are in the same formation. The distance difference between vehicle A1 and vehicle A2 and the stop line is greater than or equal to the preset difference, such as 5 meters. At this time, it can be determined that vehicle A1 and vehicle A2 are in different formations, that is, it is determined that vehicle B3 and vehicle A2 are in different formations.

[0097] The first vehicles in the left-turn and straight lanes are vehicle A3, vehicle B3, vehicle A1, and vehicle A2, respectively. The total number of vehicles in the four lanes is less than a preset number, for example, 7 vehicles, and the distance difference between vehicle A3 and vehicle B3 and the stop line is less than a preset difference. At this time, it can be determined that vehicle A3 and vehicle B3 are in the same formation. Similarly, it can be determined whether the first vehicles in the remaining straight lanes are in the same formation as vehicle A3.

[0098] Optionally, it may be determined whether only the vehicles in the left-turn lane and the vehicles in the adjacent through lane are in the same formation.

[0099] Optionally, referring to the method for determining whether the first vehicles in the left-turn and straight lanes are in the same formation, the first vehicles in the right-turn and straight lanes can be judged. For example, if the total number of vehicles in the four right-turn and straight lanes is less than a preset number, and the distance difference between the first vehicle B4 and the vehicle A2 in the right-turn lane and the stop line is greater than or equal to the preset difference, it can be determined that vehicle B4 and vehicle A2 are in different formations.

[0100] The vehicle traffic cooperation method for intersections without signal lights provided in this embodiment forms a formation for the vehicles on the lanes, determines the waiting time and travel speed of the service vehicles at the intersection according to the formation, and enables the vehicles to pass through the intersection without signal lights in formation, thereby further improving the safety of the service vehicles' traffic and improving the traffic efficiency of vehicles at the intersection.

[0101] In some embodiments, the driving data includes trajectory data and / or path planning information.

[0102] The specific implementation of step S101 includes:

[0103] Collect trajectory data of service vehicles within the intersection identification range through roadside equipment;

[0104] And / or, obtaining path planning information of the service vehicle through the service vehicle.

[0105] The vehicle's trajectory data may be real-time global center fusion trajectory data.

[0106] The electronic device can obtain the path planning information of the vehicle from the vehicle control system of the service vehicle.

[0107] Figure 4 A partial flow chart of a vehicle traffic cooperation method at a non-signalized intersection provided in one embodiment of the present application. Figure 2 Based on the example, Figure 4 As shown, the specific implementation of step S102 includes:

[0108] S1021. Determine whether the service vehicle has path planning information based on the driving data.

[0109] S1022: If yes, determine the target lane for the service vehicle according to the path planning information.

[0110] S1023. If not, determine the current lane of the service vehicle as the target lane based on the trajectory data of the service vehicle.

[0111] Among them, according to the path planning information, the target lane of the service vehicle is determined on the premise that the service vehicle is in a variable road section. If the service vehicle is already in a non-changeable road section, the lane where the service vehicle is currently located is the target lane.

[0112] According to the path planning information, the target lane of the service vehicle is determined. For example, if the service vehicle is currently in the straight lane and the path planning information indicates that the service vehicle needs to turn left, the left turn lane is determined as the target lane of the service vehicle.

[0113] In some embodiments, the electronic device may further perform the following steps:

[0114] S201. When it is determined that the service vehicle needs to decelerate based on the waiting time of the service vehicle, the current vehicle speed, and the distance between the service vehicle and the stop line, a deceleration parameter is generated.

[0115] S202: Generate parking parameters when it is determined that the service vehicle needs to stop based on the waiting time of the service vehicle, the current vehicle speed, and the distance between the service vehicle and the stop line.

[0116] Specifically, the deceleration parameters may include a deceleration start position, a deceleration start time, a target speed, and a deceleration rate. The parking parameters may include a parking position, a deceleration start position, a deceleration start time, a deceleration rate, and a parking time. The specific parameter generation process can be understood with reference to the prior art and will not be described in detail here.

[0117] Based on this embodiment, the recommended driving information in step S104 also includes a deceleration parameter or a parking parameter.

[0118] Optionally, the recommended driving information may also include vehicle starting time and traffic order.

[0119] In some embodiments, the specific implementation of step S103 includes:

[0120] S301. Determine the traffic flow ratio of the intersection based on the minimum traffic delay principle at the intersection and the flow direction flow rate ratio.

[0121] Specifically, based on the principle of minimum traffic delay at the intersection, the Webster timing method is used to determine the traffic flow ratio at the intersection. As shown in Formula 1,

[0122]

[0123] Where Y represents the traffic flow ratio at the intersection; y i Indicates the flow rate ratio of each flow direction.

[0124] The flow rate ratio of each flow direction can be calculated in real time according to the number of vehicles in each flow direction and the lane flow saturation value. For details, reference can be made to the process of calculating signal timing in the field of traffic flow in the prior art.

[0125] S302: Determine the optimal signal cycle duration of the intersection according to the traffic flow rate ratio of the intersection.

[0126] As shown in formula (2),

[0127]

[0128] Among them, C0 represents the duration of the optimal signal cycle, in seconds;

[0129] L represents the total loss time in seconds.

[0130] The optimal signal cycle duration is the sum of the left turn duration, straight through duration, and right turn duration. The total loss time is the time lost by vehicles at the intersection, for example, the time lost by vehicles starting late or driving slowly. The total loss time is usually an empirical value, for example, the loss time of each vehicle is 5 seconds, and the total loss time of multiple vehicles at the intersection is calculated based on this.

[0131] S303: Determine the travel time and waiting time for each direction according to the optimal signal cycle time of the intersection.

[0132] Specifically, it is necessary to first determine the control time of each flow direction, that is, the travel time of each flow direction, based on the optimal signal cycle time, the traffic flow ratio at the intersection, and the flow rate ratio. As shown in formula (3),

[0133]

[0134] in, It indicates the control duration of flow direction i with release order j, that is, the passage duration.

[0135] On this basis, the waiting time of each flow direction is determined according to the control time of each flow direction. As shown in formula (4),

[0136]

[0137] in, Indicates the waiting time of flow i with release order j.

[0138] S304: Determine the waiting time and travel speed of the service vehicle at the intersection according to the travel time and waiting time of each flow direction.

[0139] Specifically, the electronic device can determine the travel speed of each flow direction according to the travel time and waiting time of each flow direction. According to the travel speed of each flow direction and the position of the service vehicle from the stop line, the waiting time and travel speed of the service vehicle can be determined.

[0140] In this embodiment, the vehicle status at the intersection is understood from a global perspective, the method for calculating signal timing in the traffic flow field is optimized, and the vehicles at the intersection without signal lights are used for cooperative passage, thereby improving the overall traffic efficiency of the intersection.

[0141] Figure 5 FIG. 1 is a schematic diagram showing the structure of a vehicle traffic cooperation device at a non-signal intersection provided by an embodiment of the present application. Figure 5 As shown, the vehicle traffic cooperation device 10 at a non-signalized intersection of this embodiment is used to implement the operation corresponding to the electronic device in any of the above method embodiments. The vehicle traffic cooperation device 10 at a non-signalized intersection of this embodiment includes:

[0142] An acquisition module 11 is used to acquire the driving data of the service vehicle within the intersection recognition range;

[0143] A prediction module 12, for predicting a target lane when the service vehicle passes through an intersection based on the driving data;

[0144] A determination module 13, for determining the waiting time and the passing speed of the service vehicle at the intersection based on the flow direction flow rate ratio, where the flow direction flow rate ratio represents the flow rate ratio of the corresponding flow direction;

[0145] The suggestion module 14 is used to send suggested driving information to the service vehicle, where the suggested driving information includes waiting time and travel speed.

[0146] The vehicle traffic cooperation device 10 at a non-signalized intersection provided in the embodiment of the present application can execute the above method embodiment. Its specific implementation principles and technical effects can be found in the above method embodiment, and this embodiment will not be repeated here.

[0147] Figure 6FIG. 1 shows a hardware structure diagram of an electronic device provided in an embodiment of the present application. Figure 6 As shown, the electronic device 20 is used to implement the operations corresponding to the electronic device in any of the above method embodiments. The electronic device 20 of this embodiment may include: a memory 21, a processor 22 and a communication interface 24.

[0148] The memory 21 is used to store computer programs. The memory 21 may include a high-speed random access memory (RAM), and may also include a non-volatile memory (NVM), such as at least one disk memory, and may also be a USB flash drive, a mobile hard disk, a read-only memory, a disk or an optical disk.

[0149] The processor 22 is used to execute the computer program stored in the memory to implement the method in the above embodiment. For details, please refer to the relevant description in the above method embodiment. The processor 22 can be a central processing unit (CPU), or other general-purpose processors, digital signal processors (DSP), application-specific integrated circuits (ASIC), etc. The general-purpose processor can be a microprocessor or the processor can also be any conventional processor, etc. The steps of the method disclosed in the invention can be directly embodied as being executed by a hardware processor, or executed by a combination of hardware and software modules in the processor.

[0150] Optionally, the memory 21 may be independent or integrated with the processor 22 .

[0151] When the memory 21 is a device independent of the processor 22, the electronic device 20 may further include a bus 23. The bus 23 is used to connect the memory 21 and the processor 22. The bus 23 may be an Industry Standard Architecture (ISA) bus, a Peripheral Component Interconnect (PCI) bus, or an Extended Industry Standard Architecture (EISA) bus. The bus may be divided into an address bus, a data bus, a control bus, and the like. For ease of representation, the bus in the drawings of the present application is not limited to only one bus or one type of bus.

[0152] The communication interface 24 may be connected to the processor 22 via the bus 23. The processor 22 may control the communication interface 24 to implement the functions of receiving and sending signals.

[0153] The electronic device 20 provided in this embodiment can be used to execute the above-mentioned vehicle traffic cooperation method at an intersection without signal lights. Its implementation method and technical effects are similar and will not be described in detail in this embodiment.

[0154] The present application also provides a computer-readable storage medium, in which a computer program / instruction is stored. When the computer program / instruction is executed by a processor, it is used to implement the methods provided in the various embodiments described above.

[0155] Among them, the computer-readable storage medium can be a computer storage medium or a communication medium. The communication medium includes any medium that facilitates the transmission of a computer program from one place to another. The computer storage medium can be any available medium that can be accessed by a general-purpose or special-purpose computer. For example, a computer-readable storage medium is coupled to a processor so that the processor can read information from the computer-readable storage medium and write information to the computer-readable storage medium. Of course, the computer-readable storage medium can also be a component of the processor. The processor and the computer-readable storage medium can be located in an application-specific integrated circuit (ASIC). In addition, the ASIC can be located in a user device. Of course, the processor and the computer-readable storage medium can also exist in a communication device as discrete components.

[0156] Specifically, the computer-readable storage medium can be implemented by any type of volatile or non-volatile storage device or a combination thereof, such as static random access memory (SRAM), electrically erasable programmable read-only memory (EEPROM), erasable programmable read-only memory (EPROM), programmable read-only memory (PROM), read-only memory (ROM), magnetic memory, flash memory, magnetic disk or optical disk. The storage medium can be any available medium that can be accessed by a general or special-purpose computer.

[0157] The present application also provides a computer program product, which includes a computer program / instruction, and the computer program / instruction is stored in a computer-readable storage medium. At least one processor of the device can read the computer program / instruction from the computer-readable storage medium, and at least one processor executes the computer program / instruction so that the device implements the methods provided in the various embodiments described above.

[0158] In the several embodiments provided in the present application, it should be understood that the disclosed devices and methods can be implemented in other ways. For example, the device embodiments described above are only schematic. For example, the division of modules is only a logical function division. There may be other division methods in actual implementation. For example, multiple modules can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of devices or modules, which can be electrical, mechanical or other forms.

[0159] Among them, each module can be physically separated, for example, installed in different locations of a device, or installed on different devices, or distributed on multiple network units, or distributed on multiple processors. Each module can also be integrated together, for example, installed in the same device, or integrated in a set of codes. Each module can exist in the form of hardware, or can also exist in the form of software, or can also be implemented in the form of software plus hardware. The present application can select some or all of the modules according to actual needs to achieve the purpose of the present embodiment.

[0160] It should be understood that, although the various steps in the flowcharts in the above-described embodiments are sequentially displayed according to the indications of the arrows, these steps are not necessarily executed sequentially in the order indicated by the arrows. Unless there is a clear description in this article, the execution of these steps is not strictly limited in order, and they can be executed in other orders. Moreover, at least a portion of the steps in the figure may include a plurality of sub-steps or a plurality of stages, and these sub-steps or stages are not necessarily executed at the same time, but can be executed at different times, and their execution order is not necessarily to be carried out sequentially, but can be executed in turn or alternately with other steps or at least a portion of the sub-steps or stages of other steps.

[0161] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present application, rather than to limit them. Although the present application has been described in detail with reference to the above embodiments, a person of ordinary skill in the art should understand that the technical solutions described in the above embodiments can still be modified, or some or all of the technical features can be replaced by equivalents. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the scope of the technical solutions of the embodiments of the present application.

Claims

1. A vehicle traffic cooperation method at an intersection without a signal light, characterized in that: The method comprises: Obtain driving data of service vehicles within the intersection recognition range; predicting, based on the driving data, a target lane for the service vehicle when passing through an intersection; determining the waiting time and the passing speed of the service vehicle at the intersection based on the flow direction flow rate ratio, wherein the flow direction flow rate ratio represents the flow rate ratio of the corresponding flow direction; Sending suggested driving information to the service vehicle, wherein the suggested driving information includes the waiting time and the passing speed.

2. The method according to claim 1, characterized in that: Determining the waiting time and the passing speed of the service vehicle at the intersection based on the flow direction flow rate ratio includes: Form a platoon for vehicles in each flow direction; Determine the order of passage of each formation according to the time it takes for each formation to arrive at the intersection; The waiting time and passing speed of the service vehicles in different formations at the intersection are determined according to the formation passing order and the flow direction flow rate ratio.

3. The method according to claim 2, characterized in that The vehicles in each flow direction are platooned, including: In the same lane, when the distance between two vehicles is less than a preset distance, the two vehicles are determined to be in the same formation; When the distance difference between the first vehicle and the stop line in multiple lanes of the same flow direction is less than a preset difference, it is determined that the first vehicles in the multiple lanes of the same flow direction are in the same formation; When the number of vehicles in multiple lanes for left turn and straight going is less than a preset number and the distance difference between the first vehicle in the multiple lanes for left turn and straight going and the stop line is less than a preset difference, it is determined that the first vehicles in the multiple lanes for left turn and straight going are in the same formation.

4. The method according to any one of claims 1 to 3, characterized in that: The driving data includes trajectory data and / or path planning information; Obtain driving data of service vehicles within the intersection recognition range, including: Collecting trajectory data of service vehicles within the identification range of the intersection through roadside equipment; and / or The path planning information of the service vehicle is obtained through the service vehicle.

5. The method according to claim 4, characterized in that Predicting, based on the driving data, a target lane for the service vehicle when passing through an intersection, including: Determining whether there is path planning information for the service vehicle according to the driving data; If so, determining the target lane of the service vehicle according to the path planning information; If not, the current lane of the service vehicle is determined as the target lane based on the trajectory data of the service vehicle.

6. The method according to any one of claims 1 to 3, characterized in that: The recommended driving information also includes a deceleration parameter or a parking parameter; Before sending the recommended driving information to the service vehicle, the method further includes: When it is determined that the service vehicle needs to decelerate according to the waiting time of the service vehicle, the current speed of the service vehicle, and the distance between the service vehicle and the stop line, a deceleration parameter is generated; When it is determined that the service vehicle needs to stop according to the waiting time of the service vehicle, the current vehicle speed and the distance between the service vehicle and the stop line, parking parameters are generated.

7. The method according to any one of claims 1 to 3, characterized in that: Determining the waiting time and the passing speed of the service vehicle at the intersection based on the flow direction flow rate ratio includes: Determining the traffic flow ratio of the intersection based on the minimum traffic delay principle at the intersection and the flow direction flow rate ratio; Determining an optimal signal cycle duration of the intersection according to the traffic flow rate ratio of the intersection; Determine the travel time and waiting time for each direction according to the optimal signal cycle time of the intersection; The waiting time and travel speed of the service vehicle at the intersection are determined according to the travel time and waiting time of each flow direction.

8. A vehicle traffic cooperation device at an intersection without a signal light, characterized in that: include: An acquisition module, used to acquire driving data of service vehicles within the intersection recognition range; A prediction module, used for predicting a target lane when the service vehicle passes through an intersection based on the driving data; a determination module, configured to determine the waiting time and the passing speed of the service vehicle at the intersection based on a flow direction flow rate ratio, wherein the flow direction flow rate ratio represents a flow rate ratio of a corresponding flow direction; A suggestion module is used to send suggested driving information to the service vehicle, wherein the suggested driving information includes the waiting time and the passing speed.

9. An electronic device, characterized in that: include: Memory and processor; The memory is used to store computer programs; The processor is used to execute the computer program stored in the memory to implement the vehicle traffic cooperation method at a non-signalized intersection as described in any one of claims 1 to 7.

10. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, it is used to implement the vehicle traffic cooperation method at a non-signalized intersection as described in any one of claims 1 to 7.

11. A computer program product, characterized in that The computer program product comprises a computer program, and when the computer program is executed by a processor, the vehicle traffic cooperation method at a non-signalized intersection according to any one of claims 1 to 7 is implemented.

Images