Traffic processing method for multiple networked vehicles, electronic equipment and storage medium

Abstract

The invention provides a passing processing method for multiple connected vehicles, an electronic device and a storage medium, and is applied to a current connected vehicle, the current connected vehicle is located in a preset distance range of a current intersection, and the method comprises the steps: determining whether a previous passing scheme is ended or not according to the information of the previous passing scheme of the current intersection; if yes, receiving driving state information and cooperation intention information of each associated network connection vehicle; iteratively determining a target networked vehicle according to the driving state information and the cooperation intention information of each associated networked vehicle and the current networked vehicle; and obtaining a current passing scheme of the target network connection vehicle, and executing the current passing scheme. According to the method, all the network-connected vehicles waiting for passing at the same intersection can make a decision together, the passing scheme for achieving the consensus is executed together after the consensus is achieved, road right distribution is carried out without depending on roadside equipment, and all the network-connected vehicles can safely and effectively pass through the intersection.

Description

Technical Field

[0001] The present application relates to the technical field of networked vehicles, and more specifically, to a traffic processing method for multiple networked vehicles, an electronic device, and a storage medium. Background Art

[0002] When a connected vehicle approaches an intersection without signal lights, it broadcasts its driving status and cooperation intentions to the roadside equipment and other surrounding vehicles. The roadside equipment generates driving guidance information for all connected vehicles approaching the current intersection based on the driving status and cooperation intentions of all vehicles that wish to pass through the current intersection, as well as the perception information reported by the roadside sensors, and sends the driving guidance information to the corresponding connected vehicles. The driving guidance information contains information such as driving suggestions and path planning for specified vehicles or vehicles within a specified range. The connected vehicle receives the driving guidance information sent by the roadside equipment, combines its own driving status with road information, and information about surrounding traffic participants, generates the final driving behavior strategy or trajectory planning, and passes through the intersection safely and efficiently. In addition, the guided connected vehicle will also feedback to the roadside equipment whether to execute the driving guidance information generated by the roadside equipment.

[0003] In the existing technology, roadside equipment only sends driving guidance suggestions to each connected vehicle, and the connected vehicle decides its own driving behavior strategy or trajectory planning. Since there may be multiple connected vehicles located at different entrance directions of the same unsignaled intersection, the existing method is prone to collision risks. Summary of the invention

[0004] The purpose of this application is to provide a traffic processing method, electronic device and storage medium for multiple connected vehicles to address the deficiencies in the above-mentioned prior art, so as to avoid the risk of vehicle collision at intersections.

[0005] To achieve the above purpose, the technical solution adopted in the embodiment of the present application is as follows:

[0006] In a first aspect, an embodiment of the present application provides a method for processing the passage of multiple connected vehicles, which is applied to a current connected vehicle, wherein the current connected vehicle is located within a preset distance range of a current intersection, and the method includes:

[0007] Determining whether the previous traffic plan is completed according to information of the previous traffic plan at the current intersection;

[0008] If so, receiving driving status information and cooperation intention information of each associated networked vehicle, each associated networked vehicle is located within a preset distance range of the current intersection;

[0009] Iteratively determine a target connected vehicle according to the driving state information and the cooperation intention information of each of the associated connected vehicles and the current connected vehicle;

[0010] The current traffic plan of the target connected vehicle is obtained and executed, wherein the traffic plan includes: a release direction set and a release duration.

[0011] Optionally, determining whether the previous traffic plan is finished according to the release time of the previous traffic plan at the current intersection and the current time includes:

[0012] Determining whether the previous traffic plan is received;

[0013] If the previous passage plan is not received, determining that the previous passage plan is ended; if the previous passage plan is received, obtaining the release time window of the previous passage plan, and determining whether the current time is greater than or equal to the release time window of the previous passage plan;

[0014] If so, it is determined that the previous traffic plan is finished.

[0015] Optionally, iteratively determining the target connected vehicle according to the driving state information and the cooperation intention information of each of the associated connected vehicles and the current connected vehicle includes:

[0016] Determine the connected vehicle to be selected in the current iteration round according to the driving state information, the cooperation intention information and the election conditions in the current iteration round of each of the associated connected vehicles and the current connected vehicle;

[0017] Obtaining the traffic plan of the candidate connected vehicle and the feedback results of each connected vehicle on the traffic plan of the candidate connected vehicle, wherein the feedback results include an approval result or an objection result;

[0018] According to each of the feedback results and the result threshold of the current intersection in the current iteration round, determine whether to use the to-be-selected connected vehicle as the target connected vehicle; if so, use the to-be-selected connected vehicle as the target connected vehicle; if not, determine whether the number of iterated rounds reaches a preset number; if so, use the to-be-selected connected vehicle as the target connected vehicle, and use the preset traffic plan as the traffic plan determined by the target connected vehicle; otherwise, continue to the next iteration.

[0019] Optionally, determining the to-be-selected connected vehicle in the current iteration round according to the driving state information, the cooperation intention information and the election condition in the current iteration round of each of the associated connected vehicles and the current connected vehicle includes:

[0020] Determine the priority of each connected vehicle according to the vehicle type in each driving state information, the waiting time of the connected vehicle and the turning intention of the connected vehicle and the delay time of the connected vehicle in each cooperation intention information, and the election conditions in the current iteration round, wherein the election conditions in the current iteration round include vehicle type weight, waiting vehicle number weight, waiting time weight, and preset delay time weight;

[0021] The to-be-selected networked vehicle is determined according to the priority of each networked vehicle.

[0022] Optionally, determining the priority of each connected vehicle according to the vehicle type in each driving state information, the waiting time of the connected vehicle and the turning intention of the connected vehicle and the delay time of the connected vehicle in each cooperation intention information, and the election condition in the current iteration round includes:

[0023] Determining the number of waiting vehicles that do not conflict with the connected vehicles according to the turning intentions of the connected vehicles;

[0024] The product of the number of waiting vehicles and the weight of the number of waiting vehicles is used as the first parameter;

[0025] Taking the product of the preset type factor corresponding to the vehicle type of the networked vehicle and the vehicle type weight as the second parameter;

[0026] The product of the waiting time and the waiting time weight is used as a third parameter;

[0027] The product of the delay duration and the delay duration weight is used as a fourth parameter;

[0028] The sum of the first parameter, the second parameter, the third parameter and the fourth parameter is used as the priority of the connected vehicle.

[0029] Optionally, determining whether to use the to-be-selected connected vehicle as the target connected vehicle according to each of the feedback results and a result threshold of the current intersection in the current iteration round includes:

[0030] Determining a target feedback result according to each of the feedback results and the vehicle type of each of the networked vehicles;

[0031] If the target feedback result is greater than or equal to the result threshold of the current iteration round, it is determined that the to-be-selected networked vehicle is used as the target networked vehicle.

[0032] Optionally, determining a target feedback result according to each of the feedback results and the vehicle type of each of the networked vehicles includes:

[0033] Determine all the agreed results in each of the feedback results and the connected vehicles of the preset vehicle type that feedback the agreed results, and obtain the total number of agreed results and the number of feedback agreed results of the preset vehicle type;

[0034] Taking the difference between the feedback weight of the preset vehicle type and the preset value as the weight difference;

[0035] The product of the number of feedback agreement results of the preset vehicle type and the weight difference is calculated, and the sum of the product and the total number of agreement results is used as the target feedback result.

[0036] Optionally, the process of determining the result threshold in the current iteration round is as follows:

[0037] Determine the total number of all connected vehicles within a preset distance range of the current intersection, the number of vehicles of a preset vehicle type, and the number of preset release combinations corresponding to the intersection type of the current intersection;

[0038] taking the product of the weight difference and the number of vehicles of the preset vehicle type as a first value, and taking the sum of the first value and the total number of vehicles as a second value;

[0039] The second value is divided by the preset number of release combinations to obtain the result threshold in the current iteration round.

[0040] In a second aspect, an embodiment of the present application further provides a traffic processing device for multiple connected vehicles, the device comprising:

[0041] A first determination module, configured to determine whether the previous traffic plan is finished according to information of the previous traffic plan of the current intersection;

[0042] a receiving module, for receiving, if yes, driving status information and cooperation intention information of each associated networked vehicle, each associated networked vehicle being located within a preset distance range of the current intersection;

[0043] A second determination module, configured to iteratively determine a target connected vehicle according to the driving state information and the cooperation intention information of each of the associated connected vehicles and the current connected vehicle;

[0044] An acquisition module is used to obtain the current traffic plan of the target connected vehicle and execute the current traffic plan, wherein the traffic plan includes: a release direction set and a release duration.

[0045] Optionally, the first determining module is specifically configured to:

[0046] Determining whether the previous traffic plan is received;

[0047] If the previous passage plan is not received, determining that the previous passage plan is ended; if the previous passage plan is received, obtaining the release time window of the previous passage plan, and determining whether the current time is greater than or equal to the release time window of the previous passage plan;

[0048] If so, it is determined that the previous traffic plan is finished.

[0049] Optionally, the second determining module is specifically configured to:

[0050] Determine the connected vehicle to be selected in the current iteration round according to the driving state information, the cooperation intention information and the election conditions in the current iteration round of each of the associated connected vehicles and the current connected vehicle;

[0051] Obtaining the traffic plan of the candidate connected vehicle and the feedback results of each connected vehicle on the traffic plan of the candidate connected vehicle, wherein the feedback results include an approval result or an objection result;

[0052] According to each of the feedback results and the result threshold of the current intersection in the current iteration round, determine whether to use the to-be-selected connected vehicle as the target connected vehicle; if so, use the to-be-selected connected vehicle as the target connected vehicle; if not, determine whether the number of iterated rounds reaches a preset number; if so, use the to-be-selected connected vehicle as the target connected vehicle, and use the preset traffic plan as the traffic plan determined by the target connected vehicle; otherwise, continue to the next iteration.

[0053] Optionally, the second determining module is specifically configured to:

[0054] Determine the priority of each connected vehicle according to the vehicle type in each driving state information, the waiting time of the connected vehicle and the turning intention of the connected vehicle and the delay time of the connected vehicle in each cooperation intention information, and the election conditions in the current iteration round, wherein the election conditions in the current iteration round include vehicle type weight, waiting vehicle number weight, waiting time weight, and preset delay time weight;

[0055] The to-be-selected networked vehicle is determined according to the priority of each networked vehicle.

[0056] Optionally, the second determining module is specifically configured to:

[0057] Determining the number of waiting vehicles that do not conflict with the connected vehicles according to the turning intentions of the connected vehicles;

[0058] The product of the number of waiting vehicles and the weight of the number of waiting vehicles is used as the first parameter;

[0059] Taking the product of the preset type factor corresponding to the vehicle type of the networked vehicle and the vehicle type weight as the second parameter;

[0060] The product of the waiting time and the waiting time weight is used as a third parameter;

[0061] The product of the delay duration and the delay duration weight is used as a fourth parameter;

[0062] The sum of the first parameter, the second parameter, the third parameter and the fourth parameter is used as the priority of the connected vehicle.

[0063] Optionally, the second determining module is specifically configured to:

[0064] Determining a target feedback result according to each of the feedback results and the vehicle type of each of the networked vehicles;

[0065] If the target feedback result is greater than or equal to the result threshold of the current iteration round, it is determined that the to-be-selected networked vehicle is used as the target networked vehicle.

[0066] Optionally, the second determining module is specifically configured to:

[0067] Determine all the agreed results in each of the feedback results and the connected vehicles of the preset vehicle type that feedback the agreed results, and obtain the total number of agreed results and the number of feedback agreed results of the preset vehicle type;

[0068] Taking the difference between the feedback weight of the preset vehicle type and the preset value as the weight difference;

[0069] The product of the number of feedback agreement results of the preset vehicle type and the weight difference is calculated, and the sum of the product and the total number of agreement results is used as the target feedback result.

[0070] Optionally, the second determining module is specifically configured to:

[0071] Determine the total number of all connected vehicles within a preset distance range of the current intersection, the number of vehicles of a preset vehicle type, and the number of preset release combinations corresponding to the intersection type of the current intersection;

[0072] taking the product of the weight difference and the number of vehicles of the preset vehicle type as a first value, and taking the sum of the first value and the total number of vehicles as a second value;

[0073] The second value is divided by the preset number of release combinations to obtain the result threshold in the current iteration round.

[0074] In the third aspect, an embodiment of the present application also provides an electronic device, comprising: a processor, a storage medium and a bus, wherein the storage medium stores program instructions executable by the processor, and when the application is running, the processor communicates with the storage medium through the bus, and the processor executes the program instructions to execute the steps of the traffic processing method for multiple connected vehicles described in the first aspect above.

[0075] In a fourth aspect, an embodiment of the present application further provides a computer-readable storage medium, on which a computer program is stored, and the computer program is read and executes the steps of the method for processing traffic of multiple connected vehicles described in the first aspect above.

[0076] The beneficial effects of this application are:

[0077] The present application provides a traffic processing method, electronic device and storage medium for multiple connected vehicles. After determining the previous traffic direction, the current connected vehicle can iteratively determine the target connected vehicle based on the received driving status information and cooperation intention information of each associated connected vehicle and the current connected vehicle, and then execute it according to the current traffic plan of the target vehicle. It can be achieved that all connected vehicles waiting for passage at the same intersection make a joint decision, and after reaching a consensus, jointly execute the traffic plan reached by consensus, without relying on roadside equipment for road right allocation, so that each connected vehicle can pass the intersection safely and effectively. In addition, after the release time window of the previous round of traffic plan ends, the next round of traffic plan negotiation is carried out, and the negotiation process is used to reserve a certain buffer time for the vehicles executing the previous round of traffic plan, avoiding the risk of collision caused by switching traffic plans immediately. BRIEF DESCRIPTION OF THE DRAWINGS

[0078] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings required for use in the embodiments will be briefly introduced below. It should be understood that the following drawings only show certain embodiments of the present application and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other related drawings can be obtained based on these drawings without paying creative work.

[0079] Figure 1 A schematic diagram of an exemplary scenario provided for an embodiment of the present application;

[0080] Figure 2 A schematic flow chart of a first method for processing traffic of multiple connected vehicles provided in an embodiment of the present application;

[0081] Figure 3 A schematic flow chart of a second method for processing traffic of multiple connected vehicles provided in an embodiment of the present application;

[0082] Figure 4 A schematic flow chart of a third method for processing traffic of multiple connected vehicles provided in an embodiment of the present application;

[0083] Figure 5 A schematic flow chart of a fourth method for processing traffic of multiple connected vehicles provided in an embodiment of the present application;

[0084] Figure 6 A schematic flow chart of a fifth method for processing traffic of multiple connected vehicles provided in an embodiment of the present application;

[0085] Figure 7 A schematic flow chart of a sixth method for processing traffic of multiple connected vehicles provided in an embodiment of the present application;

[0086] Figure 8 A flowchart of a method for determining a result threshold in a current iteration round provided in an embodiment of the present application;

[0087] Fig. 9 A schematic diagram of a device for a method for processing traffic of multiple networked vehicles provided in an embodiment of the present application;

[0088] Fig.10 A structural block diagram of an electronic device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0089] To make the purpose, technical scheme and advantages of the embodiments of the present application clearer, the technical scheme in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. It should be understood that the drawings in the present application only serve the purpose of explanation and description and are not used to limit the scope of protection of the present application. In addition, it should be understood that the schematic drawings are not drawn in real proportion. The flowchart used in this application shows the operations implemented according to some embodiments of the present application. It should be understood that the operations of the flowchart can be implemented out of sequence, and the steps without logical context can be reversed in order or implemented simultaneously. In addition, those skilled in the art can add one or more other operations to the flowchart under the guidance of the content of the present application, or remove one or more operations from the flowchart.

[0090] In addition, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments. The components of the embodiments of the present application described and shown in the drawings here can be arranged and designed in various configurations. Therefore, the following detailed description of the embodiments of the present application provided in the drawings is not intended to limit the scope of the application claimed for protection, but merely represents the selected embodiments of the present application. Based on the embodiments of the present application, all other embodiments obtained by those skilled in the art without making creative work belong to the scope of protection of the present application.

[0091] It should be noted that the term "comprising" will be used in the embodiments of the present application to indicate the existence of the features declared thereafter, but does not exclude the addition of other features.

[0092] Figure 1 An exemplary scenario diagram provided for an embodiment of the present application is as follows: Figure 1 As shown, the application scenario includes at least one connected vehicle and roadside equipment, and each connected vehicle is a connected vehicle located within the preset range of the current intersection. Among them, the roadside equipment can include a variety of different types of equipment, and the roadside equipment can send unified map information to each connected vehicle to ensure that each connected vehicle has a unified identification of intersections, sections, lanes, etc., which facilitates the negotiation and execution of traffic plans. Electronic equipment can be installed on each connected vehicle, and the electronic equipment on each connected device can communicate with other connected vehicles and roadside equipment. Among them, the electronic equipment can be, for example, a mobile phone, a tablet computer, a laptop computer, a PDA, a desktop computer, and other terminal devices with computing and display capabilities, or it can also be a server.

[0093] Specifically, for the current connected vehicle at the current intersection, the driving status and cooperation intention of the current connected vehicle can be broadcast to the roadside equipment and other connected vehicles around the current connected vehicle, including vehicle type, upcoming intersection, current location, estimated time of arrival at the intersection, driving speed, path planning and other information. At the same time, the current connected vehicle can also receive the driving status and cooperation intention of each connected vehicle in other connected vehicles broadcasted by other connected vehicles, and then the traffic processing method for multiple connected vehicles provided in the embodiment of the present application can be used to cooperate in traffic, so as to avoid the risk of collision at the current intersection. Among them, the current connected vehicle is any connected vehicle waiting to pass within the preset range of the current intersection.

[0094] Continue as Figure 1 As shown, each connected vehicle may include a communication module, an election module, a traffic plan decision module, a consensus module and an execution module.

[0095] The communication module is used to broadcast cooperative messages to other connected vehicles in the surrounding area, receive cooperative messages broadcast by other connected vehicles in the surrounding area, and receive map information sent by the platform / roadside equipment. The types of cooperative messages include: driving status, cooperative intention, traffic plan, traffic plan feedback, etc.

[0096] Election module: used to elect the connected vehicle with the highest priority from all connected vehicles that intend to pass through the same intersection.

[0097] Traffic plan decision module: It is used for the connected vehicle with the highest priority to determine the current traffic plan, which may include the traffic release direction set and release duration.

[0098] Consensus module: It is used by all connected vehicles that intend to pass through the same intersection to reach a consensus on the current traffic plan determined by the connected vehicle with the highest priority, mainly including: determining the voting results and voting thresholds.

[0099] Execution module: used to execute the consensus intersection traffic plan. If the driving intention of the connected vehicle is consistent with the release direction of the current traffic plan of the intersection, the connected vehicle passes through the intersection within the release time window. If the driving intention of the connected vehicle is inconsistent with the release direction of the current traffic plan of the intersection and the vehicle has not yet passed the intersection, the current traffic plan that has reached consensus at the intersection will be broadcast periodically until the release time window of the traffic plan ends.

[0100] The specific implementation process of the traffic processing of multiple connected vehicles provided in the embodiment of the present application is explained in detail below.

[0101] Figure 2 The flowchart of the first method for processing the passage of multiple networked vehicles provided in the embodiment of the present application is shown in FIG. 1 , wherein the execution subject of the method is an electronic device on the current networked vehicle. Figure 2 As shown, the method includes:

[0102] S101. Determine whether the previous traffic plan is finished based on information of the previous traffic plan at the current intersection.

[0103] Optionally, for the current connected vehicle within a preset distance range of the current intersection, a preset method can be used to determine whether the previous traffic plan has ended based on the information of the previous traffic plan, wherein the previous traffic plan includes a release direction and a release duration.

[0104] Optionally, each traffic plan includes a corresponding release time in the traffic plan. When the release time in the traffic plan expires, the next traffic plan of the traffic plan needs to be determined based on the information of each connected vehicle at the current intersection, so that each connected vehicle that has not passed through the traffic plan and is within the preset range of the current intersection passes according to the next traffic plan. The preset distance may be, for example, 150 meters, 100 meters, 50 meters, 80 meters, 90 meters, etc.

[0105] Optionally, if the previous traffic plan has ended, execute the following S102; if not ended, execute the following S105.

[0106] S102: Receive driving status information and collaboration intention information of each associated networked vehicle.

[0107] Among them, each associated networked vehicle is located within a preset distance range of the current intersection, and each associated networked vehicle is a networked vehicle other than the current networked vehicle located within a preset distance range of the current intersection. At this time, the current networked vehicle and each associated networked vehicle are networked vehicles that are within the preset distance range of the current intersection and are not passing. Each networked vehicle can periodically broadcast its driving status information and cooperation intention information to other surrounding networked vehicles.

[0108] The driving status information may include: vehicle type, vehicle size, current location, driving speed, heading angle, acceleration and other information. If the vehicle type is an emergency vehicle, it should also include information on whether it is performing an emergency task. The collaborative intention information may include: the intersection to be driven to, the road section and lane, the turning intention, the distance to the intersection, the estimated time to arrive at the intersection, the waiting time at the intersection and other information.

[0109] S103. Iteratively determine the target connected vehicle based on the driving status information and collaboration intention information of each associated connected vehicle and the current connected vehicle.

[0110] Specifically, the current connected vehicle can iteratively determine the target connected vehicle based on the received driving state information and cooperation intention information of each associated connected vehicle, as well as the driving state information and cooperation intention information of the current connected vehicle, so that the target connected vehicle can determine the current traffic plan, and broadcast the determined current traffic plan to each other connected vehicle except the target connected vehicle.

[0111] Optionally, the target connected vehicle is determined by all connected vehicles that are within a preset distance range of the current intersection and are not passing through.

[0112] S104: Obtain the current traffic plan of the target connected vehicle and execute the current traffic plan.

[0113] Among them, the current passage plan includes a release direction set and a release duration. The release duration refers to the total release time of the current passage plan. The release direction set may include multiple release directions, and each release direction may correspond to a release time.

[0114] Exemplarily, the current traffic plan may be, for example: the release direction in 1-3 seconds is the east-west direction, and the release direction in 3-5 seconds is the northwest direction, the northeast direction, and the west-east direction.

[0115] S105. Determine whether the current driving intention of the connected vehicle is consistent with the release direction of the previous traffic plan.

[0116] Optionally, when the previous traffic plan has not ended and the driving intention of the current connected vehicle is consistent with the release direction of the previous traffic plan, the traffic is carried out according to the previous traffic plan; if the previous traffic plan has not ended but the driving intention of the current connected vehicle is inconsistent with the release direction of the previous traffic plan, return to execute S101, continue to wait at the current intersection and periodically determine whether the previous traffic plan has ended.

[0117] In this embodiment, after determining the previous direction of travel, the current connected vehicle can iteratively determine the target connected vehicle based on the received driving status information and cooperation intention information of each associated connected vehicle and the current connected vehicle, and then execute it according to the current traffic plan of the target vehicle. It can be achieved that all connected vehicles waiting for passage at the same intersection make a joint decision, and after reaching a consensus, jointly execute the traffic plan reached by consensus, without relying on roadside equipment for road right allocation, so that each connected vehicle can pass through the intersection safely and effectively. In addition, after the release time window of the previous round of traffic plan ends, the next round of traffic plan negotiation is carried out, and a certain buffer time is reserved for the vehicles executing the previous round of traffic plan by using the negotiation process, avoiding the risk of collision caused by switching traffic plans immediately.

[0118] In this embodiment, the connected vehicles participating in the negotiation are limited to those within a preset distance range of the current intersection. This is to prevent the communication range from being too large and the packet loss rate from increasing, which may cause the voting results to be lost and the consensus rate to decrease. Secondly, vehicles that are too far away from the intersection take a long time to arrive at the intersection. If these vehicles are allowed to pass, there may be a window period for traffic at the intersection, reducing traffic efficiency.

[0119] Figure 3 The flowchart of the second method for processing traffic of multiple connected vehicles provided in the embodiment of the present application is as follows. In the above S101, determining whether the previous traffic plan is finished according to the information of the previous traffic plan of the current intersection may include:

[0120] S201. Determine whether a previous traffic plan has been received.

[0121] Optionally, the previous traffic plan will be periodically broadcast to each connected vehicle within a preset distance range of the current intersection.

[0122] Optionally, if the current connected vehicle has not received the previous traffic plan, the following S203 is executed; if the previous traffic plan is received, the release time window of the previous traffic plan is obtained, and the following S202 is executed.

[0123] S202: Determine whether the current time is greater than or equal to the release time window of the previous traffic plan.

[0124] Optionally, if yes, it is determined that the previous traffic plan has ended; otherwise, the previous traffic plan has not ended. Specifically, if the previous traffic plan has not ended and if the driving intention of the current connected vehicle is consistent with the release direction of the previous traffic plan, then the traffic is carried out according to the previous traffic plan; if the previous traffic plan has not ended but the driving intention of the current connected vehicle is inconsistent with the release direction of the previous traffic plan, then continue to wait at the current intersection and periodically determine whether the previous traffic plan has ended.

[0125] S203: Determine that the previous traffic plan has ended.

[0126] Figure 4 A flow chart of a third method for processing traffic of multiple connected vehicles provided in an embodiment of the present application is shown in FIG. Figure 4 As shown, in the above S103, iteratively determining the target connected vehicle according to the driving state information and the cooperation intention information of each associated connected vehicle and the current connected vehicle may include:

[0127] S301. Determine the connected vehicles to be selected in the current iteration round according to the driving status information, collaboration intention information and election conditions in the current iteration round of each associated connected vehicle and the current connected vehicle.

[0128] The election conditions in the current iteration round include vehicle type weight, waiting vehicle number weight, waiting time weight, and preset delay time weight. The election conditions in each iteration round may be different.

[0129] Optionally, in each iteration round, the current connected vehicle can elect a candidate connected vehicle Vp, and the selected candidate connected vehicle Vp can be one of the current connected vehicle and each associated connected vehicle.

[0130] Exemplarily, if the current connected vehicle is A, and the associated connected vehicles are B, C, D, and E, then A can use a preset method based on the driving status information, collaboration intention information, and election conditions of A, B, C, D, and E in the current iteration round to determine the candidate connected vehicle in the current iteration round, wherein the determined candidate connected vehicle can be the current connected vehicle A, or one of the associated connected vehicles B, C, D, and E.

[0131] S302: Obtain the traffic plan of the to-be-selected networked vehicle and the feedback results of each networked vehicle on the traffic plan of the to-be-selected networked vehicle.

[0132] The feedback result may include an agreement result or an objection result.

[0133] Optionally, after determining the to-be-selected connected vehicle in the current round, the to-be-selected connected vehicle determines the passage plan and broadcasts it to other connected vehicles. Each other connected vehicle votes on the passage plan of the to-be-selected connected vehicle, and can vote in favor or against. At the same time, the voting result of the to-be-selected connected vehicle on the passage plan of the to-be-selected connected vehicle is a vote of approval, and each connected vehicle broadcasts the passage plan of the to-be-selected connected vehicle. If the to-be-selected connected vehicle determined in the current round is A, each other connected vehicle votes on the passage plan of the to-be-selected connected vehicle A. At the same time, the to-be-selected connected vehicle A can also vote on the passage plan of the to-be-selected connected vehicle A, specifically as a vote of approval. When there is an abnormal situation, for example, if the to-be-selected vehicle determined by the connected vehicle C is the connected vehicle D, then the to-be-selected connected vehicle determined by the connected vehicle C is different from the to-be-selected connected vehicle corresponding to the received passage plan, then the connected vehicle C votes against the passage plan of the connected vehicle A. The fault tolerance of the scheme is improved.

[0134] S303: Determine whether to use the candidate connected vehicle as the target connected vehicle according to each feedback result and the result threshold of the current intersection in the current round.

[0135] Optionally, each feedback result includes the feedback result of the current connected vehicle on the traffic plan of the selected connected vehicle and the feedback result of each other connected vehicle except the current connected vehicle on the traffic plan of the selected connected vehicle. The result threshold in each iteration round can be determined according to the actual situation of the connected vehicle in the current round, and the result threshold in each iteration round can be the same or different.

[0136] Optionally, if yes, execute the following S304. If no, execute S305.

[0137] S304: Determine to use the to-be-selected networked vehicle as the target networked vehicle.

[0138] S305: Determine whether the number of iterative rounds has reached a preset number.

[0139] The preset number may be 5, for example.

[0140] Optionally, if yes, execute S306; if not, return to execute S301, and update the election conditions when returning to execute S301, for example, the weight of the number of waiting vehicles can be updated, etc., to improve the rate of reaching consensus on the traffic plan, strike a balance between ensuring priority passage for special vehicles and rapid consensus, avoid too long a negotiation cycle, and improve negotiation efficiency.

[0141] S306. The candidate connected vehicles in the rounds that have reached a preset number are used as target connected vehicles, and the preset traffic plan is used as the traffic plan determined by the target connected vehicle.

[0142] Among them, the preset traffic plan can determine the release time according to the number and type of vehicles waiting to pass in each direction of the release direction, which not only ensures that as many vehicles as possible are released within a traffic cycle, avoids reducing traffic efficiency due to too frequent traffic plan negotiations and switching, but also reduces the window period of traffic at the intersection. At the same time, an upper limit on the release time is set to avoid excessive traffic pressure on downstream intersections caused by too long release time, and also avoids vehicles in other traffic directions from being blocked for a long time.

[0143] For example, if after four rounds of iterations, the selected connected vehicle still cannot be determined to become the target connected vehicle, then in the fifth round of iteration, the preset traffic plan will be broadcasted from the target connected vehicle determined in the fifth round of iteration to each connected vehicle so that each connected vehicle executes the preset traffic plan.

[0144] In this embodiment, each networked vehicle can autonomously iterate and optimize the traffic plan continuously, and finally obtain a better traffic plan. Moreover, since the vehicle information at the intersection in each round is different, more comprehensive information can be obtained for different intersections to adaptively form a more reasonable traffic plan. At the same time, if a traffic plan has not been reached consensus, a preset traffic plan is adopted, and each networked vehicle executes the preset traffic plan, which can achieve a balance between the optimal traffic plan and rapid consensus, avoid long negotiation time, and improve negotiation efficiency. In addition, it is not limited by the number of waiting vehicles within the preset distance range of the intersection, and no matter how many vehicles are waiting to pass at the intersection, consensus can be reached quickly, and the negotiation time will not be greatly increased due to the large number of waiting vehicles.

[0145] Figure 5 A flow chart of a fourth method for processing traffic of multiple connected vehicles provided in an embodiment of the present application is shown in FIG. Figure 5 As shown, in the above S301, determining the candidate connected vehicles in the current iteration round according to the driving state information, the cooperation intention information of each associated connected vehicle and the current connected vehicle and the election conditions in the current iteration round may include:

[0146] S401. Determine the priority of each connected vehicle according to the vehicle type in each driving status information, the waiting time of the connected vehicle in each collaboration intention, the turning intention of the connected vehicle, the delay time of the connected vehicle, and the election conditions in the current iteration round.

[0147] Optionally, for the current connected vehicle, the priority of the current connected vehicle and the priority of each associated connected vehicle can be calculated. The priority of the current connected vehicle can be determined using a preset method according to the vehicle type of the current connected vehicle, the waiting time of the current connected vehicle, the turning intention of the current connected vehicle, the delay time of the current connected vehicle, and the election conditions under the current iteration round. Similarly, the priority of each associated connected vehicle can be determined using a preset method according to the vehicle type of each associated connected vehicle, the waiting time of each associated connected vehicle, the turning intention of each associated connected vehicle, the delay time of each associated connected vehicle, and the election conditions under the current iteration round. For example, the priority of associated connected vehicle 1 can be determined using a preset method according to the vehicle type of associated connected vehicle 1, the waiting time of associated connected vehicle 1, the turning intention of associated connected vehicle 1, the delay time of associated connected vehicle 1, and the election conditions under the current iteration round, and so on, to determine the priority of each associated connected vehicle.

[0148] S402. Determine a to-be-selected networked vehicle according to the priority of each networked vehicle.

[0149] Specifically, the connected vehicle with the highest priority may be selected from the current connected vehicle and each associated connected vehicle as the connected vehicle to be selected in the current iteration round.

[0150] In this embodiment, each connected vehicle uses the same method to determine the connected vehicle with the highest priority in the current iteration round as the selected connected vehicle, which effectively reduces message interaction, reduces negotiation complexity, and improves negotiation efficiency.

[0151] Figure 6 A flow chart of a fifth method for processing traffic of multiple connected vehicles provided in an embodiment of the present application is shown in FIG. Figure 6 As shown, in the above S401, the priority of each connected vehicle is determined according to the vehicle type in each driving state information, the waiting time of the connected vehicle in each cooperation intention, the turning intention of the connected vehicle, the delay time of the connected vehicle, and the election conditions in the current iteration round, which may include:

[0152] S501. Determine the number of waiting vehicles that do not conflict with the connected vehicles according to the turning intentions of the connected vehicles.

[0153] Optionally, since the current connected vehicle can receive the driving status information and cooperation intention information of each associated connected vehicle, the number of waiting vehicles P that do not conflict with the travel direction of each connected vehicle can be determined in the current connected vehicle. num.i , where i is the identifier of the connected vehicle. Specifically, the number of waiting vehicles that do not conflict with the current connected vehicle and the number of waiting vehicles that do not conflict with each associated connected vehicle can be determined.

[0154] For example, the number of waiting vehicles P that do not conflict with the connected vehicle 1 can be determined. num.1 , the number of waiting vehicles P that do not conflict with connected vehicle 2 num.2 , the number of waiting vehicles P that do not conflict with connected vehicle 3 num.3 .

[0155] S502: taking the product of the number of waiting vehicles and the weight of the number of waiting vehicles as the first parameter.

[0156] Among them, the weight of the number of waiting vehicles can be calculated using F num The first parameter is F num *P num,i When determining the priority, it is considered that connected vehicles that are less likely to collide with more vehicles in the direction of travel have a higher priority under the same conditions and are more likely to become selected vehicles, allowing more vehicles to pass through the intersection at the same time in a traffic cycle, thereby improving the traffic efficiency of the intersection.

[0157] Optionally, if the candidate connected vehicle determined in the current round cannot be used as the target connected vehicle, it is necessary to conduct the next round of elections of the current round. When the candidate connected vehicle is elected in the next round, the election conditions of the current iteration round need to be updated. When updating, the weight of the number of waiting vehicles can be increased. Specifically, F num,k+1 =F num,k +ΔF num,k , F num,k , where k is the kth iteration round. ΔF num,k It can be 100*k. type 、F time and F delay The weights are the same as those in the first iteration.

[0158] S503: taking the product of a preset type factor corresponding to the vehicle type of the networked vehicle and the vehicle type weight as the second parameter.

[0159] Optionally, different vehicle types correspond to different type factors. The corresponding relationship between vehicle types and type factors is shown in Table 1 below, and can also be adjusted according to actual conditions. Among them, the type factor corresponding to the bus-type connected vehicle is larger, and the bus-type connected vehicle includes the delay time. Under the same conditions, the bus-type connected vehicle has a higher priority and is more likely to become a candidate vehicle. type,i is the type factor of connected vehicle i. type is the vehicle type weight. The second parameter is F type *P type,i .

[0160] Table 1

[0161] Vehicle Type <![CDATA[P type ]]> Ordinary passenger car 30 truck 10 Hazardous chemicals vehicles 15 Special vehicles 10 School Bus 30 Emergency vehicles (not performing emergency tasks) 50 Emergency vehicle (on emergency duty) 200 Buses and trolleybuses 50 Other types of vehicles 5

[0162] S504: taking the product of the waiting time and the waiting time weight as the third parameter.

[0163] The waiting time is the time interval between the time when the connected vehicle first enters the preset range of the current intersection and the time when the current message is sent, and the current message refers to the message that sends the driving status information and steering intention information of the connected vehicle to other connected vehicles. Taking the waiting time as one of the priority determination conditions can make the connected vehicle with a longer waiting time have a higher priority under the same conditions and be more likely to become a candidate vehicle.

[0164] Optionally, P time,i is the waiting time of vehicle i at the intersection (in seconds), F time is the waiting time weight, then the third parameter is F time *P time,i .

[0165] S505: Taking the product of the delay duration and the delay duration weight as the fourth parameter.

[0166] The delay time refers to the time (in seconds) that a connected vehicle with a shift schedule has been delayed compared to the shift schedule. delay,i is the delay time of vehicle i, such as buses and trolleybuses, and the delay time of connected vehicles without a scheduling plan is 0.

[0167] Optionally, F delay is the delay duration weight, the fourth parameter is F delay *P delay,i .

[0168] S506. Taking the sum of the first parameter, the second parameter, the third parameter and the fourth parameter as the priority of the networked vehicle.

[0169] Specifically, the priority P corresponding to vehicle i i =F type *P type,i +F time *P time,i +F num *P num,i +F delay *P delay,i .

[0170] Table 2 below is a schematic diagram of the weights in this embodiment, and the weights can be adjusted according to actual conditions.

[0171] Table 2

[0172]

[0173] It is worth noting that S501 to S506 are the process of determining the priority of a connected vehicle, and the calculation of the priority of each connected vehicle is similar thereto, which will not be elaborated here.

[0174] In this embodiment, the vehicle type factor, waiting time, the number of waiting vehicles that do not conflict with the connected vehicle, and the delay time are fully considered, so that the priority of each connected vehicle can be determined more reasonably and the waiting time of emergency vehicles at intersections can be reduced.

[0175] Optionally, in S303 above, determining whether to use the candidate connected vehicle as the target connected vehicle according to each feedback result and the result threshold of the current intersection in the current round may include:

[0176] Optionally, a target feedback result may be determined based on each feedback result and the vehicle type of each connected vehicle, wherein the target feedback result refers to the final feedback result in the current iteration round.

[0177] Optionally, if the target feedback result is greater than or equal to the result threshold of the current iteration round, the to-be-selected connected vehicle is used as the target connected vehicle; if the target feedback result is less than the result threshold of the current iteration round, the to-be-selected connected vehicle is re-determined.

[0178] Figure 7 A flow chart of a sixth method for processing traffic of multiple connected vehicles provided in an embodiment of the present application is shown in FIG. Figure 7 As shown, the above-mentioned determination of the target feedback result according to each feedback result and the vehicle type of each connected vehicle may include:

[0179] S601. Determine all agreed results in each feedback result and the connected vehicles of the preset vehicle type for which the agreed results are fed back, and obtain the total number of agreed results and the number of feedback agreed results of the preset vehicle type.

[0180] The total number of agreed results refers to the number of all agreed results in each feedback result. For example, if there are 15 feedback results in total, including 14 agreed results and 1 opposed result, the total number of agreed results is 14.

[0181] Optionally, the preset vehicle type can be an emergency vehicle that is performing a mission. In this case, the consent results fed back by all emergency vehicles that are performing a mission is the number of feedback consent results of the preset vehicle type. For example, in the aforementioned total number of consent results, 3 are the consent results fed back by emergency vehicles that are performing a mission, then the number of feedback consent results of the preset vehicle type is 3.

[0182] S602: The difference between the feedback weight of the preset vehicle type and the preset value is used as the weight difference.

[0183] Specifically, the feedback weight of the preset vehicle type is that the feedback weight of the emergency vehicle that is performing a task is w, and the preset value may be 1, and the weight difference is w-1.

[0184] S603: Calculate the product of the number of feedback agreement results for the preset vehicle type and the weight difference, and use the sum of the product and the total number of agreement results as the target feedback result.

[0185] Specifically, the target feedback result = the total number of agreed results + the number of agreed feedback results of the preset vehicle type * (w-1).

[0186] Exemplarily, the target feedback result = 14 + 3*(w-1).

[0187] In this embodiment, when calculating the target feedback result, the weight of the emergency vehicle that is performing the task is taken into account, so that the weight of the feedback result of the emergency vehicle that is performing the task can be increased, thereby making the target feedback result more reasonable and reducing the waiting time of the emergency vehicle that is performing the emergency task at the intersection.

[0188] Figure 8 A flowchart of a method for determining a result threshold value in the current iteration round provided in an embodiment of the present application is shown in FIG. Figure 8 As shown, the process may include:

[0189] S701. Determine the total number of all connected vehicles within a preset distance range of the current intersection, the number of vehicles of a preset vehicle type, and the number of preset release combinations corresponding to the intersection type of the current intersection.

[0190] Optionally, when determining the candidate connected vehicles for the current iteration round, the total number of connected vehicles n0 waiting within the preset distance range of the current intersection in the current round is determined, the preset vehicle type is the emergency vehicle that is performing the task mentioned above, and the number of vehicles n1 of the preset vehicle type among all connected vehicles waiting within the preset distance range of the current intersection in the current round, and the number of preset release combinations corresponding to the intersection type is represented by S, and each intersection type corresponds to a preset release combination number, for example, the number of preset release combinations corresponding to the intersection is 4. Intersection types may include: cross intersection, T-shaped intersection, X-shaped intersection, Y-shaped intersection, roundabout intersection, staggered intersection, multi-way intersection, etc.

[0191] S702: taking the product of the weight difference and the number of vehicles of the preset vehicle type as a first value, and taking the sum of the first value and the total number of vehicles as a second value.

[0192] Specifically, the first value is n1*(w-1), and the second value is n=n0+n1*(w-1).

[0193] S703: Divide the second value by the preset number of release combinations to obtain a result threshold in the current round.

[0194] Specifically, the result threshold THR in the current round is n / S.

[0195] In this embodiment, the same consensus method is used to calculate the voting results and result thresholds of the popular solutions, which effectively reduces message interactions, reduces negotiation complexity, and improves negotiation efficiency.

[0196] Optionally, the process of determining the release direction set in the preset traffic plan is as follows:

[0197] Optionally, the connected vehicle V with the highest priority determined in the last iteration round can be p The direction of travel is taken as the first priority release direction. Because right-turning vehicles generally do not collide with vehicles in other directions, and vehicles turning right can pass safely regardless of the direction of travel, the first priority release direction generally does not include the right turn direction. Then, according to different intersection types, a second priority release direction set that does not collide with the first priority release direction is determined. Both the first priority release direction and the second priority release direction set are used as the release directions of the traffic plan at the same time, and the second priority release direction set can be multiple directions.

[0198] Exemplarily, if the current intersection is a crossroad, after the first priority release direction is determined, a second priority release direction set can be determined according to traffic rules.

[0199] In this embodiment, the preset traffic plan release direction set is composed of a first priority release direction and a second priority release direction set. The probability of collision between the release directions is small, allowing more vehicles in the current traffic plan to pass through the intersection at the same time, achieving a balance between traffic safety and traffic efficiency.

[0200] Optionally, the process of determining the release time in the preset passage plan is as follows:

[0201] Specifically, for each release direction x in the current intersection, if all waiting vehicles can pass the maximum time of the intersection Where type is the vehicle type; max is the total number of vehicle types; t type is the average time (in seconds) for vehicles of the corresponding type to pass through the intersection; N type,x is the number of vehicles of type type in the direction x released by the intersection. type The corresponding relationship is shown in the following Table 3, which can be adjusted according to actual conditions.

[0202] Table 3

[0203]

[0204]

[0205] Optionally, calculate the maximum time T0=MAX(T dire，x ). The release time T in the preset passage plan pass =MIN(T0,T max ). Among them, T max This is a preset value. To avoid a certain direction being released for too long, affecting the passage of vehicles in other directions, or causing excessive pressure on downstream intersections, the release time should be set to a maximum value. If there is an emergency vehicle performing a task in the direction where the release is prohibited at the current intersection, the maximum release time T max If not, the release time is T max The maximum value is no more than 120 seconds and can be adjusted according to actual conditions.

[0206] In this embodiment, the preset traffic plan can determine the release time according to the number and type of vehicles waiting to pass in each direction in the release direction set, which not only ensures that as many vehicles as possible are released in the current traffic plan, avoids reducing the traffic efficiency due to too frequent traffic plan negotiation and switching, but also reduces the window period of traffic at the intersection. At the same time, an upper limit of the release time is set to avoid excessive traffic pressure on downstream intersections caused by too long release time, and also avoids vehicles in other traffic directions from being blocked for a long time.

[0207] In an embodiment of the present application, after the current traffic plan is determined, the current traffic plan will be broadcast until the release time window of the current traffic plan ends, ensuring that connected vehicles that will not be able to participate in the traffic plan negotiation in the future and connected vehicles that encounter abnormalities during the negotiation process can also learn about the traffic plan and execute the traffic plan, thereby reducing the risk of collision.

[0208] Fig. 9 A schematic diagram of a device for processing traffic of multiple connected vehicles provided in an embodiment of the present application, such as Fig. 9 As shown, the device comprises:

[0209] The first determination module 801 is used to determine whether the previous traffic plan is finished according to the information of the previous traffic plan of the current intersection;

[0210] A receiving module 802 is used to receive driving status information and cooperation intention information of each associated networked vehicle, and each associated networked vehicle is located within a preset distance range of the current intersection;

[0211] A second determination module 803, configured to iteratively determine a target connected vehicle according to the driving state information and the cooperation intention information of each of the associated connected vehicles and the current connected vehicle;

[0212] The acquisition module 804 is used to obtain the current traffic plan of the target connected vehicle and execute the current traffic plan, wherein the traffic plan includes: a release direction set and a release duration.

[0213] Optionally, the first determining module 801 is specifically configured to:

[0214] Determining whether the previous traffic plan is received;

[0215] If the previous passage plan is not received, determining that the previous passage plan is ended; if the previous passage plan is received, obtaining the release time window of the previous passage plan, and determining whether the current time is greater than or equal to the release time window of the previous passage plan;

[0216] If so, it is determined that the previous traffic plan is finished.

[0217] Optionally, the second determining module 803 is specifically configured to:

[0218] Determine the connected vehicle to be selected in the current iteration round according to the driving state information, the cooperation intention information and the election conditions in the current iteration round of each of the associated connected vehicles and the current connected vehicle;

[0219] Obtaining the traffic plan of the candidate connected vehicle and the feedback results of each connected vehicle on the traffic plan of the candidate connected vehicle, wherein the feedback results include an approval result or an objection result;

[0220] According to each of the feedback results and the result threshold of the current intersection in the current iteration round, determine whether to use the to-be-selected connected vehicle as the target connected vehicle; if so, use the to-be-selected connected vehicle as the target connected vehicle; if not, determine whether the number of iterated rounds reaches a preset number; if so, use the to-be-selected connected vehicle as the target connected vehicle, and use the preset traffic plan as the traffic plan determined by the target connected vehicle; otherwise, continue to the next iteration.

[0221] Optionally, the second determining module 803 is specifically configured to:

[0222] Determine the priority of each connected vehicle according to the vehicle type in each driving state information, the waiting time of the connected vehicle and the turning intention of the connected vehicle and the delay time of the connected vehicle in each cooperation intention information, and the election conditions in the current iteration round, wherein the election conditions in the current iteration round include vehicle type weight, waiting vehicle number weight, waiting time weight, and preset delay time weight;

[0223] The to-be-selected networked vehicle is determined according to the priority of each networked vehicle.

[0224] Optionally, the second determining module 803 is specifically configured to:

[0225] Determining the number of waiting vehicles that do not conflict with the connected vehicles according to the turning intentions of the connected vehicles;

[0226] The product of the number of waiting vehicles and the weight of the number of waiting vehicles is used as the first parameter;

[0227] Taking the product of the preset type factor corresponding to the vehicle type of the networked vehicle and the vehicle type weight as the second parameter;

[0228] The product of the waiting time and the waiting time weight is used as a third parameter;

[0229] The product of the delay duration and the delay duration weight is used as a fourth parameter;

[0230] The sum of the first parameter, the second parameter, the third parameter and the fourth parameter is used as the priority of the connected vehicle.

[0231] Optionally, the second determining module 803 is specifically configured to:

[0232] Determining a target feedback result according to each of the feedback results and the vehicle type of each of the networked vehicles;

[0233] If the target feedback result is greater than or equal to the result threshold of the current iteration round, it is determined that the to-be-selected networked vehicle is used as the target networked vehicle.

[0234] Optionally, the second determining module 803 is specifically configured to:

[0235] Determine all the agreed results in each of the feedback results and the connected vehicles of the preset vehicle type that feedback the agreed results, and obtain the total number of agreed results and the number of feedback agreed results of the preset vehicle type;

[0236] Taking the difference between the feedback weight of the preset vehicle type and the preset value as the weight difference;

[0237] The product of the number of feedback agreement results and the weight difference is calculated, and the sum of the product and the total number of agreement results is used as the target feedback result.

[0238] Optionally, the second determining module 803 is specifically configured to:

[0239] Determine the total number of all connected vehicles within a preset distance range of the current intersection, the number of vehicles of a preset vehicle type, and the number of preset release combinations corresponding to the intersection type of the current intersection;

[0240] taking the product of the weight difference and the number of vehicles of the preset vehicle type as a first value, and taking the sum of the first value and the total number of vehicles as a second value;

[0241] The second value is divided by the preset number of release combinations to obtain the result threshold in the current iteration round.

[0242] Fig.10 FIG. 9 is a structural block diagram of an electronic device 900 provided in an embodiment of the present application. Fig.10 As shown, the electronic device may include: a processor 901 and a memory 902 .

[0243] Optionally, a bus 903 may also be included, wherein the memory 902 is used to store machine-readable instructions executable by the processor 901. When the electronic device 900 is running, the processor 901 communicates with the memory 902 through the bus 903. When the machine-readable instructions are executed by the processor 901, the method steps in the above method embodiment are performed.

[0244] An embodiment of the present application also provides a computer-readable storage medium having a computer program stored thereon. When the computer program is executed by a processor, the method steps in the embodiment of the above-mentioned method for processing traffic of multiple connected vehicles are executed.

[0245] Those skilled in the art can clearly understand that, for the convenience and simplicity of description, the specific working process of the system and device described above can refer to the corresponding process in the method embodiment, and will not be repeated in this application. In the several embodiments provided in this application, it should be understood that the disclosed system, device and method can be implemented in other ways. The device embodiments described above are merely schematic. For example, the division of the modules is only a logical function division. There may be other division methods in actual implementation. For example, multiple modules or components 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 communication interfaces, indirect coupling or communication connection of devices or modules, which can be electrical, mechanical or other forms.

[0246] In addition, each functional unit in each embodiment of the present application can be integrated into a processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. If the function is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present application is essentially or the part that contributes to the prior art or the part of the technical solution can be embodied in the form of a software product, and the computer software product is stored in a storage medium, including several instructions to enable a computer device (which can be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the method described in each embodiment of the present application. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, RandomAccess Memory), disk or optical disk and other media that can store program code.

[0247] The above are only specific implementation methods of the present application, but the protection scope of the present application is not limited thereto. Any technician familiar with the technical field can easily think of changes or substitutions within the technical scope disclosed in the present application, which should be covered by the protection scope of the present application.

Claims

1. A method for processing traffic of multiple connected vehicles, characterized in that: Applied to a current networked vehicle, the current networked vehicle is located within a preset distance range of a current intersection, the method includes: Determining whether the previous traffic plan is completed according to information of the previous traffic plan at the current intersection; If so, receiving driving status information and cooperation intention information of each associated networked vehicle, each associated networked vehicle is located within a preset distance range of the current intersection; Iteratively determine a target connected vehicle according to the driving state information and the cooperation intention information of each of the associated connected vehicles and the current connected vehicle; The current traffic plan of the target connected vehicle is obtained and executed, wherein the traffic plan includes: a release direction set and a release duration.

2. The method for processing traffic of multiple connected vehicles according to claim 1, characterized in that: The determining whether the previous traffic plan is finished according to the release time of the previous traffic plan of the current intersection and the current time includes: Determining whether the previous traffic plan is received; If the previous passage plan is not received, determining that the previous passage plan is ended; if the previous passage plan is received, obtaining the release time window of the previous passage plan, and determining whether the current time is greater than or equal to the release time window of the previous passage plan; If so, it is determined that the previous traffic plan is finished.

3. The method for processing traffic of multiple connected vehicles according to claim 1, characterized in that: The iteratively determining the target connected vehicle according to the driving state information and the cooperation intention information of each of the associated connected vehicles and the current connected vehicle comprises: Determine the connected vehicle to be selected in the current iteration round according to the driving state information, the cooperation intention information and the election conditions in the current iteration round of each of the associated connected vehicles and the current connected vehicle; Obtaining the traffic plan of the candidate connected vehicle and the feedback results of each connected vehicle on the traffic plan of the candidate connected vehicle, wherein the feedback results include an approval result or an objection result; According to each of the feedback results and the result threshold of the current intersection in the current iteration round, determine whether to use the to-be-selected connected vehicle as the target connected vehicle; if so, use the to-be-selected connected vehicle as the target connected vehicle; if not, determine whether the number of iterated rounds reaches a preset number; if so, use the to-be-selected connected vehicle as the target connected vehicle, and use the preset traffic plan as the traffic plan determined by the target connected vehicle; otherwise, continue to the next iteration.

4. The method for processing traffic of multiple connected vehicles according to claim 3, characterized in that: The determining of the to-be-selected connected vehicle in the current iteration round according to the driving state information, the cooperation intention information and the election condition in the current iteration round of each of the associated connected vehicles and the current connected vehicle includes: Determine the priority of each connected vehicle according to the vehicle type in each driving state information, the waiting time of the connected vehicle and the turning intention of the connected vehicle and the delay time of the connected vehicle in each cooperation intention information, and the election conditions in the current iteration round, wherein the election conditions in the current iteration round include vehicle type weight, waiting vehicle number weight, waiting time weight, and preset delay time weight; The to-be-selected networked vehicle is determined according to the priority of each networked vehicle.

5. The method for processing traffic of multiple connected vehicles according to claim 4, characterized in that: Determining the priority of each connected vehicle according to the vehicle type in each driving state information, the waiting time of the connected vehicle and the turning intention of the connected vehicle and the delay time of the connected vehicle in each cooperation intention information, and the election condition in the current iteration round, includes: Determining the number of waiting vehicles that do not conflict with the connected vehicles according to the turning intentions of the connected vehicles; The product of the number of waiting vehicles and the weight of the number of waiting vehicles is used as the first parameter; Taking the product of the preset type factor corresponding to the vehicle type of the networked vehicle and the vehicle type weight as the second parameter; The product of the waiting time and the waiting time weight is used as a third parameter; The product of the delay duration and the delay duration weight is used as a fourth parameter; The sum of the first parameter, the second parameter, the third parameter and the fourth parameter is used as the priority of the connected vehicle.

6. The method for processing traffic of multiple connected vehicles according to claim 3, characterized in that: The determining, according to each of the feedback results and the result threshold of the current intersection in the current iteration round, whether to use the to-be-selected connected vehicle as the target connected vehicle comprises: Determining a target feedback result according to each of the feedback results and the vehicle type of each of the networked vehicles; If the target feedback result is greater than or equal to the result threshold of the current iteration round, it is determined that the to-be-selected networked vehicle is used as the target networked vehicle.

7. The method for processing traffic of multiple connected vehicles according to claim 6, characterized in that: The determining a target feedback result according to each of the feedback results and the vehicle type of each of the networked vehicles includes: Determine all the agreed results in each of the feedback results and the connected vehicles of the preset vehicle type that feedback the agreed results, and obtain the total number of agreed results and the number of feedback agreed results of the preset vehicle type; Taking the difference between the feedback weight of the preset vehicle type and the preset value as the weight difference; The product of the number of feedback agreement results of the preset vehicle type and the weight difference is calculated, and the sum of the product and the total number of agreement results is used as the target feedback result.

8. The method for processing traffic of multiple connected vehicles according to claim 6, characterized in that: The process of determining the result threshold in the current iteration round is as follows: Determine the total number of all connected vehicles within a preset distance range of the current intersection, the number of vehicles of a preset vehicle type, and the number of preset release combinations corresponding to the intersection type of the current intersection; taking the product of the weight difference and the number of vehicles of the preset vehicle type as a first value, and taking the sum of the first value and the total number of vehicles as a second value; The second value is divided by the preset number of release combinations to obtain the result threshold in the current iteration round.

9. An electronic device, characterized in that: It includes a memory and a processor, the memory stores a computer program executable by the processor, and the processor implements the steps of the traffic processing method for multiple connected vehicles as described in any one of claims 1 to 7 when executing the computer program.

10. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores a computer program, which, when executed by a processor, executes the steps of the method for processing traffic of multiple connected vehicles as described in any one of claims 1 to 7.

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