Traffic processing methods, electronic devices, and storage media for multiple connected vehicles

Abstract

This application provides a method, electronic device, and storage medium for handling the passage of multiple connected vehicles. The method applies to the current connected vehicles located within a preset distance range of the current intersection. The method includes: determining whether a previous passage plan has ended based on information from the previous passage plan at the current intersection; if so, receiving driving status information and cooperation intention information from each associated connected vehicle; iteratively determining a target connected vehicle based on the driving status information and cooperation intention information of each associated connected vehicle and the current connected vehicle; obtaining the current passage plan of the target connected vehicle; and executing the current passage plan. This allows all connected vehicles waiting to pass through the same intersection to jointly make decisions, reach a consensus, and jointly execute the agreed-upon passage plan, without relying on roadside equipment for right-of-way allocation, enabling each connected vehicle to pass through the intersection safely and effectively.

Description

Technical Field

[0001] This application relates to the field of connected vehicle technology, and more specifically, to a method for processing the passage of multiple connected vehicles, electronic equipment, and storage medium. Background Technology

[0002] When a connected vehicle approaches an intersection without traffic lights, it broadcasts its driving status and cooperation intentions to roadside equipment and other surrounding vehicles. Based on the received driving status and cooperation intentions of all vehicles wishing to pass through the intersection, as well as perception information reported by roadside sensors, the roadside equipment generates driving guidance information for all connected vehicles approaching the intersection and sends this information to the corresponding connected vehicles. The driving guidance information includes driving suggestions and route planning for designated vehicles or vehicles within a designated range. Upon receiving the driving guidance information from the roadside equipment, the connected vehicle combines its own driving status with road information and information about surrounding traffic participants to generate a final driving behavior strategy or trajectory plan, safely and efficiently passing through the intersection. Furthermore, the guided connected vehicle will also provide feedback to the roadside equipment regarding whether it has executed the driving guidance information generated by the roadside equipment.

[0003] In existing technologies, roadside equipment only sends driving guidance suggestions to each connected vehicle, and the connected vehicles make their own decisions on driving behavior strategies or trajectory planning. Since multiple connected vehicles may be located at the same intersection without traffic lights but in different directions, the existing methods are prone to collision risks. Summary of the Invention

[0004] The purpose of this application is to address the shortcomings of the prior art by providing a method, electronic device, and storage medium for handling the passage of multiple connected vehicles, thereby avoiding the risk of vehicle collisions at intersections.

[0005] To achieve the above objectives, the technical solutions adopted in the embodiments of this application are as follows:

[0006] In a first aspect, embodiments of this application provide a method for processing the passage of multiple connected vehicles, applied to a current connected vehicle located within a preset distance range of a current intersection, the method comprising:

[0007] Based on the information from the previous traffic plan at the current intersection, determine whether the previous traffic plan has ended;

[0008] If so, it receives the driving status information and cooperation intention information of each associated connected vehicle, and each associated connected vehicle is within the preset distance range of the current intersection.

[0009] The target connected vehicle is determined iteratively based on the driving status information and cooperation intention information of each associated connected vehicle and the current connected vehicle.

[0010] Obtain the current traffic plan for the target connected vehicle and execute the current traffic plan, which includes: a set of release directions and a release duration.

[0011] Optionally, determining whether the previous traffic plan has ended based on the previous traffic plan's release time at the current intersection and the current time includes:

[0012] Determine whether the previous passage plan has been received;

[0013] If the previous passage plan is not received, the previous passage plan is determined to have ended; if the previous passage plan is received, the release time window of the previous passage plan is obtained, and it is determined whether the current time is greater than or equal to the release time window of the previous passage plan.

[0014] If so, then the previous passage plan is considered to have ended.

[0015] Optionally, the step of iteratively determining the target connected vehicle based on the driving status information and cooperation intention information of each associated connected vehicle and the current connected vehicle includes:

[0016] Based on the driving status information, cooperation intention information, and election conditions of each associated connected vehicle and the current connected vehicle, the candidate connected vehicles for the current iteration are determined.

[0017] Obtain the traffic plans of the candidate connected vehicles and the feedback results of each connected vehicle on the traffic plans of the candidate connected vehicles, wherein the feedback results include the results of agreement or disagreement.

[0018] Based on the feedback results and the result threshold of the current intersection in the current iteration round, determine whether to designate the candidate connected vehicle as the target connected vehicle; if yes, designate the candidate connected vehicle as the target connected vehicle; if no, determine whether the number of iteration rounds has reached a preset number; if yes, designate the candidate 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 execute the next iteration.

[0019] Optionally, determining the candidate connected vehicles for the current iteration round based on the driving status information, cooperation intention information, and election conditions of each associated connected vehicle and the current connected vehicle includes:

[0020] Based on the vehicle type in each of the driving status information, the waiting time of the connected vehicle, the turning intention of the connected vehicle, and the delay time of the connected vehicle in each of the cooperation intention information, as well as the election conditions under the current iteration round, the priority of each connected vehicle is determined. The election conditions under the current iteration round include vehicle type weight, waiting vehicle number weight, waiting time weight, and preset delay time weight.

[0021] The candidate connected vehicles are determined based on the priority of each connected vehicle.

[0022] Optionally, determining the priority of each connected vehicle based on the vehicle type in each of the driving status information, the waiting time of the connected vehicle, the turning intention of the connected vehicle, the delay time of the connected vehicle, and the election conditions under the current iteration round includes:

[0023] Based on the turning intention of each connected vehicle, determine the number of waiting vehicles that do not conflict with 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] The product of the preset type factor corresponding to the vehicle type of the connected vehicle and the vehicle type weight is used as the second parameter.

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

[0027] The product of the delay duration and the delay duration weight is used as the 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 include the candidate connected vehicle as the target connected vehicle based on the feedback results and the result threshold of the current intersection in the current iteration round includes:

[0030] The target feedback result is determined based on the feedback results and the vehicle type of each connected vehicle.

[0031] If the target feedback result is greater than or equal to the result threshold of the current iteration round, then the candidate connected vehicle is determined as the target connected vehicle.

[0032] Optionally, determining the target feedback result based on each of the feedback results and the vehicle type of each of the connected vehicles includes:

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

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

[0035] 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.

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

[0037] Determine the total number of 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] The product of the weight difference and the number of vehicles of the preset vehicle type is used as the first value, and the sum of the first value and the total number of vehicles is used as the second value.

[0039] Divide the second value by the preset number of release combinations to obtain the result threshold for the current iteration round.

[0040] Secondly, embodiments of this application also provide a traffic processing device for multiple connected vehicles, the device comprising:

[0041] The first determining module is used to determine whether the previous traffic plan has ended based on the information of the previous traffic plan at the current intersection.

[0042] The receiving module is used to receive the driving status information and cooperation intention information of each associated connected vehicle if the condition is met, and each associated connected vehicle is located within a preset distance range of the current intersection.

[0043] The second determining module is used to iteratively determine the target connected vehicle based on the driving status information and cooperation intention information of each associated connected vehicle and the current connected vehicle.

[0044] The acquisition module is used to acquire the current traffic plan of the target connected vehicle and execute the current traffic plan, which includes: a set of release directions and a release duration.

[0045] Optionally, the first determining module is specifically used for:

[0046] Determine whether the previous passage plan has been received;

[0047] If the previous passage plan is not received, the previous passage plan is determined to have ended; if the previous passage plan is received, the release time window of the previous passage plan is obtained, and it is determined whether the current time is greater than or equal to the release time window of the previous passage plan.

[0048] If so, then the previous passage plan is considered to have ended.

[0049] Optionally, the second determining module is specifically used for:

[0050] Based on the driving status information, cooperation intention information, and election conditions of each associated connected vehicle and the current connected vehicle, the candidate connected vehicles for the current iteration are determined.

[0051] Obtain the traffic plans of the candidate connected vehicles and the feedback results of each connected vehicle on the traffic plans of the candidate connected vehicles, wherein the feedback results include the results of agreement or disagreement.

[0052] Based on the feedback results and the result threshold of the current intersection in the current iteration round, determine whether to designate the candidate connected vehicle as the target connected vehicle; if yes, designate the candidate connected vehicle as the target connected vehicle; if no, determine whether the number of iteration rounds has reached a preset number; if yes, designate the candidate 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 execute the next iteration.

[0053] Optionally, the second determining module is specifically used for:

[0054] Based on the vehicle type in each of the driving status information, the waiting time of the connected vehicle, the turning intention of the connected vehicle, and the delay time of the connected vehicle in each of the cooperation intention information, as well as the election conditions under the current iteration round, the priority of each connected vehicle is determined. The election conditions under the current iteration round include vehicle type weight, waiting vehicle number weight, waiting time weight, and preset delay time weight.

[0055] The candidate connected vehicles are determined based on the priority of each connected vehicle.

[0056] Optionally, the second determining module is specifically used for:

[0057] Based on the turning intention of each connected vehicle, determine the number of waiting vehicles that do not conflict with 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] The product of the preset type factor corresponding to the vehicle type of the connected vehicle and the vehicle type weight is used as the second parameter.

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

[0061] The product of the delay duration and the delay duration weight is used as the 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 used for:

[0064] The target feedback result is determined based on the feedback results and the vehicle type of each connected vehicle.

[0065] If the target feedback result is greater than or equal to the result threshold of the current iteration round, then the candidate connected vehicle is determined as the target connected vehicle.

[0066] Optionally, the second determining module is specifically used for:

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

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

[0069] 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.

[0070] Optionally, the second determining module is specifically used for:

[0071] Determine the total number of 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] The product of the weight difference and the number of vehicles of the preset vehicle type is used as the first value, and the sum of the first value and the total number of vehicles is used as the second value.

[0073] Divide the second value by the preset number of release combinations to obtain the result threshold for the current iteration round.

[0074] Thirdly, embodiments of this application also provide an electronic device, including: a processor, a storage medium, and a bus. The storage medium stores program instructions executable by the processor. When the application runs, the processor communicates with the storage medium via the bus, and the processor executes the program instructions to perform the steps of the passage processing method for multiple connected vehicles described in the first aspect.

[0075] Fourthly, embodiments of this application also provide a computer-readable storage medium storing a computer program, which is read and executes the steps of the passage processing method for multiple connected vehicles described in the first aspect.

[0076] The beneficial effects of this application are:

[0077] This application provides a method, electronic device, and storage medium for handling the passage of multiple connected vehicles. After determining the previous travel direction, the current connected vehicle can iteratively determine the target connected vehicle based on the received information on the driving status and cooperation intentions of all associated connected vehicles and the current connected vehicle. Then, it executes the target vehicle's current travel plan. This allows all connected vehicles waiting at the same intersection to jointly make decisions, reach a consensus, and jointly execute the agreed-upon travel plan, without relying on roadside equipment for right-of-way allocation, enabling each connected vehicle to pass through the intersection safely and efficiently. Furthermore, after the previous travel plan's release time window ends, the next travel plan is negotiated. This negotiation process provides a buffer time for vehicles executing the previous plan, avoiding the collision risk caused by immediately switching travel plans. Attached Figure Description

[0078] To more clearly illustrate the technical solutions of the embodiments of this application, the accompanying drawings used in the embodiments will be briefly introduced below. It should be understood that the following drawings only show some embodiments of this application and should not be regarded as a limitation of the scope. For those skilled in the art, other related drawings can be obtained based on these drawings without creative effort.

[0079] Figure 1 This is an exemplary scenario diagram provided for an embodiment of this application;

[0080] Figure 2 A flowchart illustrating the first method for handling the passage of multiple connected vehicles provided in this application embodiment;

[0081] Figure 3 A flowchart illustrating the second method for handling the passage of multiple connected vehicles provided in this application embodiment;

[0082] Figure 4 A flowchart illustrating the third method for handling the passage of multiple connected vehicles provided in this application embodiment;

[0083] Figure 5 A flowchart illustrating the fourth method for handling the passage of multiple connected vehicles provided in this application embodiment;

[0084] Figure 6 A flowchart illustrating the fifth method for handling the passage of multiple connected vehicles provided in this application embodiment;

[0085] Figure 7 A flowchart illustrating the sixth method for handling the passage of multiple connected vehicles provided in this application embodiment;

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

[0087] Figure 9 A schematic diagram of an apparatus for a method of handling the passage of multiple connected vehicles provided in an embodiment of this application;

[0088] Figure 10 This is a structural block diagram of an electronic device provided in an embodiment of this application. Detailed Implementation

[0089] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, the technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. It should be understood that the accompanying drawings in this application are for illustrative and descriptive purposes only and are not intended to limit the scope of protection of this application. Furthermore, it should be understood that the schematic drawings are not drawn to scale. The flowcharts used in this application illustrate operations implemented according to some embodiments of this application. It should be understood that the operations in the flowcharts may not be implemented in sequence, and steps without logical contextual relationships may be reversed or implemented simultaneously. In addition, those skilled in the art, guided by the content of this application, may add one or more other operations to the flowcharts, or remove one or more operations from the flowcharts.

[0090] Furthermore, the described embodiments are merely some, not all, of the embodiments of this application. The components of the embodiments of this application described and illustrated herein can typically be arranged and designed in various different configurations. Therefore, the following detailed description of the embodiments of this application provided in the accompanying drawings is not intended to limit the scope of the claimed application, but merely to illustrate selected embodiments of the application. All other embodiments obtained by those skilled in the art based on the embodiments of this application without inventive effort are within the scope of protection of this application.

[0091] It should be noted that the term "comprising" will be used in the embodiments of this application to indicate the presence 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 this application, such as... Figure 1 As shown, this application scenario includes at least one connected vehicle and roadside equipment, with each connected vehicle located within a preset area of ​​the current intersection. The roadside equipment can include various types of devices, which can send unified map information to each connected vehicle, ensuring that each connected vehicle has consistent identification of intersections, road segments, and lanes, facilitating the negotiation and execution of traffic plans. Each connected vehicle can be equipped with electronic devices, which can communicate with other connected vehicles and roadside equipment. These electronic devices can be, for example, terminal devices with computing power and display functions such as mobile phones, tablets, laptops, PDAs, and desktop computers, or they can be servers.

[0093] Specifically, for a currently connected vehicle at the current intersection, its driving status and cooperation intentions can be broadcast to roadside equipment and other connected vehicles in the vicinity. This includes information such as vehicle type, the intersection it is about to reach, its current location, estimated arrival time at the intersection, driving speed, and route planning. Simultaneously, the currently connected vehicle can also receive broadcasts from other connected vehicles about their driving statuses and cooperation intentions. Therefore, it can utilize the multi-connected vehicle passage processing method provided in this application embodiment to cooperate in passage, thereby avoiding the risk of collisions at the current intersection. Here, the "current connected vehicle" refers to any connected vehicle waiting to pass within a preset range at 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 vicinity, receive cooperative messages broadcast by other connected vehicles in the vicinity, and receive map information sent by the platform / roadside equipment. The types of cooperative messages include: driving status, cooperative intent, traffic plan, and traffic plan feedback.

[0096] Election module: Used to elect the highest priority connected vehicle from all connected vehicles intending to pass through the same intersection.

[0097] Traffic plan decision module: used to determine the current traffic plan for the highest priority connected vehicles, which may include the set of traffic release directions and the release duration.

[0098] Consensus module: It is used to reach a consensus among all connected vehicles intending to pass through the same intersection on the current traffic plan determined by the highest priority connected vehicle. It mainly includes: determining the voting result and the voting threshold.

[0099] Execution Module: Used to execute the consensus-reached intersection traffic plan. If the driving intention of a connected vehicle is consistent with the current traffic plan's direction of travel at the intersection, the connected vehicle passes through the intersection within the permitted time window. If the driving intention of a connected vehicle is inconsistent with the current traffic plan's direction of travel, or if vehicles have not yet passed through the intersection, the consensus-reached current traffic plan for that intersection is periodically broadcast until the permitted time window for that plan ends.

[0100] The following section will explain in detail the specific implementation process of the passage processing for multiple connected vehicles provided in the embodiments of this application.

[0101] Figure 2 This is a flowchart illustrating a first method for processing the passage of multiple connected vehicles, as provided in this application embodiment. The executing entity of this method is, for example, the electronic equipment on the connected vehicle. Figure 2 As shown, the method includes:

[0102] S101. Based on the information of the previous traffic plan at the current intersection, determine whether the previous traffic plan has ended.

[0103] Optionally, for connected vehicles currently 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 information from the previous traffic plan. The previous traffic plan includes the direction of travel and the duration of travel.

[0104] Optionally, each traffic plan includes a corresponding release time. When the release time for a given traffic plan expires, the next traffic plan needs to be determined based on the information of each connected vehicle at the current intersection. This allows connected vehicles that did not pass through the previous plan but are within a preset range at the current intersection to proceed according to the next traffic plan. The preset distance can be, for example, 150 meters, 100 meters, 50 meters, 80 meters, 90 meters, etc.

[0105] Optionally, if the previous passage plan has ended, then S102 is executed; if it has not ended, then S105 is executed.

[0106] S102. Receive driving status information and cooperation intention information of each associated connected vehicle.

[0107] In this scenario, all associated connected vehicles are located within a preset distance range of the current intersection. These associated connected vehicles are all other connected vehicles within the preset distance range of the current intersection, excluding the currently connected vehicle. At this time, both the currently connected vehicle and all associated connected vehicles are connected vehicles within the preset distance range of the current intersection that have not yet passed through. Each connected vehicle can periodically broadcast its driving status information and cooperation intention information to other connected vehicles in the vicinity.

[0108] The driving status information may include: vehicle type, vehicle size, current location, speed, heading angle, acceleration, etc. If the vehicle type is an emergency vehicle, it should also include information on whether it is performing an emergency mission. The cooperation intention information may include: the intersection to be approached, the road segment and lane, turning intention, distance to the intersection, estimated time to reach the intersection, and waiting time at the intersection, etc.

[0109] S103. Based on the driving status information and cooperation intention information of each associated connected vehicle and the current connected vehicle, the target connected vehicle is determined iteratively.

[0110] Specifically, the current connected vehicle can iteratively determine the target connected vehicle based on the driving status information and cooperation intention information received from each associated connected vehicle, as well as the driving status information and cooperation intention information of the current connected vehicle itself. This allows the target connected vehicle to determine the current traffic plan and broadcast the determined current traffic plan to all other connected vehicles except the target connected vehicle.

[0111] Optionally, the target connected vehicle is determined by all connected vehicles located within a preset distance of the current intersection that have not yet passed through.

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

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

[0114] For example, the current traffic flow scheme could be as follows: the traffic flow direction during the 1-3s period is east-west, and the traffic flow direction during the 3-5s period is northwest, northeast, and west-east.

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

[0116] Optionally, if 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, then the previous traffic plan shall be followed; 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 return to execute S101, and 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 travel direction, the current connected vehicle can iteratively determine the target connected vehicle based on the received information on the driving status and cooperation intentions of all associated connected vehicles and the current connected vehicle. Then, it executes the target vehicle's current travel plan. This allows all connected vehicles waiting at the same intersection to jointly make decisions, reach a consensus, and jointly execute the agreed-upon travel plan, without relying on roadside equipment for right-of-way allocation, enabling each connected vehicle to pass through the intersection safely and efficiently. Furthermore, after the previous travel plan's release time window ends, the negotiation of the next travel plan is conducted. This negotiation process provides a buffer time for vehicles executing the previous plan, avoiding the collision risk caused by immediately switching travel plans.

[0118] In this embodiment, the participating connected vehicles are limited to those within a preset distance range of the current intersection. This is to prevent the loss of voting results and a decrease in consensus rate due to an excessively large communication range and increased packet loss rate. Secondly, vehicles that are too far from the intersection take a long time to reach the intersection, and allowing these vehicles to pass may create a gap in traffic flow at the intersection, reducing traffic efficiency.

[0119] Figure 3 This is a flowchart illustrating the second method for handling traffic flow of multiple connected vehicles provided in this application embodiment. In step S101, determining whether the previous traffic flow plan has ended based on information from the previous traffic flow plan at the current intersection may include:

[0120] S201. Determine whether the previous passage plan has been received.

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

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

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

[0124] Optionally, if so, 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 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 the vehicle continues to wait at the current intersection and periodically checks whether the previous traffic plan has ended.

[0125] S203. It is confirmed that the previous traffic plan has ended.

[0126] Figure 4 A flowchart illustrating the third method for handling the passage of multiple connected vehicles provided in this application embodiment is shown below. Figure 4 As shown, in S103 above, the target connected vehicle is iteratively determined based on the driving status information and cooperation intention information of each associated connected vehicle and the current connected vehicle. This may include:

[0127] S301. Based on the driving status information, cooperation intention information, and election conditions of each associated connected vehicle and the current connected vehicle, determine the candidate connected vehicles for the current iteration round.

[0128] The election criteria in the current iteration include weights for vehicle type, number of waiting vehicles, waiting time, and preset delay time. The election criteria can be different for each iteration.

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

[0130] For example, 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 to determine the candidate connected vehicles in the current iteration round based on the driving status information, cooperation intention information, and election conditions of A, B, C, D, and E. The determined candidate connected vehicles can be the current connected vehicle A, or one of the associated connected vehicles B, C, D, and E.

[0131] S302. Obtain the traffic plans for the candidate connected vehicles and the feedback results from each connected vehicle regarding the traffic plans for the candidate connected vehicles.

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

[0133] Optionally, after the candidate connected vehicles for the current round are determined, the candidate connected vehicles broadcast their traffic plans to all other connected vehicles. Each other connected vehicle votes on the candidate connected vehicle's traffic plan, either for or against it. Simultaneously, the candidate connected vehicles' votes on the candidate connected vehicle's traffic plan are considered "for," and each connected vehicle broadcasts the candidate connected vehicle's traffic plan. If the candidate connected vehicle determined for the current round is A, all other connected vehicles vote on candidate connected vehicle A's traffic plan. Candidate connected vehicle A can also vote on its own traffic plan, specifically, by voting "for." In case of anomalies, such as if connected vehicle C determines candidate connected vehicle D, and the candidate connected vehicle determined by connected vehicle C differs from the candidate connected vehicle corresponding to the received traffic plan, then connected vehicle C will vote against connected vehicle A's traffic plan. This improves the fault tolerance of the scheme.

[0134] S303. Based on the feedback results and the current intersection's result threshold in the current round, determine whether to select the connected vehicles as target connected vehicles.

[0135] Optionally, each feedback result includes the feedback result of the current connected vehicle on the traffic plan of the candidate connected vehicle, as well as the feedback result of all other connected vehicles (excluding the current connected vehicle) on the traffic plan of the candidate connected vehicle. The result threshold for each iteration round can be determined based on the actual situation of the connected vehicles in the current round, and the result thresholds for each iteration round can be the same or different.

[0136] Optionally, if yes, then execute S304 below. If no, then execute S305.

[0137] S304. Determine whether to select the connected vehicles as the target connected vehicles.

[0138] S305. Determine whether the number of iterations has reached the preset number.

[0139] The preset quantity can be, for example, 5.

[0140] Optionally, if yes, execute S306; otherwise, return to execute S301, and update the election conditions when returning to execute S301, such as updating the weight of the number of waiting vehicles, to improve the consensus rate of the passage plan, achieve a balance between ensuring priority passage for special vehicles and rapid consensus, avoid excessively long negotiation cycles, and improve negotiation efficiency.

[0141] S306. Select the candidate connected vehicles in the preset number of rounds as target connected vehicles, and use the preset traffic plan as the traffic plan determined by the target connected vehicles.

[0142] The preset traffic flow plan determines the release time based on the number and type of vehicles waiting in each direction within the release direction cluster. This ensures that as many vehicles as possible are released within a single traffic cycle, avoiding reduced traffic efficiency due to excessively frequent negotiations and switching of traffic flow plans, while also minimizing downtime at intersections. Simultaneously, a maximum release time is set to prevent excessive pressure on downstream intersections and to avoid prolonged congestion for vehicles traveling in other directions.

[0143] For example, if after 4 iterations the candidate connected vehicle still cannot be determined as the target connected vehicle, then in the 5th iteration, the preset traffic plan is broadcast from the target connected vehicle determined in the 5th iteration to each connected vehicle so that each connected vehicle executes the preset traffic plan.

[0144] In this embodiment, each connected vehicle can autonomously iterate and optimize the traffic plan to ultimately obtain a better plan. Furthermore, since the vehicle information at intersections differs in each round, more comprehensive information can be obtained for different intersections to adaptively form a more reasonable traffic plan. Simultaneously, if a consensus cannot be reached on a traffic plan, a preset plan is adopted, and each connected vehicle executes this preset plan. This achieves a balance between the optimal traffic plan and rapid consensus, avoiding excessive negotiation time and improving negotiation efficiency. Additionally, it is not limited by the number of waiting vehicles within a preset distance range at intersections, and consensus can be quickly reached regardless of the number of vehicles waiting at an intersection, preventing a significant increase in negotiation time due to a large number of waiting vehicles.

[0145] Figure 5 A flowchart illustrating the fourth method for handling the passage of multiple connected vehicles provided in this application embodiment is shown below. Figure 5 As shown, in S301 above, determining the candidate connected vehicles for the current iteration round based on the driving status information, cooperation intention information, and election conditions of each associated connected vehicle and the current connected vehicle can include:

[0146] S401. Based on the vehicle type in each driving status information, the waiting time of connected vehicles in each cooperation intention, the turning intention of connected vehicles, the delay time of connected vehicles, and the election conditions under the current iteration round, determine the priority of each connected vehicle.

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

[0148] S402. Determine the candidate connected vehicles based on the priority of each connected vehicle.

[0149] Specifically, the highest priority vehicle can be selected from the current connected vehicles and their associated connected vehicles as the candidate connected vehicles for 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 candidate connected vehicle, which effectively reduces message interaction, reduces negotiation complexity, and improves negotiation efficiency.

[0151] Figure 6 A flowchart illustrating the fifth method for handling the passage of multiple connected vehicles provided in this application embodiment is shown below. Figure 6 As shown, in S401 above, the priority of each connected vehicle is determined based on the vehicle type in each driving status information, the waiting time of each connected vehicle in each cooperative intention, the turning intention of the connected vehicle, the delay time of the connected vehicle, and the election conditions under the current iteration round. This can include:

[0152] S501. Based on the turning intention of each connected vehicle, determine the number of waiting vehicles that do not conflict with the connected vehicles.

[0153] Optionally, since the currently connected vehicle can receive the driving status information and cooperation intention information of each associated connected vehicle, the number P of waiting vehicles that do not conflict with the travel direction of each connected vehicle can be determined among the currently connected vehicles. 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 P of waiting vehicles that do not conflict with connected vehicle 1 can be determined. num.1 The number of waiting vehicles P that does not conflict with connected vehicle 2 num.2 The number of waiting vehicles P that does not conflict with connected vehicles 3 num.3 .

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

[0156] The weight of the number of waiting vehicles can be F. num The first parameter is F. num *P num,i When determining priorities, connected vehicles that are less likely to collide with other vehicles in the same direction of travel are given higher priority under the same conditions. They are more likely to be selected, allowing more vehicles to pass through the intersection at the same time within a single traffic cycle, thus improving the intersection's traffic efficiency.

[0157] Optionally, if the candidate connected vehicles determined in the current round cannot be used as target connected vehicles, an election for the next round needs to be conducted. When conducting the next round of candidate connected vehicle election, the election conditions of the current iteration need to be updated. During the update, 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 k-th iteration. ΔF num,k It can be 100*k. F type F time and F delay The weights are the same as those in the first iteration round.

[0158] S503. The product of the preset type factor corresponding to the vehicle type of the connected vehicle and the vehicle type weight is used as the second parameter.

[0159] Optionally, different vehicle types correspond to different type factors. The correspondence between vehicle type and type factor is shown in Table 1 below, and can also be adjusted according to actual conditions. Among them, the type factor corresponding to bus-type connected vehicles is larger, and bus-type connected vehicles include delay time. Therefore, under the same conditions, bus-type connected vehicles have higher priority and are more likely to become candidate vehicles. P type,i F is the type factor for connected vehicle i. type This represents the vehicle type weight. The second parameter is F. type *P type,i .

[0160] Table 1

[0161] Vehicle type <![CDATA[P type ]]> ordinary passenger cars 30 truck 10 Hazardous chemical vehicles 15 Special vehicles 10 school bus 30 Emergency vehicle (not on an emergency mission) 50 Emergency vehicle (on an emergency mission) 200 buses and trolleybuses 50 Other types of vehicles 5

[0162] S504. Use 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 it takes for a connected vehicle to first enter the preset range of the current intersection and the time it sends the current message, which refers to the message that sends the connected vehicle's driving status information and turning intention information to other connected vehicles. Including the waiting time as one of the priority determination conditions ensures that, under the same conditions, connected vehicles with longer waiting times have higher priority and are more likely to be selected.

[0164] Optionally, P time,i Let F be the waiting time (in seconds) for vehicle i at this intersection. time If the waiting time is used as the weight, then the third parameter is F. time *P time,i .

[0165] S505. The product of the delay duration and the delay duration weight is used as the fourth parameter.

[0166] Among them, delay time refers to the delay (unit: seconds) that connected vehicles with scheduling plans have experienced compared to the scheduled time. delay,i For vehicle i, such as buses and trolleybuses, the delay time is 0. For connected vehicles without a schedule, the delay time is 0.

[0167] Optionally, F delay To account for the delay time weight, the fourth parameter is F. delay *P delay,i .

[0168] S506, 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.

[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 each weight in this embodiment. Each weight can be adjusted according to the actual situation.

[0171] Table 2

[0172]

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

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

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

[0176] Optionally, a target feedback result can be determined based on each feedback result and the vehicle type of each connected vehicle. This 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 candidate connected vehicle is selected as the target connected vehicle; if the target feedback result is less than the result threshold of the current iteration round, the candidate connected vehicle is re-determined.

[0178] Figure 7 A flowchart illustrating the sixth method for handling the passage of multiple connected vehicles provided in this application embodiment is shown below. Figure 7 As shown, the target feedback result, determined based on each feedback result and the vehicle type of each connected vehicle, may include:

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

[0180] The total number of agreeing results refers to the total number of agreeing results in each feedback result. For example, if there are a total of 15 feedback results, of which 14 are agreeing and 1 is disagreeing, then the total number of agreeing results is 14.

[0181] Optionally, the preset vehicle type can be an emergency vehicle performing a mission. Then, the number of consent results from all emergency vehicles performing missions is the number of consent results for the preset vehicle type. For example, if 3 of the total consent results mentioned above are from emergency vehicles performing missions, then the number of consent results for the preset vehicle type is 3.

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

[0183] Specifically, the preset feedback weight for vehicle type is w, which is the feedback weight of emergency vehicles performing a mission. The preset value can 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 this product and the total number of agreement results as the target feedback result.

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

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

[0187] In this embodiment, the weight of emergency vehicles performing tasks is taken into account when calculating the target feedback result. This can make the feedback result of emergency vehicles performing tasks have more weight, thereby making the target feedback result more reasonable and reducing the waiting time of emergency vehicles performing emergency tasks at intersections.

[0188] Figure 8 A flowchart illustrating a method for determining a result threshold in the current iteration round, as provided in this application embodiment, is shown below. Figure 8 As shown, the process may include:

[0189] S701. Determine the total number of connected vehicles within the preset distance range of the current intersection, the number of vehicles of the 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, the total number of connected vehicles (n0) waiting within a preset distance range at the current intersection in the current iteration is determined. The preset vehicle type is the emergency vehicle currently performing a task, as mentioned above. The preset vehicle type (n1) is the number of vehicles of the preset vehicle type among all connected vehicles waiting within the preset distance range at the current intersection in the current iteration. The number of preset release combinations corresponding to the intersection type is represented by S. Each intersection type corresponds to one preset release combination. For example, the preset release combination number for a crossroads is 4. Intersection types can include: crossroads, T-shaped intersections, X-shaped intersections, Y-shaped intersections, roundabouts, staggered intersections, multi-way intersections, etc.

[0191] S702. The product of the weight difference and the number of vehicles of the preset vehicle type is used as the first value, and the sum of the first value and the total number of vehicles is used as the 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 the result threshold for the current round.

[0194] Specifically, the result threshold THR for 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 passing scheme, which effectively reduces message interaction, reduces negotiation complexity, and improves negotiation efficiency.

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

[0197] Optionally, the highest priority connected vehicle V, determined in the last iteration round, can be selected. p The direction of right turn is designated as the first priority direction for traffic flow. Since right-turning vehicles generally do not collide with vehicles traveling in other directions, they can pass safely regardless of their original direction of travel. Therefore, the first priority direction generally does not include right turns. Then, based on the different intersection types, a second priority direction set that does not collide with the first priority direction is determined. Both the first and second priority directions are used simultaneously as the permitted directions in the traffic flow scheme, and the second priority direction set can contain multiple directions.

[0198] For example, if the current intersection is a crossroads, after determining the first priority direction, the second priority direction set can be determined according to traffic rules.

[0199] In this embodiment, the preset traffic plan release direction set consists of a first priority release direction and a second priority release direction set. The probability of collision between each release direction is small, which allows 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 for determining the release time in the preset passage plan is as follows:

[0201] Specifically, for each direction x in the current intersection, the maximum time it takes for all waiting vehicles to pass through the intersection is... Where type represents the vehicle type; max represents the total number of vehicle types; t type N represents the average time (in seconds) for vehicles of the corresponding type to pass through the intersection. type,x This represents the number of vehicles of type 'type' allowed to travel in the x-direction at this intersection. Vehicle type is related to 't'. type The corresponding relationships are shown in Table 3 below, and can be adjusted according to the actual situation.

[0202] Table 3

[0203]

[0204]

[0205] Optionally, calculate the maximum time T0 = MAX(T) for all waiting vehicles in each direction of the current intersection to pass through the current intersection. dire，x The preset passage plan's passage duration T pass =MIN(T0, T) max ), where T max This is a preset value. To avoid excessively long clearance times in one direction, affecting traffic flow in other directions or causing excessive pressure on downstream intersections, the clearance time should be set to a maximum value. If there are emergency vehicles performing tasks in the prohibited direction at the current intersection, the maximum clearance time T is [value missing]. max The time limit is no more than 30 seconds; if not, the release time is T. max The maximum duration is 120 seconds, which can be adjusted according to the actual situation.

[0206] In this embodiment, the preset traffic plan can determine the release time based on the number and type of vehicles waiting to pass in each direction within the release direction set. This ensures that as many vehicles as possible are released under the current traffic plan, avoiding reduced traffic efficiency due to excessively frequent traffic plan negotiations and switching, while also reducing the gap in traffic flow at intersections. Simultaneously, a maximum release time is set to prevent excessive traffic pressure on downstream intersections due to prolonged release times, and also to prevent vehicles in other directions from being blocked for extended periods.

[0207] In this embodiment, after determining the current traffic plan, the current traffic plan will be broadcast continuously until the current traffic plan release time window ends, ensuring that connected vehicles that did not have time to participate in the traffic plan negotiation and connected vehicles that experienced abnormalities during the negotiation process can also know about the traffic plan and execute the traffic plan, thereby reducing the risk of collision.

[0208] Figure 9 A schematic diagram of an apparatus for processing the passage of multiple connected vehicles provided in an embodiment of this application is shown below. Figure 9 As shown, the device includes:

[0209] The first determining module 801 is used to determine whether the previous traffic plan has ended based on the information of the previous traffic plan at the current intersection.

[0210] The receiving module 802 is used to receive the driving status information and cooperation intention information of each associated connected vehicle if the condition is met, and each associated connected vehicle is located within a preset distance range of the current intersection.

[0211] The second determining module 803 is used to iteratively determine the target connected vehicle based on the driving status information and cooperation intention information of each associated connected vehicle and the current connected vehicle.

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

[0213] Optionally, the first determining module 801 is specifically used for:

[0214] Determine whether the previous passage plan has been received;

[0215] If the previous passage plan is not received, the previous passage plan is determined to have ended; if the previous passage plan is received, the release time window of the previous passage plan is obtained, and it is determined whether the current time is greater than or equal to the release time window of the previous passage plan.

[0216] If so, then the previous passage plan is considered to have ended.

[0217] Optionally, the second determining module 803 is specifically used for:

[0218] Based on the driving status information, cooperation intention information, and election conditions of each associated connected vehicle and the current connected vehicle, the candidate connected vehicles for the current iteration are determined.

[0219] Obtain the traffic plans of the candidate connected vehicles and the feedback results of each connected vehicle on the traffic plans of the candidate connected vehicles, wherein the feedback results include the results of agreement or disagreement.

[0220] Based on the feedback results and the result threshold of the current intersection in the current iteration round, determine whether to designate the candidate connected vehicle as the target connected vehicle; if yes, designate the candidate connected vehicle as the target connected vehicle; if no, determine whether the number of iteration rounds has reached a preset number; if yes, designate the candidate 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 execute the next iteration.

[0221] Optionally, the second determining module 803 is specifically used for:

[0222] Based on the vehicle type in each of the driving status information, the waiting time of the connected vehicle, the turning intention of the connected vehicle, and the delay time of the connected vehicle in each of the cooperation intention information, as well as the election conditions under the current iteration round, the priority of each connected vehicle is determined. The election conditions under the current iteration round include vehicle type weight, waiting vehicle number weight, waiting time weight, and preset delay time weight.

[0223] The candidate connected vehicles are determined based on the priority of each connected vehicle.

[0224] Optionally, the second determining module 803 is specifically used for:

[0225] Based on the turning intention of each connected vehicle, determine the number of waiting vehicles that do not conflict with 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] The product of the preset type factor corresponding to the vehicle type of the connected vehicle and the vehicle type weight is used as the second parameter.

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

[0229] The product of the delay duration and the delay duration weight is used as the 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 used for:

[0232] The target feedback result is determined based on the feedback results and the vehicle type of each connected vehicle.

[0233] If the target feedback result is greater than or equal to the result threshold of the current iteration round, then the candidate connected vehicle is determined as the target connected vehicle.

[0234] Optionally, the second determining module 803 is specifically used for:

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

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

[0237] Calculate the product of the number of feedback agreement results and the weight difference, and use the sum of the product and the total number of agreement results as the target feedback result.

[0238] Optionally, the second determining module 803 is specifically used for:

[0239] Determine the total number of 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] The product of the weight difference and the number of vehicles of the preset vehicle type is used as the first value, and the sum of the first value and the total number of vehicles is used as the second value.

[0241] Divide the second value by the preset number of release combinations to obtain the result threshold for the current iteration round.

[0242] Figure 10 This is a structural block diagram of an electronic device 900 provided in an embodiment of this application. (See diagram below.) Figure 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 and the memory 902 communicate via the bus 903. When the machine-readable instructions are executed by the processor 901, the method steps in the above method embodiments are performed.

[0244] This application also provides a computer-readable storage medium storing a computer program, which, when executed by a processor, performs the method steps described in the above embodiments of the method for processing the passage of multiple connected vehicles.

[0245] Those skilled in the art will clearly understand that, for the sake of convenience and brevity, the specific working processes of the systems and devices described above can be referred to the corresponding processes in the method embodiments, and will not be repeated here. In the several embodiments provided in this application, it should be understood that the disclosed systems, devices, and methods can be implemented in other ways. The device embodiments described above are merely illustrative. For example, the division of modules is only a logical functional division, and in actual implementation, there may be other division methods. Furthermore, 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 displayed or discussed mutual coupling or direct coupling or communication connection can be through some communication interfaces; the indirect coupling or communication connection of devices or modules can be electrical, mechanical, or other forms.

[0246] Furthermore, the functional units in the various embodiments of this application can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. If the functions are implemented as software functional units and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, or part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of this application. The aforementioned storage medium includes: USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, optical disks, and other media capable of storing program code.

[0247] The above are merely specific embodiments of this application, but the scope of protection of this application is not limited thereto. Any changes or substitutions that can be easily conceived by those skilled in the art within the scope of the technology disclosed in this application should be included within the scope of protection of this application.

Claims

1. A method for handling the passage of multiple connected vehicles, characterized in that, Applied to current connected vehicles, wherein the current connected vehicles are located within a preset distance range of the current intersection, the method includes: Based on the information from the previous traffic plan at the current intersection, determine whether the previous traffic plan has ended; If so, it receives the driving status information and cooperation intention information of each associated connected vehicle, and each associated connected vehicle is within a preset distance range of the current intersection. The target connected vehicle is determined iteratively based on the driving status information and cooperation intention information of each associated connected vehicle and the current connected vehicle. Obtain the current traffic plan for the target connected vehicle and execute the current traffic plan, which includes: a set of release directions and a release duration; The step of iteratively determining the target connected vehicle based on the driving status information and cooperation intention information of each associated connected vehicle and the current connected vehicle includes: Based on the driving status information, cooperation intention information, and election conditions of each associated connected vehicle and the current connected vehicle, the candidate connected vehicles for the current iteration are determined. Obtain the traffic plans of the candidate connected vehicles and the feedback results of each connected vehicle on the traffic plans of the candidate connected vehicles, wherein the feedback results include the results of agreement or disagreement. Based on the feedback results and the result threshold of the current intersection in the current iteration round, determine whether to designate the candidate connected vehicle as the target connected vehicle; if yes, designate the candidate connected vehicle as the target connected vehicle; if no, determine whether the number of iteration rounds has reached a preset number; if yes, designate the candidate 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 execute the next iteration. The process of determining the result threshold for the current iteration round is as follows: Determine the total number of 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; The product of the weight difference and the number of vehicles of the preset vehicle type is used as the first value, and the sum of the first value and the total number of vehicles is used as the second value. The weight difference is the difference between the feedback weight of the preset vehicle type and the preset value. Divide the second value by the preset number of release combinations to obtain the result threshold for the current iteration round.

2. The method for handling the passage of multiple connected vehicles according to claim 1, characterized in that, The step of determining whether the previous traffic plan has ended based on the previous traffic plan's release time at the current intersection and the current time includes: Determine whether the previous passage plan has been received; If the previous passage plan is not received, the previous passage plan is determined to have ended; if the previous passage plan is received, the release time window of the previous passage plan is obtained, and it is determined whether the current time is greater than or equal to the release time window of the previous passage plan. If so, then the previous passage plan is considered to have ended.

3. The method for handling the passage of multiple connected vehicles according to claim 1, characterized in that, The step of determining the candidate connected vehicles for the current iteration round based on the driving status information, cooperation intention information, and election conditions of each associated connected vehicle and the current connected vehicle includes: Based on the vehicle type in each of the driving status information, the waiting time of the connected vehicle, the turning intention of the connected vehicle, and the delay time of the connected vehicle in each of the cooperation intention information, as well as the election conditions under the current iteration round, the priority of each connected vehicle is determined. The election conditions under the current iteration round include vehicle type weight, waiting vehicle number weight, waiting time weight, and preset delay time weight. The candidate connected vehicles are determined based on the priority of each connected vehicle.

4. The method for handling the passage of multiple connected vehicles according to claim 3, characterized in that, The priority of each connected vehicle is determined based on the vehicle type in each of the driving status information, the waiting time of the connected vehicle, the turning intention of the connected vehicle, the delay time of the connected vehicle, and the election conditions under the current iteration round, including: Based on the turning intention of each connected vehicle, determine the number of waiting vehicles that do not conflict with 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; The product of the preset type factor corresponding to the vehicle type of the connected vehicle and the vehicle type weight is used as the second parameter. The product of the waiting time and the waiting time weight is used as the third parameter; The product of the delay duration and the delay duration weight is used as the 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.

5. The method for handling the passage of multiple connected vehicles according to claim 1, characterized in that, The step of determining whether to select the candidate connected vehicle as the target connected vehicle based on the feedback results and the result threshold of the current intersection in the current iteration round includes: The target feedback result is determined based on the feedback results and the vehicle type of each connected vehicle. If the target feedback result is greater than or equal to the result threshold of the current iteration round, then the candidate connected vehicle is determined as the target connected vehicle.

6. The method for handling the passage of multiple connected vehicles according to claim 5, characterized in that, The step of determining the target feedback result based on each of the feedback results and the vehicle type of each of the connected vehicles includes: Determine all the agreeing results in each of the feedback results and the connected vehicles of the preset vehicle type that provided the agreeing results, to obtain the total number of agreeing results and the number of feedback agreeing results of the preset vehicle type; The difference between the feedback weight of the preset vehicle type and the preset value is used as the weight difference value; 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.

7. An electronic device, characterized in that, The method includes a memory and a processor, wherein the memory stores a computer program executable by the processor, and the processor executes the computer program to implement the steps of the method for processing the passage of multiple connected vehicles as described in any one of claims 1-6.

8. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores a computer program that, when executed by a processor, performs the steps of the passage processing method for multiple connected vehicles as described in any one of claims 1-6.

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