Method for determining communication node of public switching lane outbound coordination control Internet of Vehicles

Abstract

The invention relates to the technical field of intelligent network connection, in particular to a public lane departure coordination control Internet of Vehicles communication node determination method, which comprises the following steps that: step 1, a bus is connected with an intelligent road test unit through a sensor, and the driving state of a social vehicle on a target lane at a # imgabs0 # moment is obtained; step 3, the intelligent road test unit calculates the time difference between the bus and the rear social vehicle of the lane changing target lane passing through the potential conflict point and compares the time difference with a threshold value, step 4, social vehicle lane changing decision making, and step 5, the intelligent road test unit communicates with the social vehicle and collects preference strategies and trajectory data. Step 6 and step 7, judging when a feedback strategy is lane changing or no lane changing, step 8, updating a social vehicle sample set influenced by bus departure, and step 9, establishing a public lane departure coordination control vehicle networking; through the established Internet of Vehicles, the functions of saving regional communication resources to the greatest extent and assisting the buses to go out of the station smoothly can be realized.

Description

Technical Field

[0001] The present invention relates to the field of intelligent vehicle-to-everything (V2X) technology, and in particular to a method for determining a communication node of a bus interchange exit cooperative control vehicle network. Background Art

[0002] At present, with the development of intelligent network technology, the existing research focus of forced lane change conflicts has shifted to the coordinated lane change between lane-changing vehicles and vehicles in adjacent lanes. Therefore, determining the number of coordinated vehicles and the identity information of coordinated vehicles is of practical significance and can effectively reduce regional vehicle driving conflicts. At the same time, the precise determination of each communication node in the Internet of Vehicles can also reduce the occurrence of communication redundancy, communication delay, and packet loss, and can effectively improve the overall performance of the communication network. The establishment of a coordinated control Internet of Vehicles for bus interchange exits can help lane-changing vehicles assess lane-changing risks, assist vehicle driving decision-making, and provide dynamic control basis for traffic management departments.

[0003] Regarding the research on the scope of influence of lane-changing vehicles on road traffic flow, existing studies have focused on the measurement of section traffic indicators. For example, the article "Real-time Assessment Method for Lane-changing Risk of Intelligent Connected Vehicles in Urban Expressway Merging Areas" proposes the lane-changing collision time (LCTTC) and the collision loss energy index (LEI), and obtains REL and RSL through mapping to describe the lane-changing risk characteristics; the patent "A Real-time Lane-changing Risk Prediction Method and Related Equipment for Connected Autonomous Driving Vehicles", Chinese Patent Application No.: CN202410781978.X uses the method of historical lane-changing trajectory data mining to evaluate lane-changing risks, uses the data training set to train the lane-changing risk prediction model, obtains the lane-changing risk prediction model, and uses the lane-changing risk prediction model to predict the lane-changing risk of connected autonomous driving vehicles at preset future moments. Existing research evaluates the impact of traffic flow from a macro perspective, lacks impact assessment from the perspective of micro vehicles, cannot determine the vehicle ID that generates conflicting relationships, and is even more difficult to build a vehicle network that coordinates conflicting relationships to achieve accurate traffic control and guidance. The patent "A control method and system for improving the traffic efficiency of narrowed highway sections", Chinese patent application number: CN202010118824.4, takes lane-changing vehicles as the control object of narrowed highway sections, and verifies that reasonable lane-changing behavior helps improve the traffic efficiency of roads. However, there is currently insufficient research on the problem of reduced traffic efficiency on urban roads caused by forced lane-changing of buses leaving the station, and it is necessary to conduct lane-changing research on bay-type bus stops.

[0004] At present, bus interchange exit is a bottleneck problem affecting the normal operation of urban road traffic. The cooperative behavior between vehicles can assist buses to exit the station safely and efficiently, which is conducive to alleviating the congestion of urban roads during peak hours. Some existing bus interchange coordination schemes only consider the participation of the following vehicles in the target lane, thereby ignoring the participation of other social vehicles around; or include all CAVs around the bus stop into the bus interchange coordination scheme, resulting in some vehicles not affected by the bus interchange also communicating and sharing data, which does not enable the reasonable allocation of communication and computing resources and will cause a huge waste of communication resources. Summary of the invention

[0005] In view of the above problems, the purpose of the present invention is to provide a method for determining the communication nodes of the bus lane exchange exit cooperative control vehicle network, which is used to establish a bus lane exchange cooperative control vehicle network and optimize the lane changing behavior and improve the traffic efficiency of the road section, so as to overcome the shortcomings of the above-mentioned prior art.

[0006] The present invention provides a method for determining a communication node of a bus interchange exit cooperative control vehicle network, which specifically comprises the following steps: Step 1: The bus connects to the intelligent road test unit through sensors and obtains the information of social vehicles in the target lane. Driving status at the moment, driving status includes: 、 、 、 、 ; in, Indicates that social vehicles are The driving speed at the time, Indicates that social vehicles are The driving acceleration at the time, Indicates that social vehicles are The horizontal coordinate position of the time, Indicates that social vehicles are The vertical coordinate position of the moment, Indicates that social vehicles are The heading angle at the moment; Step 2: The bus determines the lane-changing conditions. When the bus and the vehicle in front of the target lane are Front spacing Greater than the clearance before safe lane change , and the bus and the vehicle behind in the target lane The back spacing Larger than the vehicle behind in the lane where you want to change lanes Braking distance , then it is judged that the gap between vehicles in the target lane at the current moment meets the requirements for bus lane change, and the bus chooses Change lanes at the time of exiting the station, otherwise, the bus will choose The system does not change lanes when leaving the station and sends lane change request and pre-lane change trajectory to the road test intelligent unit RSU; Step 3: The intelligent road test unit RSU calculates the distance between the bus and the rear social vehicles in the lane change target lane Time difference in passing potential conflict points With threshold Compare, if It is judged that when the bus leaves the station according to the pre-lane change trajectory, the social vehicles behind the lane change target lane Will be affected by the bus lane change, intelligent road test unit RSU and social vehicles Communicate and collect social vehicles The preferred strategy and trajectory data, otherwise, will not be executed; Step 4: Social Vehicles Lane change decision, Calculating lane change needs K ,like K >1, then the lane change requirement is determined to be met and the lane change conditions are further determined: and ,when When both the lane changing demand and lane changing conditions are met, Choose to change lanes, otherwise, No lane change and avoidance speed Keep driving; Step 5: Intelligent road test unit RSU and social vehicles Communicate and collect Preference strategies and trajectory data, The preference strategy and trajectory data are given by The vehicle-mounted computing unit obtains the result, and the calculation steps are given in step 4; Step 6: When When the feedback strategy is lane change, the intelligent road test unit RSU calculates the social vehicles affected by the bus leaving the station The vehicle behind the target lane The time difference Δ passing the potential conflict point t 2 With threshold Compare, if Δ t 2 < , then judge the social vehicles behind the lane change target lane Received Lane changing impact, intelligent road test unit RSU and social vehicles Communicate and collect Preference strategies and trajectory data; The preference strategy and trajectory data are given by The on-board computing unit obtains the result, and the calculation steps are the same as step 4; Step 7: When When the feedback strategy is no lane change, the intelligent road test unit RSU calculates the number of social vehicles affected by the bus leaving the station The social vehicle behind the current lane The workshop distance d , determine the workshop distance d Minimum safety distance If the relationship between d< Then judge the social vehicle behind the current lane Normal driving is affected by the front vehicle The impact of intelligent road test unit RSU and social vehicles Communicate and collect Preference strategies and trajectory data, The preference strategy and trajectory data are given by The on-board computing unit obtains the result, and the calculation steps are the same as step 4; Step 8: Collect the sample set of social vehicles affected by the bus leaving the station Updated to , determine whether , It is the estimated time from when the bus starts changing lanes to when it finishes changing lanes. , execute step 4, otherwise, output the social vehicle sample set that is finally affected by the bus leaving the station ; Step 9: Based on the ID information of the vehicle that affects the bus exit, the RSU establishes a bus interchange exit cooperative control vehicle network. The communication nodes in the vehicle network are: .

[0007] As a preferred embodiment of the present invention, step 2 also includes: Step 21: Calculation , ; in, The distance between the front vehicle in the target lane and the front of the bus; Step 22: Calculation , ; in, is the distance between the rear vehicle in the target lane and the front of the bus, is the length of the bus body; Step 23: Calculation , ; In the formula Indicates the safe gap that the bus needs to maintain with the vehicle in front of the target lane before changing lanes. and Respectively represent the bus and the front vehicle in the lane change target lane The speed of the car at the moment, Indicates the estimated time for the bus to change lanes. It represents the steady-state headway between the bus and the vehicle in front of the target lane after the lane change is completed; Step 24: Calculation , ; In the formula, Indicates the vehicle behind the target lane for lane change The braking distance, and They represent the following vehicles in the target lane of lane change. The speed and braking acceleration at the moment, r express reaction time.

[0008] As a preferred embodiment of the present invention, step three also includes: Step 31: RSU establishes the coordinate system , the origin is the left end of the bus front bumper, calculate the coordinates of the potential conflict point The coordinates of the end point of the bus lane-changing curve are , the social vehicle width is , The calculation formula is as follows: ; The bus pre-lane change trajectory curve can be expressed by a cubic polynomial: ; in, and Indicates the horizontal and vertical position of the left side of the bus front bumper. 、 、 、 is the parameter to be calibrated, and the bus pre-lane change trajectory equation used is: ; According to the given The value can be calculated Value, thus obtaining the coordinates of potential conflict points ; Step 32: Calculate the length of the bus's trajectory from the lane change point to the potential conflict point , ; In the formula, It is the first derivative of the ordinate of the orbital trajectory; Step 33: Calculate the number of vehicles behind the target lane Distance to potential conflict points ,in, d 1 means buses and private vehicles behind the target lane The longitudinal headway between the ; Step 34: Calculate the time difference between the bus and the rear social vehicle in the target lane passing the potential conflict point ; ; In the formula, It represents the average lane-changing speed of buses.

[0009] As a preferred embodiment of the present invention, step 4 also includes: Step 41: Calculate social vehicles Lane changing needs K , ; Indicates that the bus is The speed of the car at the moment, Indicates the vehicle ahead in the target lane for lane change exist The vehicle speed at the time; Step 42: Social Vehicles Determine lane-changing conditions. calculate and : ; in, The vehicle in front of the target lane for lane change With social vehicles The distance between the front of the car, ; in, The target lane is the rear vehicle With social vehicles The distance between the front of the car, for Body length; calculate and : ; In the formula, express Need to change lanes with the vehicle in front of you in the target lane The minimum safe clearance before changing lanes, and Respectively The vehicle in front of the target lane exist The speed of the car at the moment, Represents social vehicles Estimated lane change time, Indicates that the lane change is complete The vehicle in front of the target lane The steady-state workshop time interval; ; In the formula, Indicates the vehicle behind the target lane The braking distance, and They represent the following vehicles in the target lane of lane change. The speed and braking acceleration at the moment, express Response time; Step 43: Calculate social vehicles The avoidance speed , ; in, Represents social vehicles exist The avoidance speed at the moment; express The distance from the current location to the potential conflict point; Indicates the time when the bus reaches the potential conflict point; Indicates the collision time threshold.

[0010] As a preferred embodiment of the present invention, step six also includes: Step 61: Intelligent road test unit RSU establishes coordinate system , the origin is the social vehicle Left end of the front bumper, calculate the coordinates of the potential conflict point , social vehicles The coordinates of the end point of the lane change curve are ( ), the social vehicle width is , The calculation formula is as follows: ; Social Vehicles The lane-changing trajectory curve can be expressed by a cubic polynomial: ; in, and Represents social vehicles The lateral and longitudinal position of the left side of the bumper, , , , is the parameter to be calibrated, given The pre-lane-changing trajectory equation is: ; According to the given The value can be calculated Value, thus obtaining the coordinates of potential conflict points ; Step 62: Intelligent road test unit RSU calculates social vehicles Distance to potential conflict points , ; In the formula, For vehicles The first derivative of the ordinate of the lane-changing trajectory; Step 63: Intelligent road test unit RSU calculates social vehicles The rear social vehicles in the lane of the lane change target The distance from the current location to the potential conflict point ,in, Represents social vehicles and the social vehicles behind the lane where the lane is changed The longitudinal headway between the ; Step 64: Intelligent road test unit RSU calculates social vehicles The vehicle behind the target lane Time difference in passing potential conflict points , .

[0011] As a preferred embodiment of the present invention, step seven also includes: Step 71: Calculate the number of social vehicles affected by bus departure The social vehicle behind the current lane The workshop distance d , ; Step 72: Calculate the number of social vehicles affected by bus departure The car behind the current lane Minimum safety distance , ; in, Represents social vehicles exist The location at the moment, Representing social vehicles exist The location at the moment, Represents social vehicles The length of the body, Represents social vehicles The maximum deceleration rate, Represents social vehicles The maximum deceleration rate, Represents social vehicles The reaction time, Represents social vehicles exist The speed of time.

[0012] The beneficial effects of the present invention are as follows: by considering the different driving decisions of social vehicles directly affected by bus exchanges, the judgment criteria for social vehicles indirectly affected by bus exchanges are classified and given. During the bus exchange, the sample set of affected social vehicles is iteratively expanded in sequence, and finally the cluster of affected vehicles in the bus exit scenario is output, and a more accurate bus exchange impact range is determined. Based on the ID information of vehicles affected by the bus exit, the intelligent road test unit RSU establishes a bus exchange exit coordination vehicle network for coordinated bus exit. Therefore, the established vehicle network can achieve the function of maximizing the conservation of regional communication resources and assisting buses to exit the station smoothly. BRIEF DESCRIPTION OF THE DRAWINGS

[0013] By referring to the following description in conjunction with the accompanying drawings, and with a more comprehensive understanding of the present invention, other objects and results of the present invention will become more apparent and easy to understand. In the accompanying drawings: Figure 1 It is a schematic diagram of applicable scenarios in this embodiment.

[0014] Figure 2 Schematic diagram of the vehicle position relationship in the research scenario of this embodiment.

[0015] Figure 3 FIG. 4 is a schematic diagram of potential conflicts in bus lane changes in this embodiment.

[0016] Figure 4The social vehicle in this embodiment Schematic diagram of potential conflicts during lane change.

[0017] Figure 5 4 is an operation flow chart of this embodiment.

[0018] Figure 6 Schematic diagram of vehicle positions in the case scenario in this embodiment.

[0019] Figure 7 This is a schematic diagram of the public transportation cooperative control vehicle network in the case scenario of this embodiment.

[0020] Figure 8 The preset parameters are shown for the cases in this embodiment. DETAILED DESCRIPTION

[0021] See also Figure 1-8 As shown, in the case scenario of this embodiment, the positions of the bus and the private vehicles are Figure 6 Note: The bus is located in the center of the harbor. The following distance between private vehicles in the first lane is 50m, and the following distance between private vehicles in the second lane is 40m. The private vehicles in the two lanes are evenly arranged and travel at a constant speed in the direction of the traffic flow.

[0022] The preset parameter values ​​involved in this embodiment are as follows Figure 8 As shown in the parameter table.

[0023] The calculation steps are as follows: Step 1: The bus connects to the intelligent road test unit through sensors and obtains the information of social vehicles in the target lane. Driving status at the moment, driving status includes: 、 、 、 、 ; in, Indicates that social vehicles are The driving speed at the time, Indicates that social vehicles are The driving acceleration at the time, Indicates that social vehicles are The horizontal coordinate position of the time, Indicates that social vehicles are The vertical coordinate position of the time, Indicates that social vehicles are The heading angle at the moment; Step 2: The bus determines the lane change conditions. From the set scene location information, we know: = =20.75m. =0km / h, =50km / h , so , = 0 m. ,Will =50km / h, =1s Substituting it into: =23.09m. , so we judge that the bus is The vehicle cannot change lanes to exit the station at any time, and sends a lane change request and a pre-lane change trajectory to the intelligent road test unit RSU through the intelligent network environment.

[0024] Step 3: After receiving the lane change information, the intelligent road test unit RSU calculates the number of social vehicles in the target lane The time difference between when the bus passes the potential conflict point With threshold In this embodiment, it is assumed that after the bus changes lanes, it will be Maintain the same speed and stable following distance (i.e. minimum safe distance), stable following distance = =27.78m, so the coordinates of the end point of the bus lane change are: (34.64, 3.25); according to the formula: ,Will =3.25m, =1.7m Substituting into the equation: =1.55m. =1.55m is substituted into the bus lane change trajectory formula: , we can get =16.79m. Taking the definite integral of the lane-changing curve of the bus from the lane-changing point to the potential conflict point, we can get the trajectory length from the lane-changing point to the potential conflict point as: =20.49m.

[0025] Social Vehicles Distance to potential conflict points =46.04m, social vehicles Distance to potential conflict points =95.99m, which can be calculated respectively and from The time difference from the moment to the potential conflict point: =3.31s, The travel time of the bus from the lane change point to the potential conflict point is: .because ,and , so we can judge whether the bus lane change behavior is The normal driving of The normal driving of other vehicles behind it will not be affected. Communication and interconnection, The preferred strategy trajectory information is transmitted to the intelligent drive test unit RSU.

[0026] Step 4: Calculate the preferred strategy trajectory information. Determine the social vehicle Lane changing conditions. , so A lane change requirement is generated. From the setting scene position information, we know: = =17.85m. =60km / h, =50km / h , so , = 0m. ,Will =60km / h, = 0.5s, =-10m / s^ 2 Substituting in, we get: =17.59m. and , so judging social vehicles Satisfy lane change conditions.

[0027] Step 5: Intelligent road test unit RSU and social vehicles Communicate and collect preference strategies and trajectory data, social vehicles The preferred strategy is lane changing and the lane changing trajectory is sent to the intelligent road test unit RSU through V2X technology.

[0028] Step 6: Calculation With the rear social vehicle of the target lane Time difference in passing potential conflict points With threshold In this embodiment, it is assumed that After the lane change is completed, Maintain the same speed and stable following distance (i.e. minimum safe distance), stable following distance = =33.33m, so we get The coordinates of the lane change end point are: (22.15, 3.5); according to the formula: ,Will =3.5m, =1.7m Substituting into the equation: =1.8m. =1.8m Bring in social vehicles Lane changing trajectory formula: , we can get =11.29m. By taking a definite integral of the lane-changing curve from the lane-changing point to the potential conflict point, we can get the trajectory length from the lane-changing point to the potential conflict point as: =14.06m.

[0029] Social Vehicles Distance to potential conflict points =33.44m, social vehicles Distance to potential conflict points =76.84m, which can be calculated respectively and from The time difference from the moment to the potential conflict point: =2.00s, =4.61s. The travel time from the lane change point to the potential conflict point is: .because ,and , so judge The lane-changing behavior of Normal driving will be affected. The normal driving of other vehicles behind it will not be affected. Communication and interconnection, The preferred strategy trajectory information is transmitted to the intelligent drive test unit RSU.

[0030] Calculate the preferred strategy trajectory information. Determine the social vehicle Since the scenario is a one-way two-lane urban road and private vehicles can only change lanes to the left, private vehicles in the second lane There is no left lane and the lane change conditions are not met.

[0031] Step 7: Calculation Social Vehicles With the car behind The workshop distance d Minimum safety distance Compare. Social Vehicles face The avoidance speed during lane change can be expressed by the formula To obtain =33.44m, =2s, =0.92s Substituting this into: =11.45m / s. According to the formula , we get d=44.3m. According to the formula =13.22m. Since d> , so judge Social Vehicles face Avoidance during lane change will not affect the vehicle behind you. Affecting the normal driving.

[0032] Step 8: Iterate the location information at different times and calculate the social vehicles With the car behind The workshop distance d Minimum safety distance Compare. At time, d=39.08m, =13.22m. So d> ,judge Social Vehicles right The lane change avoidance action will not affect the vehicle behind in the current lane. Similarly, it is concluded that , , , t+5 time, d They are 33.86m, 28.64m, 23.42 and 18.20m respectively, satisfying d> Determine the rear vehicle The normal driving of the time, d =12.98m, =13.22m. At this time, d < Determine the rear vehicle The normal driving of the vehicle is affected and the number of the social vehicle is output: Iteration At the time, due to =7s> , The lane changing time of the bus is estimated, so the iterative process ends and the sample set of social vehicles affected by the bus lane change is output: + + .

[0033] Step 9: Based on the ID information of the vehicle that affects the bus exit, the RSU establishes a bus interchange exit cooperative control vehicle network. The communication nodes in the vehicle network are: .

[0034] In the scenario to which this embodiment is applicable, the bus stop is a bay-type stop located in the middle of the road section, and the bus's exit lane-changing behavior is not affected by the traffic lights at the upstream and downstream intersections. And taking a one-way two-lane urban road as an example, the lanes are named lane one and lane two from the outside to the inside. Social vehicles traveling on the road section are equipped with intelligent sensing equipment such as sensors and lidars, and travel in an intelligent network environment. Vehicle status information transmission and path decision planning are both realized in real time, and communication delay and packet loss are not considered. The drivers of social vehicles and public buses are all rational participants. When changing lanes freely, social vehicles all change lanes to the left in order to seek a higher driving speed.

[0035] The above are only specific embodiments of the present invention, but the protection scope of the present invention is not limited thereto. Any person skilled in the art who is familiar with the technical field can easily think of changes or substitutions within the technical scope disclosed by the present invention, which should be included in the protection scope of the present invention. Therefore, the protection scope of the present invention should be based on the protection scope of the claims.

Claims

1. A method for determining a communication node of a bus interchange exit cooperative control vehicle network, characterized in that: The following steps are involved: Step 1: The bus connects to the intelligent road test unit through sensors and obtains the information of social vehicles in the target lane. Driving status at the moment, driving status includes: 、 、 、 、 ; in, Indicates that social vehicles are The driving speed at the time, Indicates that social vehicles are The driving acceleration at the time, Indicates that social vehicles are The horizontal coordinate position of the time, Indicates that social vehicles are The vertical coordinate position of the moment, Indicates that social vehicles are The heading angle at the moment; Step 2: The bus determines the lane-changing conditions. When the bus and the vehicle in front of the target lane are Front spacing Greater than the clearance before safe lane change , and the bus and the vehicle behind in the target lane The back spacing Larger than the vehicle behind in the lane change target lane Braking distance , then it is judged that the gap between vehicles in the target lane at the current moment meets the requirements for bus lane change, and the bus chooses Change lanes at the time of exiting the station, otherwise, the bus will choose The system does not change lanes when leaving the station and sends lane change request and pre-lane change trajectory to the road test intelligent unit RSU; Step 3: The intelligent road test unit RSU calculates the distance between the bus and the rear social vehicles in the lane change target lane Time difference in passing potential conflict points With threshold Compare, if It is judged that when the bus leaves the station according to the pre-lane change trajectory, the social vehicles behind the lane change target lane Will be affected by the bus lane change, intelligent road test unit RSU and social vehicles Communicate and collect social vehicles The preferred strategy and trajectory data, otherwise, will not be executed; Step 4: Social Vehicles Lane change decision, Calculating lane change needs K ,like K >1, then the lane change requirement is determined to be met and the lane change conditions are further determined: and ,when When both the lane changing demand and lane changing conditions are met, Choose to change lanes, otherwise, No lane change and avoidance speed Keep driving; Step 5: Intelligent road test unit RSU and social vehicles Communicate and collect Preference strategies and trajectory data, The preference strategy and trajectory data are given by The vehicle-mounted computing unit obtains the result, and the calculation steps are given in step 4; Step 6: When When the feedback strategy is lane change, the intelligent road test unit RSU calculates the social vehicles affected by the bus leaving the station The vehicle behind the target lane The time difference Δ passing the potential conflict point t 2 With threshold Compare, if Δ t 2 < , then judge the social vehicles behind the lane change target lane Received Lane changing impact, intelligent road test unit RSU and social vehicles Communicate and collect Preference strategies and trajectory data; The preference strategy and trajectory data are given by The on-board computing unit obtains the result, and the calculation steps are the same as step 4; Step 7: When When the feedback strategy is no lane change, the intelligent road test unit RSU calculates the number of social vehicles affected by the bus leaving the station The social vehicle behind the current lane The workshop distance d , determine the workshop distance d Minimum safety distance If the relationship between d< Then judge the social vehicle behind the current lane Normal driving is affected by the front vehicle The impact of intelligent road test unit RSU and social vehicles Communicate and collect Preference strategies and trajectory data, The preference strategy and trajectory data are given by The on-board computing unit obtains the result, and the calculation steps are the same as step 4; Step 8: Collect the sample set of social vehicles affected by the bus leaving the station Updated to , determine whether , It is the estimated time from when the bus starts changing lanes to when it finishes changing lanes. , execute step 4, otherwise, output the social vehicle sample set that is finally affected by the bus leaving the station ; Step 9: Based on the ID information of the vehicle that affects the bus exit, the intelligent road test unit RSU establishes a bus interchange exit cooperative control vehicle network. The communication nodes in the vehicle network are: .

2. A method for determining a communication node of a bus interchange exit cooperative control vehicle network according to claim 1, characterized in that: Step 2 also includes: Step 21: Calculation , ； in, The distance between the front vehicle in the target lane and the front of the bus; Step 22: Calculation , ； in, is the distance between the rear vehicle in the target lane and the front of the bus, is the length of the bus body; Step 23: Calculation , ； In the formula Indicates the safe gap that the bus needs to maintain with the vehicle in front of the target lane before changing lanes. and Respectively represent the bus and the front vehicle in the lane change target lane The speed of the car at the moment, Indicates the estimated time for the bus to change lanes. It represents the steady-state headway between the bus and the vehicle in front of the target lane after the lane change is completed; Step 24: Calculation , ； In the formula, Indicates the vehicle behind the target lane for lane change The braking distance, and They represent the following vehicles in the target lane of lane change. The speed and braking acceleration at the moment, express reaction time.

3. The method for determining the communication node of the bus interchange exit cooperative control vehicle network according to claim 1, characterized in that: Step three also includes: Step 31: RSU establishes the coordinate system , the origin is the left end of the bus front bumper, calculate the coordinates of the potential conflict point The end point coordinates of the bus lane-changing curve are , the social vehicle width is , The calculation formula is as follows: ； The bus pre-lane change trajectory curve can be expressed by a cubic polynomial: ； in, and Indicates the horizontal and vertical position of the left side of the bus front bumper. 、 、 、 is the parameter to be calibrated, and the bus pre-lane change trajectory equation used is: ； According to the given The value can be calculated Value, thus obtaining the coordinates of potential conflict points ; Step 32: Calculate the length of the bus's trajectory from the lane change point to the potential conflict point , ； In the formula, It is the first derivative of the ordinate of the orbital trajectory; Step 33: Calculate the number of vehicles behind the target lane Distance to potential conflict points ,in, d 1 means buses and private vehicles behind the target lane The longitudinal headway between the ； Step 34: Calculate the time difference between the bus and the rear social vehicle in the target lane passing the potential conflict point ; ； In the formula, It represents the average lane-changing speed of buses.

4. The method for determining the communication node of the bus interchange exit cooperative control vehicle network according to claim 1, characterized in that: Step 4 also includes: Step 41: Calculate social vehicles Lane changing requirements K , ； Indicates that the bus is The speed of the car at the moment, Indicates the vehicle ahead in the target lane for lane change exist The vehicle speed at the time; Step 42: Social Vehicles Determine lane-changing conditions. calculate and : ； in, The vehicle in front of the target lane for lane change With social vehicles The distance between the front of the car, ； in, The target lane is the rear vehicle With social vehicles The distance between the front of the car, for Body length; calculate and : ； In the formula, express Need to change lanes with the vehicle in front of you in the target lane The minimum safe clearance before changing lanes, and Respectively The vehicle in front of the target lane exist The speed of the car at the moment, Represents social vehicles Estimated lane change time, Indicates that the lane change is complete The vehicle in front of the target lane The steady-state workshop time interval; ； In the formula, Indicates the vehicle behind the target lane The braking distance, and They represent the following vehicles in the target lane of lane change. The speed and braking acceleration at the moment, express Response time; Step 43: Calculate social vehicles The avoidance speed , ； in, Represents social vehicles exist The avoidance speed at the moment; express The distance from the current location to the potential conflict point; Indicates the time when the bus reaches the potential conflict point; Indicates the collision time threshold.

5. The method for determining the communication node of the bus interchange exit cooperative control vehicle network according to claim 1, characterized in that: Step six also includes: Step 61: Intelligent road test unit RSU establishes coordinate system , the origin is the social vehicle Left end of the front bumper, calculate the coordinates of the potential conflict point , social vehicles The coordinates of the end point of the lane change curve are ( ), the social vehicle width is , The calculation formula is as follows: ； Social Vehicles The lane-changing trajectory curve can be expressed by a cubic polynomial: ； in, and Represents social vehicles The horizontal and vertical position of the left side of the bumper, , , , is the parameter to be calibrated, given The pre-lane-changing trajectory equation is: ； According to the given The value can be calculated Value, thus obtaining the coordinates of potential conflict points ; Step 62: Intelligent road test unit RSU calculates social vehicles Distance to potential conflict points , ； In the formula, For vehicles The first derivative of the ordinate of the lane-changing trajectory; Step 63: Intelligent road test unit RSU calculates social vehicles The rear social vehicles in the lane of the lane change target The distance from the current location to the potential conflict point ,in, Represents social vehicles and the social vehicles behind the lane change target lane The longitudinal headway between the ； Step 64: Intelligent road test unit RSU calculates social vehicles The vehicle behind the target lane Time difference in passing potential conflict points , 。 6. The method for determining the communication node of the bus interchange exit cooperative control vehicle network according to claim 1, characterized in that: Step seven also includes: Step 71: Calculate the number of social vehicles affected by bus departure The social vehicle behind the current lane The workshop distance d , ； Step 72: Calculate the number of social vehicles affected by bus departure The car behind the current lane Minimum safety distance , ； in, Represents social vehicles exist The location at the moment, Representing social vehicles exist The location at the moment, Represents social vehicles The length of the body, Represents social vehicles The maximum deceleration rate, Represents social vehicles The maximum deceleration rate, Represents social vehicles The reaction time, Represents social vehicles exist The speed of time.

Images