A method for converging vehicle road coordination guidance

Abstract

The application relates to a kind of face-to-face general vehicle road coordination guiding method, method includes: obtaining the current position data information of target vehicle and vehicle speed information, and monitoring whether the front of the driving direction of the lane where target vehicle is located is merged with adjacent lane;If merging, obtain the vehicle information of target vehicle and the vehicle information within the preset range of target vehicle and located on adjacent lane;The vehicle information of target vehicle and located on adjacent lane is introduced into the vehicle formation driving model constructed, and the ideal vehicle speed information of target vehicle is obtained;Visual guidance information is sent to target vehicle to guide target vehicle to adjust vehicle speed to ideal vehicle speed, merge ramp or lane on the lane. By monitoring the driving data of target vehicle and the adjacent lane of the lane where target vehicle is located, it is deployed on the outermost side of main line and the right side of uplink ramp. For uplink ramp, guide the vehicle in ramp to merge into main line traffic flow with uniform acceleration, ensure that the merging action is safely and efficiently carried out.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of intelligent transportation, in particular to a generic car-road cooperative guidance method for merging. BACKGROUND

[0002] In the modern highway scene, the key traffic channel needs to be controlled through the three steps of "perception-judgment-control". In the whole control closed loop, the short board is often in the control step: the traditional traffic information release mainly depends on the variable information board, and this method has proved to have the disadvantages of "new people can't understand, old people won't look", and there is a certain time delay in information transmission, so that the timeliness of the above information transmission is difficult to guarantee; similarly, FM traffic broadcast is also difficult to meet the timeliness and individuality of information release;

[0003] As a new type of traffic guidance medium, the traditional car-road cooperative communication has the advantages of low delay and targeted release, but it requires the user vehicle to be pre-installed with a client, and before the car-road cooperative business has a strong attraction to the user, it is not realistic to assume that all users on the road can receive the control information. Due to the lack of effective and accurate user touch means, the situation of "controlling without reaching" is common in reality.

[0004] In the face of the above control problems, the current main idea is to introduce or improve the existing user touch medium to perfect the control closed loop. Among them, the visual guidance system composed of active light-emitting studs or lamps has attracted attention due to its high information transmission rate (close to the speed of light), and in recent years the industry has begun to explore the practice of integrating traffic guidance information into the light flashing mode.

[0005] But the current visual guidance system uses the current speed limit of the road section to transmit the recommended vehicle speed to the vehicle, so it cannot become a technical solution for fine control in key scenarios, therefore, the control granularity and adaptive ability of the current visual guidance system are far from meeting the requirements of highway fine control. SUMMARY

[0006] Therefore, it is necessary to provide a generic car-road cooperative guidance method for merging to solve the problems of insufficient control fine degree and insufficient adaptive ability of the current visual guidance system.

[0007] A generic car-road cooperative guidance method for merging, the method comprising:

[0008] obtaining current position data information and vehicle speed information of a target vehicle, and monitoring whether the front of the driving direction of the lane where the target vehicle is located is merged with the adjacent lane;

[0009] If combined, the vehicle information of the target vehicle and the vehicle information within the preset range of the target vehicle and located in the adjacent lane are obtained, wherein the vehicle information includes the speed information and current position data information of the vehicle located in the adjacent lane;

[0010] Importing vehicle information of the target vehicle and the vehicles located in adjacent lanes into the constructed vehicle platoon driving model to obtain ideal vehicle speed information of the target vehicle;

[0011] Based on the ideal speed information and current speed information of the target vehicle, visual guidance information is sent to the target vehicle to guide the target vehicle to adjust its speed to the ideal speed so that the target vehicle and vehicles in the adjacent lane merge into the lane at the merging ramp or lane.

[0012] In one preferred embodiment, the current position data and speed information of the target vehicle and the vehicles in the adjacent lanes are imported into the constructed vehicle platooning driving model to obtain the ideal speed information of the target vehicle, including:

[0013] Obtaining distance information d1 between the target vehicle and vehicles located within a preset range on adjacent lanes in the direction of travel;

[0014] Get the preset safety distance d of the current road section 10 , and based on the vehicle distance information d1 and the preset safe vehicle distance d 10 , get the ideal distance difference e of the target vehicle m1,i ;

[0015] Based on the ideal distance difference e m1,i , obtain the ideal speed information of the target vehicle

[0016] In one preferred embodiment, the preset safety distance d 10 The way to obtain is:

[0017] Based on the current speed information of the target vehicle and the distance information of the vehicle in front of the target vehicle, the preset safety distance d is obtained from the dynamic vehicle distance parameter database. 10 .

[0018] In one preferred embodiment, the ideal distance difference e m,i satisfy:

[0019] e m,i =d1-d 10 -v m1,i Δt1

[0020] The v m1,i is the current speed of the target vehicle, and Δt1 is the preset headway;

[0021] ideal speed information of the target vehicle satisfies:

[0022]

[0023] the v m1,i-1 is the speed of the target vehicle at the last sensing period of the sensing device, v max is the highest speed limit of the road segment where the target vehicle is located, k p and k d are the PD filter parameters calibrated respectively.

[0024] In one preferred embodiment, the method of sending visual guidance information to the target vehicle based on the ideal speed information and the current speed information of the target vehicle to guide the target vehicle to adjust the speed to the ideal speed comprises:

[0025] sending visual guidance information to the target vehicle through guidance lights or variable light-emitting signs set on the road, the visual guidance information including changing light color and / or changing light flashing frequency.

[0026] In one preferred embodiment, when the visual guidance information includes changing light flashing frequency, the light flashing frequency satisfies:

[0027]

[0028] where l0 is the deployment interval between two adjacent signal sources, is the ideal speed information of the target vehicle.

[0029] In one preferred embodiment, when the visual guidance information includes changing light color, the method of sending visual guidance information to the target vehicle based on the ideal speed information and the current speed information of the target vehicle to guide the target vehicle to adjust the speed to the ideal speed comprises:

[0030] when the current speed information of the target vehicle is less than the ideal speed information, sending visual guidance information with flashing green light to the target vehicle;

[0031] when the current speed information of the target vehicle is close to the ideal speed information, sending visual guidance information with flashing yellow light to the target vehicle;

[0032] when the current speed information of the target vehicle is greater than the ideal speed information, sending visual guidance information different from flashing red light to the target vehicle;

[0033] when the current speed information of the target vehicle is greater than the ideal speed information and exceeds a threshold range, sending visual guidance information with red light to the target vehicle.

[0034] In one preferred embodiment, the method further comprises:

[0035] acquiring traffic event information of a vehicle in the target area and information of a vehicle involved in the traffic event information;

[0036] based on the information of the vehicle involved, acquiring speed information and distance information of the vehicle involved within a preset time period before the traffic event;

[0037] According to the speed information and distance information of the vehicle involved within the preset time period before the traffic event, and based on the vehicle platoon driving model, the cause of the traffic event is analyzed.

[0038] The above-mentioned embodiments of the present application monitor the driving data of the target vehicle and the adjacent lane of the lane where the target vehicle is located, and are deployed at the outermost side of the main line and the right side of the uplink ramp. When detecting that the main line traffic flow has a suitable traffic gap, the PACC light control can be started. For the main line, the PACC system is used to guide the vehicles behind the gap to maintain uniform speed and keep the gap length. For the uplink ramp, the vehicles in the ramp are guided to merge into the main line traffic flow at a uniform acceleration, ensuring that the merging action is safe and efficient. The light can be used as a guide for safe merging and as a basis for event tracing after a conflict occurs.

[0039] The above-mentioned embodiments of the present application use the acquired information such as current speed, position and distance of the vehicle, take the platoon driving model as the core control logic, guide the vehicles to drive in an orderly manner through optical information transmission, realize the fine and adaptive controllable characteristics of the key channel scene, and improve the stability and safety of the road traffic flow. BRIEF DESCRIPTION OF DRAWINGS

[0040] Figure 1 A flowchart of a generic vehicle road cooperative guidance method for merging in a preferred embodiment of the present application;

[0041] Figure 2 A flowchart of the subdivided steps of step S30 of a generic vehicle road cooperative guidance method for merging in a preferred embodiment of the present application;

[0042] Figure 3 A flowchart of the steps further included in a generic vehicle road cooperative guidance method for merging in a preferred embodiment of the present application. DETAILED DESCRIPTION

[0043] In order to make the purpose, technical solutions and advantages of the present application clearer, the present application will be further described in detail below with reference to the drawings and examples. It should be understood that the specific examples described herein are only used to explain the present application and do not limit the present application.

[0044] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by those skilled in the art to which this invention pertains. The terms used in this specification of the present invention are for the purpose of describing specific embodiments only and are not intended to limit the present invention. The term "and / or" as used herein includes any and all combinations of one or more of the associated listed items.

[0045] like Figure 1 As shown, in a first preferred embodiment of the present invention, a merging-oriented pan-vehicle-road collaborative guidance method is disclosed, the method comprising:

[0046] S10: Obtain the current position data and speed information of the target vehicle, and monitor whether the lane ahead of the target vehicle merges with the adjacent lane in the direction of travel;

[0047] In step S10, the current location data and current speed of the target vehicle are acquired through roadside sensing equipment. Specifically, in this embodiment, visual sensing equipment can be used to sense the target vehicle. More specifically, roadside cameras can be installed to utilize image recognition technology to sense the target vehicle's location and speed in real time. This step can also be performed using a LiDAR sensing device, which transmits a laser beam and receives the reflected signal to calculate the target vehicle's current location, speed, and other information. LiDAR has high accuracy and anti-interference capabilities, making it suitable for vehicle detection in complex environments. This step can also be performed using fiber optic sensing equipment to achieve full-time, all-weather, and blind-spot sensing of vehicles, roads, and events, enabling lane-level location of vehicle position, speed, and trajectory, and sensing road surface conditions. This technology offers high capacity, high density, long range, fast response, and high reliability, providing accurate vehicle dynamics information. This step can also be performed using a grating array sensor-based vehicle positioning and speed measurement system, acquiring real-time vehicle vibration signals and determining vehicle position and speed based on the vibration sampling signals. This vehicle location and speed measurement system based on grating array sensors enables all-weather vehicle monitoring and improves the efficiency and accuracy of location and speed measurement. The aforementioned sensing technologies can be used individually or in combination to achieve optimal detection results. Different technologies have their own advantages and limitations, and the specific technology to choose depends on the specific application scenario and requirements.

[0048] Generally, the step is to obtain the location of the target vehicle and the driving direction of the vehicle, and combine the specific lane of the road section where the target vehicle is located, to obtain whether the front of the driving direction of the lane where the target vehicle is located merges with the adjacent lane. Specifically, the road section can be an uplink ramp, a road section where the main line lane narrows, etc. In the embodiment, the target vehicle can be a vehicle that needs to change lanes, generally the outer lane of the lane, or an uplink ramp, etc.

[0049] If it is detected that the front of the road section needs to be merged, the vehicle information of the target vehicle and the vehicle information of the vehicle within the preset range of the target vehicle and located on the adjacent lane are obtained, and the vehicle information includes vehicle speed information and current position data information. Specifically, the target vehicle can be sensed by using a visual perception device in the embodiment, and more specifically, the position and speed of the target vehicle are sensed in real time by using image recognition technology through a camera installed on the roadside. The above step of the embodiment can also use a laser radar perception device to calculate the current position, speed, etc. of the target vehicle by emitting a laser beam and receiving the reflected signal. Laser radar has high accuracy and anti-interference ability, and is suitable for vehicle detection in complex environments. The above step of the embodiment can also achieve full-time, full-area, all-weather, non-blind area perception of vehicles, roads, and events, lane-level positioning of vehicle position, speed, and trajectory, and perception of road surface running state. This technology has the characteristics of large capacity, high density, long distance, fast response, and high reliability, and can provide accurate vehicle dynamic information. The above step of the embodiment can also use a vehicle positioning and speed measurement system and method based on a grating array sensor to obtain the vibration signal of the vehicle in real time, and determine the position and speed of the vehicle according to the vibration sampling signal. This system can realize all-weather monitoring of vehicles, and improve the efficiency and accuracy of positioning and speed measurement. The above perception technologies can be used alone or in combination to achieve the best detection effect. Different technologies have their own advantages and limitations, and the specific selection of which technology depends on the actual application scenario and demand.

[0050] S20: If merging, obtaining vehicle information of the target vehicle and vehicle information of a vehicle within a preset range of the target vehicle and located on the adjacent lane, the vehicle information including vehicle speed information and current position data information of the vehicle located on the adjacent lane;

[0051] In the step S10, if it is detected that merging is required in front of the current road segment, vehicle information of the target vehicle and vehicles within a preset range of the target vehicle and located on the adjacent lane is obtained, and the vehicle information includes speed information and current position data information. Specifically, in the embodiment, the target vehicle can be sensed by a visual perception device. More specifically, the position and speed of the target vehicle are sensed in real time by a camera installed on the roadside using image recognition technology. In the embodiment, the above step can also be implemented by a laser radar perception device. By emitting a laser beam and receiving the reflected signal, the current position, speed, and other information of the target vehicle are calculated. Laser radar has high accuracy and anti-interference ability, and is suitable for vehicle detection in complex environments. In the embodiment, the above step can also be implemented by an optical fiber sensing device to achieve all-time, all-terrain, and all-weather blind area perception of vehicles, roads, and events, lane-level positioning of vehicle position, speed, and trajectory, and sensing of road surface running state. This technology has the characteristics of large capacity, high density, long distance, fast response, and high reliability, and can provide accurate vehicle dynamic information. In the embodiment, the above step can also be implemented by a vehicle positioning and speed measurement system and method based on a grating array sensor. The vehicle position and speed are determined according to the vibration sampling signal. This system can achieve all-weather monitoring of vehicles and improve the efficiency and accuracy of positioning and speed measurement. The above perception technologies can be used alone or in combination to achieve the best detection effect. Different technologies have their own advantages and limitations, and the specific technology to be used depends on the actual application scenario and requirements.

[0052] S30: importing the vehicle information of the target vehicle and the vehicles located on the adjacent lane into the constructed vehicle platoon driving model to obtain ideal speed information of the target vehicle;

[0053] Specifically, in combination with Figs. 1 to 3, the step S30 includes the following sub-steps: Figure 1 and Figure 2 The step S30 includes the following sub-steps:

[0054] S31: obtaining distance information d1 of the driving direction of the target vehicle and the vehicles located on the adjacent lane within a preset range;

[0055] S32: obtaining a preset safety distance d 10 between vehicles on the current road segment, and obtaining an ideal distance difference e 10 of the target vehicle based on the distance information d1 and the preset safety distance d m1,i between vehicles;

[0056] S33: obtaining ideal speed information v m1,i of the target vehicle based on the ideal distance difference e

[0057] More specifically, in the above subdivision step S31, the vehicle distance information d1 is obtained by a sensing device. The vehicle distance information d1 can be calculated based on the current position of the target vehicle and the position of the vehicle in the adjacent lane of the target vehicle, and the vehicle distance information d1 between the two in the driving direction. Specifically, the vehicle distance information d1 satisfies:

[0058] d=x m,i -x m-1,i (1)

[0059] In the above formula, x m,i is the current position of the target vehicle in the driving direction, x m-1,i It is the current position information of the vehicles in the adjacent lanes of the target vehicle in the driving direction.

[0060] The preset safety distance d 10 The method of obtaining the preset safety distance d is as follows: based on the current speed information of the target vehicle and the distance information of the vehicle in front of the target vehicle, the preset safety distance d is obtained from the dynamic vehicle distance parameter database. 10 .

[0061] The ideal distance difference e m1,i satisfy:

[0062] e m,i =d1-d 10 -v 1m,i Δt1 (2)

[0063] The v m1,i is the current speed of the target vehicle, and Δt1 is the preset headway time.

[0064] The above-mentioned headway time (TH) refers to the time interval between the front ends of two consecutive vehicles passing a certain section in a moving vehicle queue. It is an important indicator for evaluating driving safety, closely related to traffic flow composition and driving behavior, and is also an important basis for reflecting road capacity and service level. The value range of Δt1 is greater than or equal to 0. If Δt1 is equal to 0, the ideal distance difference e m1,i =d1-d 10 In other words, the current vehicle distance information d1 is the preset safety distance d 10 , the target vehicle does not need to adjust the following distance.

[0065] In this embodiment, the above-mentioned ideal distance difference e m1,i When it is a negative number, the following distance of the target vehicle needs to be increased. If the ideal distance difference e m1,i When it is a positive number, the following distance of the target vehicle needs to be reduced. If the ideal distance difference e m1,iis 0, the target vehicle does not need to adjust the following distance.

[0066] The preset safety distance d0 needs to be calibrated according to the on-site situation and the speed of the vehicle. In the embodiment, the safety distance d0 is based on the current speed information of the target vehicle, and the preset safety distance d0 is obtained from the database. In this way, the setting of the headway of the vehicle platoon in the dense flow state can be completed, the traffic flow can be organized through the guidance of the speed, and the traffic efficiency can be optimized without reducing the safety of the vehicle platoon.

[0067] The ideal speed information of the target vehicle Satisfies:

[0068]

[0069] The v m1,i-1 is the speed of the target vehicle at the last sensing period of the sensing device, v max is the maximum speed limit of the road section where the target vehicle is located, and the speed limit is adjusted according to the road conditions in front of the confluence area, such as whether there is a tunnel entrance. p and k d are respectively the PD filter parameters obtained through the on-site calibration process.

[0070] In this subdivision step, the current speed v m,i is obtained through the sensing device in the S10 step, and the sensing period is the sensing period of the sensing device for sensing the vehicle on the road. The sensing period is an integer multiple of the signal transmission or reception period of the sensing device, for example, the signal transmission or reception period of the sensing device used is 2 ms, and the sensing period of the sensing device in the embodiment is between 0.5 s and 1 s. The v m,i-1 is the speed of the target vehicle at the last sensing period of the sensing device.

[0071] The advantage of the vehicle platoon driving model is that the constructed vehicle platoon dynamic is a decentralized control structure. Once a vehicle in the platoon ignores the guidance information at this time, the original platoon will be split into two platoons, and the first vehicle behind the vehicle will become the head vehicle of the new platoon. The vehicles following the new head vehicle can still use the PD negative feedback adaptive mechanism in the vehicle platoon driving model for guidance. Only by improving the acceptance of information by vehicles in various ways, when all vehicles in the lane follow the guidance information, the longer the platoon formed, the higher the traffic efficiency of the entire lane will be to the dense flow state under active traffic control, thereby optimizing the traffic efficiency.

[0072] S40: based on the ideal speed information and the current speed information of the target vehicle, sending visual guidance information to the target vehicle to guide the target vehicle to adjust the speed to the ideal speed, so that the target vehicle and the vehicles in the adjacent lane merge into the lane at the merging ramp or lane.

[0073] Specifically, in the step S40, the visual guidance information is sent to the target vehicle through the guidance lamp or the variable light-emitting sign on the road, and the visual guidance information includes the change of the light color and / or the change of the light flicker frequency.

[0074] More specifically, when the visual guidance information includes the change of the light flicker frequency, the light flicker frequency satisfies:

[0075]

[0076] wherein lo is the deployment interval between two adjacent signal sources, to measure the ideal speed information of the target vehicle.

[0077] Generally, the guidance lamps on the road are located on both sides of the road. In order to let the frequency change of the guidance lamps or the variable light-emitting signs on both sides of the road be within the visual field range of the driver of the target vehicle, one to three guidance lamps on both sides of the road in front of the target vehicle flicker based on the flicker frequency defined by the above formula (4).

[0078] When the visual guidance information includes the change of the light color, it includes:

[0079] When the current speed information of the target vehicle is less than the ideal speed information, the visual guidance information with green flicker is sent to the target vehicle; when the current speed information of the target vehicle is close to the ideal speed information, the visual guidance information with yellow flicker is sent to the target vehicle; when the current speed information of the target vehicle is greater than the ideal speed information, the visual guidance information different from the red flicker is sent to the target vehicle; when the current speed information of the target vehicle is greater than the ideal speed information and exceeds the threshold range, the visual guidance information with red color is sent to the target vehicle. In this embodiment, the light guidance is performed on the target vehicle through the PACC system.

[0080] In this embodiment, the frequency change and the color change of the above guidance lamp can also be combined to send the visual guidance information. More specifically, if the ideal speed of the target vehicle is greater than the current speed v m,i of the target vehicle, the nearest 1-3 traffic guidance lamps in front of the target vehicle are set to green, and the light flicker frequency is adjusted according to the above formula (4). It is prompted that the vehicle can accelerate to the speed corresponding to the flicker frequency.

[0081] If the target vehicle's ideal speed Current speed v of the approaching target vehicle m,i , then the 1-3 traffic lights closest to the vehicle are set to yellow, and the light adjustment flashing frequency is consistent with formula (4), prompting the vehicle to keep moving at a constant speed according to the corresponding speed. Less than the current speed v of the target vehicle m,i , then the 1-3 traffic lights closest to the vehicle are set to yellow, and the light adjustment flashing frequency is consistent with formula (4), prompting the vehicle to slow down to the speed corresponding to the flashing frequency. If the ideal speed of the target vehicle Much smaller than the current speed v of the target vehicle m,i , the nearest traffic lights in front of the vehicle are set to red and set to a steady on mode to prompt the vehicle to perform an emergency brake operation. The guide lights set on the road are road stud indicator lights, and at least one road stud indicator light located in front of the target vehicle sends visual guidance information to the target vehicle.

[0082] In this embodiment, if the mth vehicle in the queue ignores the guidance information at this time and performs operations such as changing lanes, the original convoy will split into two convoys, and the mth vehicle will become the head vehicle of the new convoy behind it. The vehicles behind it can still be guided using the above content. If no emergency occurs in the tunnel, then as long as the vehicles' acceptance of information is improved through various means, when all vehicles in the lane follow the suggestions of the guidance information, the longer the convoy formed, the closer the traffic efficiency of the entire lane will naturally be to the dense flow state under active traffic control, thereby optimizing the traffic efficiency.

[0083] The above method can be combined with existing information release media such as holographic perception and accompanying information services to form vehicle-road collaborative control. It can be used as a self-explanatory, non-mandatory driving behavior guidance tool, and can also be used as a basis for mandatory control in certain scenarios after popular education.

[0084] In addition to ensuring that traffic flows at appropriate speeds and vehicle spacing indicators, the above guidance information can provide target vehicles with early warning functions for road conditions such as water accumulation and collapse.

[0085] like Figure 3 As shown, in another embodiment of the present invention, the above method further includes:

[0086] S81: Obtain traffic event information of vehicles in the target area and information of vehicles involved in the traffic event information;

[0087] S82: Based on the information of the vehicle involved in the accident, obtaining speed information and distance information of the vehicle involved in the accident and surrounding vehicles within a preset period before the traffic incident occurs;

[0088] S83: According to the vehicle speed information and the vehicle distance information of the involved vehicle within a preset time period before the traffic event occurs, and based on the vehicle platoon driving model, the cause of the traffic event information is analyzed.

[0089] The above-mentioned embodiments of the present application monitor the traffic event, and obtain the cause of the traffic event through event analysis of the involved vehicle, thereby providing a basis for responsibility division of the traffic event.

[0090] The above-mentioned embodiments of the present application monitor the driving data of the target vehicle and the adjacent lane of the lane where the target vehicle is located, and are deployed at the outermost side of the main line and the right side of the uplink ramp. When detecting that the main line traffic flow has a suitable traffic gap, the PACC light control can be started. For the main line, the PACC system is used to guide the vehicles behind the gap to maintain a uniform speed and maintain the gap length. For the uplink ramp, the vehicles in the ramp are guided to merge into the main line traffic flow at a uniform acceleration, ensuring that the merging action is safe and efficient. The light can be used as a guide for safe merging, and also as a basis for event tracing after a conflict occurs.

[0091] The above-mentioned embodiments of the present application utilize the obtained vehicle current speed, position, vehicle distance and other information, take the platoon driving model as the core control logic, guide the vehicles to orderly drive through the transmission of optical information, realize the fine and adaptive controllable characteristics of the key channel scene, and improve the stability and safety of the road traffic flow.

[0092] Note that the computer storage medium described above in the present disclosure can be a computer readable signal medium or a computer readable storage medium or any combination thereof. The computer readable storage medium can be, for example, but not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus or device, or any suitable combination thereof. More specific examples of the computer readable storage medium can include, but are not limited to, an electrical connection having one or more wires, a portable computer diskette, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination thereof. In the present disclosure, the computer readable storage medium can be any tangible medium that contains or stores a program that can be used by or in connection with an instruction execution system, apparatus or device. In the present disclosure, the computer readable signal medium can include a data signal that propagates in a baseband or as part of a carrier wave in a propagated data signal, in which the computer readable program code is embodied. Such a propagated data signal can take any of a variety of forms, including but not limited to electro-magnetic, optical, or any suitable combination thereof. The computer readable signal medium can also be any computer readable medium that is not a computer readable storage medium and that can communicate, propagate or transport a program for use by or in connection with an instruction execution system, apparatus or device. The program code contained on the computer readable storage medium can be transmitted by any suitable medium, including but not limited to wire, cable, RF (radio frequency), etc., or any suitable combination thereof.

[0093] In some embodiments, the client, server, or both can communicate using any current known or future developed network protocol, such as HTTP (Hyper Text Transfer Protocol), and can be interconnected with any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include local area networks ("LAN"), wide area networks ("WAN"), the Internet, and peer-to-peer networks (e.g., ad hoc peer-to-peer networks), as well as any current known or future developed networks.

[0094] The computer storage medium described above can be included in the electronic device described above; or can exist separately from the electronic device and be not assembled in the electronic device.

[0095] The computer storage medium described above carries one or more programs, which, when executed by the electronic device, cause the electronic device to:

[0096] Any combination of the technical features in the above-described embodiments can be made, and for the sake of brevity, not all possible combinations are described, however, as long as the combination of the technical features does not exist in contradiction, it shall be considered within the scope of the present disclosure.

[0097] The above-described embodiments only express several implementation manners of the present application, and the description is relatively specific and detailed, but it shall not be understood as a limitation on the patent scope of the present application. It shall be pointed out that, for ordinary skilled persons in the art, several modifications and improvements can be made without departing from the concept of the present application, and these shall be within the protection scope of the present application. Therefore, the protection scope of the present application patent shall be subject to the appended claims.

Claims

1. A method for converging vehicle road coordination guidance, characterized in that, The method comprises: monitoring whether the front of the lane where the target vehicle is driving is merging with an adjacent lane; if merging, obtaining vehicle information of the target vehicle and vehicle information of vehicles within a preset range of the target vehicle and located on the adjacent lane, the vehicle information including current speed information and current position data information of the vehicles; The vehicle information of the target vehicle and the vehicle located on the adjacent lane is introduced into the constructed vehicle platoon driving model to obtain ideal vehicle speed information of the target vehicle, including: obtaining vehicle distance information d1 of the target vehicle and the vehicle located within a preset range on the adjacent lane in the driving direction; obtaining a preset safety distance d 10 of the current road section 10 , and obtaining ideal distance difference e m1,i of the target vehicle based on the vehicle distance information d1 and the preset safety distance d m1,i ; and obtaining ideal vehicle speed information of the target vehicle based on the ideal distance difference e m1,i the ideal distance difference e m,i satisfies: e m,i = d1 - d 10 -v m1,i Δt1 The v m1,i The current vehicle speed of the target vehicle, and the Δt1 is a preset headway time. Ideal vehicle speed information of the target vehicle satisfies: The v m1,i-1 is the vehicle speed of the target vehicle at the last sensing cycle of the sensing device, v max is the maximum speed limit of the road segment where the target vehicle is located, k p and k d are respectively the PD filter parameters through calibration; based on ideal speed information and current speed information of the target vehicle, sending visual guidance information to the target vehicle through a guide lamp or a variable light-emitting sign provided on the road to guide the target vehicle to adjust the speed to the ideal speed, so that the target vehicle and vehicles on the adjacent lane merge into the lane at a ramp or a lane.

2. The method according to claim 1, wherein, The preset safety distance d 10 The acquisition mode is: Based on the current speed information of the target vehicle and the distance information of the vehicle in front of the target vehicle, the preset safe distance d is obtained from a dynamic distance parameter database 10 . 3.The method of claim 1, wherein, The visual guidance information includes changing light color and / or changing light flashing frequency.

4. The method according to claim 3, wherein, when the visual guidance information comprises a change in the light blink frequency, the light blink frequency satisfies: wherein lo is the deployment spacing between two adjacent signal sources, is the ideal vehicle speed information of the target vehicle.

5. The method according to claim 3, wherein, When the visual guidance information includes changing light color, the sending of the visual guidance information to the target vehicle based on the ideal speed information and the current speed information of the target vehicle to guide the target vehicle to adjust the speed to the ideal speed comprises: when the current speed information of the target vehicle is less than the ideal speed information, sending green flashing visual guidance information to the target vehicle; when the current speed information of the target vehicle is close to the ideal speed information, sending yellow flashing visual guidance information to the target vehicle; when the current speed information of the target vehicle is greater than the ideal speed information, sending visual guidance information different from red flashing to the target vehicle; when the current speed information of the target vehicle is greater than the ideal speed information and exceeds a threshold range, sending red visual guidance information to the target vehicle.

6. The method of claim 1, wherein, The method further comprises: obtaining traffic event information of vehicles in a target area and involved vehicle information involved in the traffic event information; based on the involved vehicle information, obtaining speed information and distance information of the involved vehicles within a preset period before the traffic event; based on the speed information and distance information of the involved vehicles within the preset period before the traffic event and based on the vehicle platoon driving model, analyzing the cause of the traffic event.

Images