Reversible lane self-adaptive changing method

Abstract

The invention relates to the technical field of traffic control, in particular to a reversible lane adaptive change method, which comprises the following steps of: detecting forward and reverse motor vehicles by means of a laser radar, and acquiring a first radar point cloud image; or, detecting the motor vehicles at the road intersection by means of the laser radar, and collecting a second radar point cloud image; the data processing terminal performs operation processing on the first radar point cloud image or / and the second radar point cloud image, and calculates the motor vehicle convergence estimated time by combining the speed and the distance of the motor vehicle; and according to the preset moving speed of the tidal robot, whether the tidal robot has sufficient time to complete displacement adjustment before the motor vehicles converge or not is pre-judged. Thus, by means of the collected real-time speed, real-time position and other information of the motor vehicles around the tidal robot and the data processing terminal for data processing, whether lane changing is necessary or not is calculated, and the problem that the tidal robot cannot change lanes in a self-adaptive mode when changing lanes is solved.

Description

Technical Field

[0001] The present invention relates to the technical field of traffic control, and in particular to a method for adaptively changing a tidal lane. Background Art

[0002] In terms of traffic management, traffic safety and efficiency are the basis of all work. Under this guiding spirit, tidal lanes have emerged. They are specifically applied to urban roads with obvious tidal phenomena and serious congestion. One or more lanes with motor vehicle driving directions changing with different time periods can be set on the road section according to different morning and evening traffic flow conditions.

[0003] Regarding how to intelligently change and switch tidal lanes, enterprises and research institutes have not been able to propose effective solutions, and there are certain safety risks in the actual lane-changing process. To solve the above problems, tidal lane change facilities have emerged. As shown in Figure 1 , the tidal lane change facilities consist of tidal robots and guardrails. The tidal robots and guardrails cooperate to adjust and optimize the road section lanes in real time according to the change of road traffic flow. When it is necessary to re-mark the lanes, an action instruction is sent to the tidal robots manually, and multiple tidal robots execute translational movements synchronously, and the guardrails can be re-positioned. Although this solution solves the safety problem of manually moving the guardrails for tidal lane changes to a certain extent, however, it has problems such as being unable to automatically decide how to change lanes, there are still motor vehicles accidentally entering during the lane-changing process, and still requiring on-site manual command. Therefore, it is urgent for technical personnel to solve the above problems. Summary of the Invention

[0004] In order to address the deficiencies in the prior art, the design purpose of the present invention is to provide a method for adaptively changing a tidal lane, so as to solve the problem that existing tidal robots cannot adaptively decide to change lanes, improve the safety of tidal lane changes, and reduce the labor cost expenditure.

[0005] To solve the above technical problems, the present invention relates to a method for adaptively changing a tidal lane, which is realized by means of a tidal lane adaptive change facility. The tidal lane adaptive change facility is used to adjust and optimize the lanes of a road section in real time according to the change of road traffic flow, and it is composed of a tidal robot, a guardrail, and an auxiliary decision-making early warning system. Among them, a plurality of tidal robots are arranged in an array along the lane extension direction. Adjacent tidal robots are connected by means of a guardrail. The auxiliary decision-making early warning system includes a plurality of lidars, 2 sentry systems, 1 direct communication module, 1 vehicle-road collaborative communication module, 1 data processing terminal, and 1 display terminal. The plurality of lidars are respectively arranged on the plurality of tidal robots. The 2 sentry systems are respectively arranged on the first and last tidal robots. The plurality of tidal robots realize real-time information exchange and collaborative work by means of the direct communication module and the vehicle-road collaborative communication module, and the road condition information, road traffic efficiency, and congestion status are visually presented on the display terminal in real time. The data processing terminal is used to receive the real-time motor vehicle data collected by each lidar, perform data processing and calculation, and visually present the lane change decision plan by means of the display terminal;

[0006] The method for adaptively changing a tidal lane includes the following steps:

[0007] S1. Detect the oncoming and reverse motor vehicles by means of lidars, and transmit the collected first lidar point cloud image to the data processing terminal in real time, calculate the motor vehicle traffic demands in different directions at different times, and at the same time, combine the lane function settings at intersections to evaluate the traffic efficiency at intersections; or, detect the motor vehicles at road intersections by means of lidars, and transmit the collected second lidar point cloud image to the data processing terminal in real time;

[0008] S2. The data processing terminal performs arithmetic processing on the first lidar point cloud image or / and the second lidar point cloud image, and combines the vehicle speed and distance of the motor vehicles to calculate the expected time of motor vehicle confluence;

[0009] S3. According to the preset moving speed of the tidal robot, judge whether there is enough time for the tidal robot to complete the displacement adjustment before the motor vehicle confluence. If the judgment result is yes, a plurality of tidal robots simultaneously perform displacement actions and cooperate with the guardrail to redefine the lanes; if the judgment result is no, coordinate with the traffic police through a remote control platform to intervene in on-site command;

[0010] Before the tidal robot performs the displacement action, the traffic lights at the upstream and downstream intersections are switched to the all-red phase to clear the motor vehicles, non-motor vehicles, and pedestrians on the road section;

[0011] The data processing terminal is used to receive the real-time motor vehicle data collected by each lidar, and perform data processing and calculation;

[0012] Multiple tidal robots receive the action instructions from the data processing terminal and execute translational movements at the same speed, so that the lanes can be redefined. Meanwhile, voice and text reminders are issued by means of the sentry system to warn motor vehicles.

[0013] As a further improvement of the disclosed technical solution of the present invention, in step S1, the road section saturation is set as f(c);

[0014] When the queuing length L of motor vehicles on the road section exceeds the threshold T L it is the queuing lane saturation, then:

[0015]

[0016] When the queuing length L of the road section is lower than the threshold T L it is the average value of the left-turn lane saturation, the straight-through lane saturation and the right-turn lane saturation, then:

[0017]

[0018] Wherein, C L 、C S 、C R are the traffic capacities of the left-turn, straight-through and right-turn roads respectively, and Q l 、Q s 、Q r are the numbers of left-turn, straight-through and right-turn motor vehicles respectively.

[0019] As a further improvement of the disclosed technical solution of the present invention, in step S1, the traffic efficiency is evaluated by comprehensively considering the forward and reverse flow ratios of motor vehicles and the road section saturation, and the parameter for changing lanes is set as minZ, then:

[0020]

[0021] Wherein, C_fwd, C 逆 are the forward and reverse flow ratios of motor vehicles respectively; f(c) is the road section saturation; a and b are variable factors.

[0022] As a further improvement of the disclosed technical solution of the present invention, the auxiliary decision-making warning system further includes 2 laser safety warning devices. The 2 laser safety warning devices are respectively arranged on the head and tail tidal robots. In step S3, after all traffic lights are switched to the all-red phase, the head and tail tidal robots execute the initial azimuth conversion movement at the same speed, and the supporting laser safety warning devices are activated to form a light barrier.

[0023] As a further improvement of the disclosed technical solution of the present invention, in step S3, based on the motor vehicle with the fastest driving speed, it is determined whether the tidal robot has sufficient time to automatically adjust the tidal lane;

[0024] When the approaching time of the motor vehicle is less than the time required for lane change then the condition for automatically adjusting the tidal lane is not met;

[0025] When the approaching time of the motor vehicle is greater than or equal to the time required for lane change then the condition for automatically adjusting the tidal lane is met;

[0026] wherein, s1, s2, and s3 are respectively the driving distance of the motor vehicle, the distance for the first or last tidal robot to perform the initial azimuth conversion movement, and the distance for the first or last tidal robot to perform the translational movement; v 车 、v 机 are respectively the vehicle speed of the motor vehicle and the moving speed of the tidal robot.

[0027] As a further improvement of the disclosed technical solution of the present invention, some motor vehicles are intelligent connected vehicles, and are interconnected with the auxiliary decision-making early warning system by means of a direct communication module and a vehicle-road collaborative communication module.

[0028] As a further improvement of the disclosed technical solution of the present invention, in step S3, when the tidal robot performs displacement movement or when the road visibility does not meet the standard, an alarm is sent to the intelligent connected vehicle by means of the data processing terminal, and at the same time, voice and text reminders are sent by means of the sentry system to warn both the intelligent connected vehicle and the non-intelligent connected vehicle.

[0029] In practical applications, the tidal lane adaptive change method disclosed in the present invention has at least achieved the following beneficial technical effects, specifically reflected in:

[0030] 1) Information such as the real-time vehicle speed and real-time position of the motor vehicles around the tidal robot is collected by means of devices such as lidar, and the data is processed by means of the data processing terminal to indicate the two-way traffic flow data on the display terminal in real time, and then calculate whether it is necessary to change lanes, solving the problem that the tidal robot cannot adaptively change lanes when changing lanes;

[0031] 2) The lidar can measure the distance and position of the targets within 1 - 2 kilometers in foggy weather. When the lidar detects the motor vehicles at the upstream and downstream intersections, according to the returned distance and position information, and combined with the vehicle speed of the motor vehicle to convert it into time information, it can accurately capture and position the surrounding motor vehicles, and determine whether the tidal robot has the condition to change lanes;

[0032] 3) The display terminal can perform intelligent imaging based on the direct communication module and the vehicle-road collaborative communication module. When the tidal robot moves, it can automatically give early warnings and present other motor vehicles on the road section, adding a "protective wall" to safe ferry transportation in terms of technical scope;

[0033] 4) It realizes the technological transformation of the tidal lane change from "human defense" to "technical defense" and can achieve remote one-key control. Even in harsh weather conditions such as rain, snow, fog, etc., the tidal robot can still change lanes safely and efficiently. Under the visual guidance of the display terminal, it not only improves the safety of the tidal lane change process but also reduces unnecessary labor costs as much as possible. Description of the Drawings

[0034] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following will briefly introduce the drawings required for use in the description of the embodiments or the prior art. Obviously, the following-described drawings are only some embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other drawings can be obtained based on these drawings.

[0035] Figure 1 It is an application status diagram of the tidal lane change facility in the prior art.

[0036] Figure 2 It is an application status diagram of the self-adaptive tidal lane change facility disclosed in the present invention (when both the upstream and downstream lanes are closed).

[0037] Figure 3 is Figure 2 the partial enlarged view of I of

[0038] Figure 4 It is an application status diagram of the self-adaptive tidal lane change facility disclosed in the present invention (when the guardrail is displaced).

[0039] Figure 5 It is an application status diagram of the self-adaptive tidal lane change facility disclosed in the present invention (when the tidal lane change is completed and the upstream and downstream lanes have been unsealed).

[0040] Figure 6 It is a structural schematic diagram of the tidal robot in the self-adaptive tidal lane change facility disclosed in the present invention (when part of the auxiliary decision-making early warning system is equipped).

[0041] 1 - Tidal robot; 2 - Guardrail; 3 - Auxiliary decision-making early warning system; 31 - Lidar; 32 - Sentinel system; 33 - Laser safety warning device. Detailed Embodiments

[0042] To facilitate those skilled in the art to fully understand the technical solutions disclosed by the present invention, the following further details the content of the present invention with specific embodiments. The tidal lane adaptive change facility is used to adjust and optimize the lanes of a road section in real time according to the change of road traffic flow, effectively alleviating the urban traffic congestion problem. It consists of a tidal robot 1, a guardrail 2, and an auxiliary decision-making early warning system 3. Among them, multiple tidal robots 1 are arranged in an array along the lane extension direction. Adjacent tidal robots 1 are connected by means of the guardrail 2 (as shown in Figure 2-6 as shown). The auxiliary decision-making early warning system includes multiple lidars, 2 sentinel systems, 1 direct communication module, 1 vehicle-road collaborative communication module, 1 data processing terminal, and 1 display terminal. As shown in Figure 6 as shown, multiple lidars 31 are respectively arranged on multiple tidal robots 1 in one-to-one correspondence. The 2 sentinel systems 32 are respectively arranged on the head and tail tidal robots 1. Multiple tidal robots 1 realize real-time information exchange and collaborative work by means of a direct communication module (not shown in the figure) and a vehicle-road collaborative communication module (not shown in the figure), and the road condition information, road traffic efficiency, and congestion status are visually presented on the display terminal (not shown in the figure) in real time. The data processing terminal (not shown in the figure) is used to receive the real-time motor vehicle data collected by each lidar 31, perform data processing and operations, and visually present the lane change decision-making plan by means of the display terminal.

[0043] The tidal lane adaptive change method includes the following steps:

[0044] S1. Detect the oncoming and reverse motor vehicles by means of the lidar 31, and transmit the collected first radar point cloud image to the data processing terminal in real time, calculate the motor vehicle traffic demands in different directions at different times, and at the same time, combine the lane function settings at the intersection to evaluate the intersection traffic efficiency; or, detect the motor vehicles at the road intersection by means of the lidar 31, and transmit the collected second radar point cloud image to the data processing terminal in real time;

[0045] S2. The data processing terminal performs arithmetic processing on the first radar point cloud image or / and the second radar point cloud image, and calculates the expected time of motor vehicle confluence in combination with the vehicle speed and distance of the motor vehicle;

[0046] S3. According to the preset moving speed of the tidal robot 1, judge whether there is enough time for the tidal robot to complete the displacement adjustment before the motor vehicle confluence. If the judgment result is yes, multiple tidal robots 1 simultaneously execute the displacement action and cooperate with the guardrail 2 to redefine the lane; if the judgment result is no, coordinate the traffic police through the remote control platform to intervene in the on-site command;

[0047] During the execution of the lane re - demarcation process, the data - processing terminal is used to receive the real - time motor - vehicle data collected by each lidar 31, and perform data processing and operations. Multiple tidal robots 1 receive the action instructions from the data - processing terminal and perform translational movements at the same speed. Considering the aspect of avoiding traffic accidents caused by motor vehicles, non - motor vehicles, and pedestrians straying into the lane, before the tidal robot 1 executes the displacement action, the traffic lights at the upstream and downstream intersections are switched to the all - red phase to clear the motor vehicles, non - motor vehicles, and pedestrians on the road section. At the same time, a voice and text reminder is sent through the sentry system 32 to warn motor vehicles that the lane is undergoing a re - demarcation action.

[0048] It is known that the road - section saturation (i.e., the motor - vehicle queue length on a specific road section within a specific time period) directly determines the urgency of tidal - lane change and also affects the specific action process of the tidal - lane adaptive - change facility. In view of this, as a further optimization of the above - mentioned technical solution, in step S1, the road - section saturation is set as f(c);

[0049] When the motor - vehicle queue length L on the road section exceeds the threshold T L it is the queue - lane saturation, then:

[0050]

[0051] When the road - section queue length L is lower than the threshold T L it is the average value of the left - turn - lane saturation, straight - through - lane saturation, and right - turn - lane saturation:

[0052]

[0053] Among them, C L 、C S 、C R are the traffic - carrying capacities of the left - turn, straight - through, and right - turn roads respectively, and Q l 、Q s 、Q r are the numbers of left - turn, straight - through, and right - turn motor vehicles respectively.

[0054] Comprehensively considering the forward and reverse traffic - flow ratios of motor vehicles and the road - section saturation to evaluate the traffic efficiency, the parameter for changing the lane is set as minZ, then:

[0055]

[0056] Among them, C 顺 、C 逆 are the forward and reverse traffic - flow ratios of motor vehicles respectively; f(c) is the road - section saturation; a and b are variable factors.

[0057] After minZ is determined, a numerical comparison is made with the traffic guidance threshold for motor vehicles. When minZ is less than the traffic guidance threshold for motor vehicles, each tidal robot 1 and the guardrail 2 remain in place, and there is no need to re-divide the tidal lane. When minZ is equal to or greater than the traffic guidance threshold for motor vehicles, each tidal robot 1 performs a displacement movement and uses the guardrail 2 to re-divide the tidal lane.

[0058] Also, considering the need to avoid traffic accidents involving motor vehicles, non-motor vehicles, and pedestrians due to misentry into lanes, as a further optimization of the above technical solution, the auxiliary decision-making early warning system is also equipped with 2 laser safety warning devices 33 according to the specific application scenario. The 2 laser safety warning devices 33 are respectively arranged on the front and rear tidal robots 1 (as Figure 6 shown). In step S3, after all traffic lights are switched to the all-red phase, the front and rear tidal robots 1 perform the initial orientation conversion movement at the same speed, and the corresponding laser safety warning devices 33 are activated to form an optical barrier (as Figure 2 shown).

[0059] Furthermore, in step S3, based on the fastest moving motor vehicle, it is determined whether the tidal robot 1 has sufficient time to automatically adjust the tidal lane;

[0060] When the approaching time of the motor vehicle is less than the time required for lane change of the lane, then the condition for automatically adjusting the tidal lane is not met; When the approaching time of the motor vehicle is greater than or equal to the time required for lane change

[0061] of the lane, then the condition for automatically adjusting the tidal lane is met; When the approaching time of the motor vehicle is greater than or equal to the time required for lane change of the lane, then the condition for automatically adjusting the tidal lane is met;

[0062] Among them, s1, s2, and s3 are respectively the driving distance of the motor vehicle, the distance for the front or rear tidal robot 1 to perform the initial orientation conversion movement, and the distance for the front or rear tidal robot 1 to perform the translational movement; v 车 、v 机 are respectively the vehicle speed of the motor vehicle and the moving speed of the tidal robot 1.

[0063] Here, a method for solving the time when a motor vehicle approaches the adjacent tidal robot and the time required for lane change is disclosed, and based on this, it is determined to accurately and quickly determine whether the tidal robot 1 has sufficient time to automatically adjust the tidal lane.

[0064] With the development of automotive manufacturing technology, intelligent connected vehicles have been widely popularized in cities. In view of this, some intelligent connected vehicles can be interconnected with the auxiliary decision-making warning system 3 by means of a direct communication module and a vehicle-road collaborative communication module. When the tidal robot 1 performs a displacement movement or when the road visibility does not meet the standard, an alarm is sent to the intelligent connected vehicle by means of a data processing terminal. At the same time, voice and text reminders are sent out by means of the sentry system 32 to warn both intelligent connected vehicles and non-intelligent connected vehicles simultaneously. The two means cooperate with each other to effectively prevent motor vehicles from mistakenly entering the tidal lane during the lane change process and ensure traffic safety.

[0065] Verified by the on-site trial operation results (at the vehicle entrance of the Fourth Affiliated Hospital of Soochow University), during the morning peak visiting hours, multiple tidal robots 1 carry the guardrail 2 and automatically move from the roadside to the road to isolate a waiting lane for vehicles entering the hospital; during non-peak visiting hours, multiple tidal robots 1 carry the guardrail 2 and automatically move to the edge of the road. In this way, not only the vehicle congestion at the hospital entrance is greatly alleviated, but also the lane passing efficiency is improved.

[0066] The tidal lane adaptive change method disclosed by the present invention has at least achieved the following beneficial technical effects, specifically reflected in:

[0067] 1) Information such as the real-time vehicle speed and real-time position of motor vehicles around the tidal robot 1 is collected by means of devices such as lidar 31, and the data is processed by means of a data processing terminal to indicate the two-way traffic flow data in real time on the display terminal, and then calculate whether it is necessary to change the lane, solving the problem that the tidal robot 1 cannot adaptively change the lane when changing the lane;

[0068] 2) The lidar 31 can perform ranging and positioning on targets within 1-2 kilometers in foggy weather. When the lidar 31 detects motor vehicles at upstream and downstream intersections, according to the returned distance and position information, and combined with the vehicle speed of the motor vehicle to convert into time information, precise capture and positioning of surrounding motor vehicles are realized, and it is determined whether the tidal robot has the conditions to change the lane;

[0069] 3) The display terminal can perform intelligent imaging according to the direct communication module and the vehicle-road collaborative communication module. When the tidal robot 1 moves, it can automatically give an alarm and present other motor vehicles on the road section, adding a "protective wall" for safe ferry in the technical field;

[0070] Finally, it should also be noted that by applying the tidal lane adaptive change facility, the change of the tidal lane has been transformed from "man defense" to "technical defense", and remote one-key control can be realized. Even in bad weather conditions such as rain, snow, fog, etc., the tidal robot 1 can still change lanes safely and efficiently. Under the visual guidance of the display terminal, it not only improves the safety of the tidal lane change process, but also reduces unnecessary labor costs as much as possible.

[0071] The above description of the disclosed embodiments enables those skilled in the art to implement or use the present invention. Various modifications to these embodiments will be obvious to those skilled in the art, and the general principles defined herein can be implemented in other embodiments without departing from the spirit or scope of the present invention. Therefore, the present invention will not be limited to these embodiments shown herein, but rather to the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A tidal lane adaptive change method, which is implemented by means of a tidal lane adaptive change facility, is characterized in that The described tidal lane adaptive change facility is used to adjust and optimize the lanes of a road section in real time according to the changes in road traffic flow. It consists of tidal robots, guardrails, and an auxiliary decision-making and early warning system. Among them, multiple tidal robots are arranged in an array along the lane extension direction; adjacent tidal robots are connected by means of the guardrails; the auxiliary decision-making and early warning system includes multiple lidars, 2 sentry systems, 1 direct communication module, 1 vehicle-road coordination communication module, 1 data processing terminal, and 1 display terminal; multiple lidars are respectively arranged on the multiple tidal robots; 2 sentry systems are respectively arranged on the tidal robots at the head and tail ends; multiple tidal robots use the direct communication module and the vehicle-road coordination communication module to achieve real-time information exchange and collaborative work, and traffic conditions, road traffic efficiency, and congestion conditions are visually presented on the display terminal in real time; the data processing terminal is used to receive the real-time motor vehicle data collected by each lidar, perform data processing and operations, and visually present the lane change decision-making plan through the display terminal; The described tidal lane adaptive change method includes the following steps: S1. Detect oncoming and reverse motor vehicles by means of the lidar, and transmit the collected first lidar point cloud image to the data processing terminal in real time, calculate the motor vehicle traffic demands in different directions at different times, and at the same time, in combination with the lane function settings at intersections, evaluate the traffic efficiency at intersections; alternatively, detect motor vehicles at road intersections by means of the lidar, and transmit the collected second lidar point cloud image to the data processing terminal in real time; S2. The data processing terminal performs arithmetic processing on the first lidar point cloud image or / and the second lidar point cloud image, and calculates the expected time for motor vehicle confluence in combination with the vehicle speed and distance of the motor vehicles; S3. According to the preset moving speed of the tidal robots, predict whether the tidal robots can complete the displacement adjustment before the motor vehicle confluence; if the judgment result is yes, multiple tidal robots simultaneously execute the displacement action and cooperate with the guardrails to redefine the lanes; if the judgment result is no, coordinate with the traffic police through a remote control platform to intervene in on-site command; Before the tidal robots execute the displacement action, the traffic lights at the upstream and downstream intersections are switched to the all-red phase to clear the motor vehicles, non-motor vehicles, and pedestrians on the road section; The data processing terminal is used to receive the real-time motor vehicle data collected by each lidar, and perform data processing and operations; Multiple tidal robots receive the action instructions from the data processing terminal and execute the translation action at the same speed, and the lanes are redefined. At the same time, voice and text reminders are sent out by means of the sentry system to warn motor vehicles.

2. The tidal lane adaptive change method according to claim 1, wherein In step S1, the road section saturation is set as f(c); When the queuing length L of motor vehicles on a road section exceeds the threshold T L it is the saturation of the queuing lane, then: When the queuing length L of the road section is lower than the threshold T L is the average value of the saturation degrees of the left-turn lane, the straight-through lane, and the right-turn lane, then: Among them, C L , C S , C R are the traffic capacities of the left-turn, straight-ahead, and right-turn lanes respectively, and Q l , Q s , Q r are the numbers of left-turn, straight-ahead, and right-turn motor vehicles respectively.

3. The tidal lane adaptive change method according to claim 2, characterized in that In step S1, comprehensively consider the oncoming and reverse traffic flow ratios of motor vehicles and the road section saturation to evaluate the traffic efficiency, and set the parameter for changing lanes as minZ, then: Among them, C_fwd and C 逆 are the forward and reverse traffic volume ratios of motor vehicles respectively; f(c) is the road section saturation; a and b are variable factors.

4. The tidal lane adaptive change method according to claim 1, wherein The auxiliary decision-making early warning system further includes 2 laser safety warning devices; the 2 laser safety warning devices are respectively arranged on the front-end and rear-end tidal robots; in step S3, after the traffic lights are all switched to the all-red phase, the front-end and rear-end tidal robots perform the initial azimuth conversion movement at the same speed, and the supporting laser safety warning devices are activated to form a light barrier.

5. The tidal lane adaptive change method according to claim 4, wherein In step S3, based on the motor vehicle with the fastest driving speed, it is determined whether the tidal robot has sufficient time to automatically adjust the tidal lane. When the motor vehicle approaches less than the time required for lane change at that time Then it does not meet the conditions for automatically adjusting the tidal lane. When the motor vehicle approaches the time Greater than or equal to the time required for lane change Then the condition for automatically adjusting the tidal lane is met; Wherein, s1, s2, and s3 are respectively the driving distance of the motor vehicle, the initial orientation conversion movement distance of the tidal robot at the head or tail end, and the translation movement distance of the tidal robot at the head or tail end; v 车 , v 机 are respectively the vehicle speed of the motor vehicle and the moving speed of the tidal robot.

6. The tidal lane adaptive change method according to any one of claims 1-5, characterized in that Some motor vehicles are intelligent connected vehicles, and are interconnected with the auxiliary decision-making early warning system by means of the direct communication module and the vehicle-road collaborative communication module.

7. The tidal lane adaptive change method according to claim 6, characterized in that In step S3, when the tidal robot performs displacement movement or when the road visibility does not meet the standard, an alarm is sent to the intelligent connected vehicle by means of the data processing terminal. At the same time, voice and text reminders are sent by means of the sentry system to warn both intelligent connected vehicles and non-intelligent connected vehicles.

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