Traffic passing system of automatic driving vehicle

Abstract

The invention relates to an automatic driving vehicle, in particular to a traffic passage system of an automatic driving vehicle, which is characterized in that the automatic driving vehicle is clearly marked through a ground identifier and an air identifier, and a physical isolation or virtual isolation mode is used for preventing a manually driven vehicle from entering; intelligent gates are arranged at entrances and exits of the lanes to control the automatic driving vehicles to enter and exit; the special signal lamp is arranged on the automatic driving special lane and is used for controlling the automatic driving vehicle to pass; the vehicle detection equipment is arranged on the automatic driving special lane and is used for monitoring and counting the number of automatic driving vehicles in the automatic driving special lane in real time; the signal lamp control module is used for carrying out timing adjustment on the special signal lamp according to the number of the automatic driving vehicles in the automatic driving special lane; according to the technical scheme provided by the invention, the defects of low passing efficiency and insufficient safety of the automatic driving vehicle in the existing traffic system in the prior art can be effectively overcome.

Description

Technical Field

[0001] The present invention relates to autonomous vehicles, and more particularly to a traffic passing system for autonomous vehicles. Background Art

[0002] With the rapid development of autonomous driving technology, autonomous vehicles (CAVs) have gradually become an important part of future transportation systems. However, existing traffic infrastructure is mainly designed for human-driven vehicles (HVs), and autonomous vehicles face problems such as low passing efficiency and insufficient safety in the existing traffic system. In addition, traditional signal control systems cannot meet the high-efficiency passing requirements of autonomous vehicles.

[0003] For autonomous vehicles, the existing traffic system currently has the following problems:

[0004] I. Technical bottlenecks of traditional signal control

[0005] 1) Disconnection between static timing and dynamic demand

[0006] Traditional signal control mainly relies on fixed cycles or adaptive adjustments based on traffic flow, making it difficult to meet the high-precision spatio-temporal resource allocation requirements of autonomous vehicles, resulting in green light idling or queuing delays;

[0007] 2) Conflicts between human-driven vehicles and autonomous vehicles

[0008] Traditional signal control lacks the ability to respond in real time to mixed traffic flows and cannot effectively coordinate the right of way of autonomous vehicles and social vehicles, increasing the risk of conflicts at intersections;

[0009] II. Limitations of the setting of dedicated lanes for autonomous vehicles

[0010] 1) Static functional division of dedicated lanes

[0011] Existing dedicated lanes mostly adopt fixed lane functional divisions (such as only allowing autonomous vehicles to go straight), and cannot dynamically adjust lane functions according to real-time traffic flow, autonomous vehicle penetration rate, and destination distribution, resulting in waste of resources;

[0012] 2) Lack of dedicated lane reuse strategy

[0013] When the penetration rate of autonomous vehicles is low (e.g., <20%), the idle rate of dedicated lanes is relatively high, but existing technologies lack a collaborative reuse mechanism with shared resources such as bus lanes;

[0014] III. Insufficient collaborative optimization of mixed traffic flows

[0015] 1) Poor coordination between trajectory and signal timing

[0016] Existing research has not deeply integrated the trajectory optimization of autonomous vehicles (such as acceleration control, lane-changing decisions, etc.) with signal timing parameters (such as phase difference, green light duration), resulting in limited improvement in intersection traffic efficiency.

[0017] 2) Lack of global optimization at the road network level

[0018] Existing technologies focus on the optimization of single intersections and do not coordinate the layout of dedicated lanes, vehicle path planning, and signal timing at the road network level, making it difficult to solve the coupling problem of lane-changing delays and resource allocation in large-scale road networks.

[0019] Therefore, there is an urgent need for a traffic system specifically for autonomous vehicles to improve the traffic efficiency and safety of autonomous vehicles. Summary of the Invention

[0020] (1) Technical problems to be solved

[0021] In view of the above-mentioned shortcomings of the existing technology, the present invention provides a traffic system for autonomous vehicles, which can effectively overcome the defects of low traffic efficiency and insufficient safety faced by autonomous vehicles in the existing traffic system.

[0022] (2) Technical solutions

[0023] To achieve the above objectives, the present invention is realized through the following technical solutions:

[0024] A traffic system for autonomous vehicles includes a dedicated lane for autonomous driving, dedicated signal lights, vehicle detection equipment, and a signal light control module;

[0025] The dedicated lane for autonomous driving is clearly marked by ground markings and aerial markings, and physical isolation or virtual isolation is used to prevent manually driven vehicles from entering. Intelligent turnstiles are installed at the entrance and exit of the lane to control the entry and exit of autonomous vehicles.

[0026] The dedicated signal lights are installed on the dedicated lane for autonomous driving to control the passage of autonomous vehicles.

[0027] The vehicle detection equipment is installed on the dedicated lane for autonomous driving to monitor and count the number of autonomous vehicles in the dedicated lane for autonomous driving in real time.

[0028] The signal light control module adjusts the signal timing of the dedicated signal lights according to the number of autonomous vehicles in the dedicated lane for autonomous driving.

[0029] Preferably, the signal light control module adjusts the signal timing of the dedicated signal lights according to the number of autonomous vehicles in the dedicated lane for autonomous driving, including:

[0030] When the number of autonomous vehicles in the autonomous vehicle dedicated lane is equal to 0, that is, there are no autonomous vehicles driving in the autonomous vehicle dedicated lane, the signal phase corresponding to the autonomous vehicle dedicated lane is red, and it automatically enters the next signal phase;

[0031] When the number of autonomous vehicles in the autonomous vehicle dedicated lane is greater than 0 and does not exceed 3, the green light time of the signal phase corresponding to the autonomous vehicle dedicated lane is the shortest green light time;

[0032] When the number of autonomous vehicles in the autonomous vehicle dedicated lane exceeds 3, under the condition of meeting the constraint conditions, the green light time of the signal phase corresponding to the autonomous vehicle dedicated lane is, on the basis of the shortest green light time, extended by 2s for each additional vehicle;

[0033] Among them, the shortest green light time takes different values according to different intersection conditions in different cities.

[0034] Preferably, the constraint conditions are expressed by the following formula:

[0035]

[0036] Among them, d * is the average vehicle delay time at the intersection, d max is the maximum value of the average vehicle delay time at the intersection under unobstructed conditions, which takes different values according to different intersection conditions in different cities;

[0037] T i is the green light time of the signal phase corresponding to the autonomous vehicle dedicated lane i, T max is the longest green light time, which takes different values according to different intersection conditions in different cities.

[0038] Preferably, the average vehicle delay time d * at the intersection is calculated by the following formula:

[0039]

[0040] Among them, d i is the average vehicle delay time of the autonomous vehicle dedicated lane i, q i is the peak hour traffic volume of the autonomous vehicle dedicated lane i;

[0041] The average vehicle delay time d i of the autonomous vehicle dedicated lane i is calculated by the following formula:

[0042]

[0043] Among them, C is the signal cycle duration, λ is the green signal ratio of the dedicated lane for autonomous driving, x is the saturation of the dedicated lane for autonomous driving, T is the analysis period duration, T = 0.25 s, e is the signal control type correction coefficient, and for fixed-time signals, e = 0.5. Q is the traffic capacity of the dedicated lane for autonomous driving, that is, CAP.

[0044] (III) Beneficial effects

[0045] Compared with the prior art, a traffic passing system for autonomous vehicles provided by the present invention has the following beneficial effects:

[0046] 1) The passing efficiency is significantly improved

[0047] By setting up a dedicated lane for autonomous driving and optimizing the signal timing plan in real time, lane-level refined management and control are realized, interference between vehicles in different directions is reduced, the passing capacity of the intersection is increased by about 15%, and the average passing time of vehicles is effectively shortened;

[0048] 2) The safety and collaborative control capabilities are enhanced

[0049] By setting up a dedicated lane for autonomous driving, the interaction conflicts between autonomous vehicles and manually driven vehicles are reduced, the risk of traffic accidents is lowered. At the same time, combined with the intelligent signal phase dynamic regulation technology, the signal timing plan is optimized through real-time traffic data feedback to ensure the synchronous improvement of the safety of vehicle and pedestrian passing;

[0050] 3) The intelligent management level is broken through

[0051] By introducing a roadside control unit and an optimized decision-making algorithm, lane-level traffic state monitoring and dynamic response are realized, a "perception - decision - execution" closed-loop system is formed, which supports the collaborative control of multiple sections in a large-scale road network environment, and provides an extensible technical framework for the urban-level intelligent transportation system;

[0052] This technical solution promotes the upgrade of the traditional traffic system to a refined and dynamic direction through the coordination of vehicle - road - signal multi-elements, and provides key infrastructure support for the large-scale application of autonomous driving. BRIEF DESCRIPTION OF THE DRAWINGS

[0053] In order 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 the description of the embodiments or the prior art. Obviously, the following drawings are only some embodiments of the present invention. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative efforts.

[0054] Figure 1 It is a schematic diagram of the setting of the dedicated lane for autonomous driving in the present invention;

[0055] Figure 2 For the present invention Figure 1 is a partially enlarged schematic diagram;

[0056] Figure 3 is a logic diagram of the signal lamp control module in the present invention for performing timing adjustment on the dedicated signal lamp. Specific embodiments

[0057] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are some, but not all, of the embodiments of the present invention. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts shall fall within the protection scope of the present invention.

[0058] A traffic passing system for an autonomous vehicle, as Figure 1 and Figure 2 shown, includes a dedicated lane for autonomous driving, dedicated signal lamps, vehicle detection devices, and a signal lamp control module;

[0059] The dedicated lane for autonomous driving is clearly marked by ground markings (such as colored markings) and aerial markings (such as electronic signs), and physical isolation (such as guardrails) or virtual isolation (such as electronic fences) is used to prevent manually driven vehicles from entering. Intelligent turnstiles are installed at the entrance and exit of the lane to control the entry and exit of autonomous vehicles;

[0060] The dedicated signal lamps are arranged on the dedicated lane for autonomous driving to control the passage of autonomous vehicles;

[0061] The vehicle detection devices are arranged on the dedicated lane for autonomous driving to monitor and count the number of autonomous vehicles in the dedicated lane for autonomous driving in real time;

[0062] The signal lamp control module performs timing adjustment on the dedicated signal lamps according to the number of autonomous vehicles in the dedicated lane for autonomous driving.

[0063] As Figure 3 shown, the signal lamp control module performs timing adjustment on the dedicated signal lamps according to the number of autonomous vehicles in the dedicated lane for autonomous driving, including:

[0064] When the number of autonomous vehicles in the dedicated lane for autonomous driving is equal to 0, that is, there are no autonomous vehicles driving in the dedicated lane for autonomous driving, the signal lamp phase corresponding to the dedicated lane for autonomous driving is a red light, and it automatically enters the next signal lamp phase;

[0065] When the number of autonomous vehicles in the autonomous driving dedicated lane is greater than 0 and does not exceed 3, the green light time of the signal light phase corresponding to the autonomous driving dedicated lane is the shortest green light time;

[0066] When the number of autonomous vehicles in the autonomous driving dedicated lane exceeds 3, and under the condition of meeting the constraint conditions, the green light time of the signal light phase corresponding to the autonomous driving dedicated lane is based on the shortest green light time, and for each additional vehicle, it is extended by 2s;

[0067] Among them, the shortest green light time varies according to different intersection conditions in different cities, and generally takes 12s.

[0068] Specifically, the constraint conditions are expressed by the following formula:

[0069]

[0070] Among them, d * is the average vehicle delay time at the intersection, d max is the maximum value of the average vehicle delay time at the intersection under unobstructed conditions, which varies according to different intersection conditions in different cities (such as service level C, the maximum value of the average vehicle delay time at the intersection under unobstructed conditions is 35s);

[0071] T i is the green light time of the signal light phase corresponding to the autonomous driving dedicated lane i, T max is the longest green light time, which varies according to different intersection conditions in different cities, and generally takes 50s.

[0072] For the above technical solution, the maximum value of the average vehicle delay time d max at the intersection under unobstructed conditions can be obtained by referring to Table 1:

[0073] Table 1 Table of the maximum value of the average vehicle delay time at the intersection under unobstructed conditions

[0074]

[0075]

[0076] Specifically, the average vehicle delay time d * at the intersection is calculated by the following formula:

[0077]

[0078] Among them, d i is the average vehicle delay time of the autonomous driving dedicated lane i, q i is the peak-hour traffic volume of the autonomous driving dedicated lane i;

[0079] The average vehicle delay time d iCalculated using the following formula:

[0080]

[0081] Wherein, C is the signal cycle duration, λ is the green signal ratio of the dedicated lane for autonomous driving, x is the saturation of the dedicated lane for autonomous driving, T is the analysis period duration, T = 0.25 s, e is the signal control type correction coefficient, e = 0.5 for fixed-time signals, and Q is the traffic capacity of the dedicated lane for autonomous driving, i.e., CAP.

[0082] The above embodiments are only used to illustrate the technical solutions of the present invention and are not intended to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that they can still modify the technical solutions recorded in the foregoing embodiments or perform equivalent replacements for some of the technical features; and these modifications or replacements will not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A traffic passage system for an autonomous vehicle, characterized in that: It includes a dedicated lane for autonomous driving, dedicated signal lights, vehicle detection equipment, and a signal light control module; The dedicated lane for autonomous driving is clearly marked by ground markings and aerial markings, and physical isolation or virtual isolation is used to prevent manually driven vehicles from entering. Intelligent turnstiles are installed at the entrance and exit of the lane to control the entry and exit of autonomous driving vehicles; The dedicated signal lights are installed on the dedicated lane for autonomous driving to control the passage of autonomous driving vehicles; The vehicle detection equipment is installed on the dedicated lane for autonomous driving to monitor and count the number of autonomous driving vehicles in the dedicated lane for autonomous driving in real time; The signal light control module adjusts the signal timing of the dedicated signal lights according to the number of autonomous driving vehicles in the dedicated lane for autonomous driving.

2. The traffic passing system of the autonomous vehicle according to claim 1, characterized in that: The signal light control module adjusts the signal timing of the dedicated signal lights according to the number of autonomous driving vehicles in the dedicated lane for autonomous driving, including: When the number of autonomous driving vehicles in the dedicated lane for autonomous driving is equal to 0, that is, there are no autonomous driving vehicles driving in the dedicated lane for autonomous driving, the signal phase corresponding to the dedicated lane for autonomous driving is a red light, and it automatically enters the next signal phase; When the number of autonomous driving vehicles in the dedicated lane for autonomous driving is greater than 0 and does not exceed 3, the green light time of the signal phase corresponding to the dedicated lane for autonomous driving is the shortest green light time; When the number of autonomous driving vehicles in the dedicated lane for autonomous driving exceeds 3, under the condition of meeting the constraint conditions, the green light time of the signal phase corresponding to the dedicated lane for autonomous driving is increased by 2s for each additional vehicle on the basis of the shortest green light time; Among them, the shortest green light time takes different values according to different intersection conditions in different cities.

3. The traffic passing system of the autonomous vehicle according to claim 2, characterized in that: The constraint conditions are expressed by the following formula: Among them, d * is the average vehicle delay time at the intersection, and d max is the maximum value of the average vehicle delay time at the intersection under unobstructed conditions, and its value varies according to the different intersection conditions in different cities; T i is the green light time of the signal phase corresponding to the dedicated lane i for autonomous driving, T max is the maximum green light time, which takes different values according to the different intersection conditions in different cities.

4. The traffic passing system of the autonomous vehicle according to claim 3, characterized in that: The average vehicle delay time d at the intersection * is calculated using the following formula: Among them, d i is the average vehicle delay time of the dedicated autonomous driving lane i, and q i is the peak-hour traffic volume of the dedicated autonomous driving lane i; The average vehicle delay time d of the dedicated lane i for autonomous driving i is calculated using the following formula: Among them, C is the signal cycle duration, λ is the green ratio of the dedicated lane for autonomous driving, x is the saturation of the dedicated lane for autonomous driving, T is the analysis period duration, T = 0.25s, e is the signal control type correction coefficient, e = 0.5 is taken for fixed-time signals, and Q is the traffic capacity of the dedicated lane for autonomous driving, that is, CAP.

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