Method and device for avoiding intersection conflict based on static or dynamic conflict area

Abstract

The invention discloses a method and a device for avoiding intersection conflicts based on static or dynamic conflict areas. Establishing a relation between the lane and the intersection; acquiring conflict points; when simulation is carried out, the target vehicle obtains real-time intersection data; the target vehicle sequentially judges whether the vehicle speed needs to be adjusted from near to far according to the conflict points which the vehicle head does not pass through; judging the types of conflict points to determine whether to establish a static conflict area or a dynamic conflict area; and determining whether to adjust the vehicle speed according to the position and speed relationship. The real-time position and speed relation between the target vehicle and the conflicting vehicle is utilized, the static or dynamic conflict area is established, the vehicle speed of the target vehicle is adjusted to avoid conflicts in the intersection, the established model enables vehicle driving to be closer to the real driving condition, the passing efficiency of the simulation model intersection is improved, and the traffic safety of the intersection is improved. The problem that under some confluence situations, vehicles, especially carts, may have overlapping conflicts is solved.

Description

Technical Field

[0001] The present invention relates to the field of traffic simulation, and in particular to a method and device for avoiding intersection conflicts based on static or dynamic conflict areas. Background Art

[0002] Microscopic traffic simulation is a technology that studies traffic flow characteristics and evaluates the effectiveness of traffic plans by simulating the driving behavior and interactions of each vehicle on the road. Using individual vehicles as the basic unit, it dynamically simulates the operation of the traffic system based on microscopic behavioral rules such as acceleration, deceleration, lane changes, and following, enabling a refined analysis of traffic phenomena.

[0003] In microscopic traffic simulation, intersection conflict refers to a potentially dangerous scenario where two or more traffic flows (vehicles, pedestrians, etc.) cross paths or conflict in direction while passing through an intersection, potentially leading to a collision or obstruction. It is a core indicator for evaluating intersection safety and traffic efficiency, and a key aspect of traffic simulation that requires focused simulation and analysis.

[0004] The existing model has low traffic efficiency in conflict avoidance for intersections with a large number of complex internal lane intersections. In some merging scenarios, especially for large vehicles, overlapping conflicts may occur. Summary of the Invention

[0005] The purpose of the present invention is to address the shortcomings of the existing technology and propose a method and device for avoiding intersection conflicts based on static or dynamic conflict areas, thereby improving the efficiency of the intersection traffic model and avoiding conflicts between vehicles in different lanes, especially conflicts between vehicles in complex scenarios such as merging.

[0006] The object of the present invention is achieved through the following technical solution: a method for avoiding intersection conflicts based on static or dynamic conflict areas, comprising the following steps:

[0007] (1) Establishing the connection between lanes and intersections: Obtain all intersections, their upstream and downstream roads and lanes based on the road network data. According to the traffic rules within the intersection, establish all possible internal lanes for the upstream and downstream lanes of each intersection;

[0008] (2) Obtaining conflict points: For each intersection, traverse all the inner lanes in the intersection in pairs. For each pair of intersecting lanes, the two lanes are each other's conflicting lanes, and the intersection point is called the conflict point. If the two lanes intersect at the end of the lane, the conflict point is a merging conflict point. Calculate the offset of the conflict point relative to the head endpoints of the two intersecting inner lanes.

[0009] (3) When performing simulation, the target vehicle to be judged obtains real-time intersection data: for each target vehicle traveling in the intersection, obtain the lane, speed, head offset relative to the starting point of the lane, conflict point on the lane, and conflict lane;

[0010] (4) The target vehicle determines whether it needs to adjust its speed for the conflict points that the vehicle has not passed through, from near to far, in the following order. If there is no conflicting vehicle in the conflict lane where the conflict point is located, the judgment of that point is skipped. If deceleration is required, the judgment of the remaining conflict points is skipped. If there is no conflict point that the vehicle has not passed through or the speed is not adjusted for any conflict point after the judgment, the target vehicle drives according to the following model in the simulation model.

[0011] (5) Determine whether the conflict point is a merging conflict point and the two conflicting lanes come from the same upstream road. If not, establish a static conflict area and execute step (6); if so, establish a dynamic conflict area and execute step (7);

[0012] (6) Establish a static conflict zone to determine whether the target vehicle needs to slow down and avoid;

[0013] (7) Establish a dynamic conflict area to determine whether the target vehicle needs to adjust its speed.

[0014] Furthermore, in step (6), the sub-steps are as follows:

[0015] (6.1) Establish a static conflict zone, with the conflict point to be determined as the midpoint, and delineate the conflict zone in the target vehicle lane and the conflict lane;

[0016] (6.2) Find the conflicting vehicle, which is the vehicle closest to the end of the conflicting lane among the vehicles occupying the conflicting area or not yet in the conflicting area, and determine whether the conflicting vehicle has occupied the conflicting area.

[0017] (6.3) If the conflicting vehicle has already occupied the conflict area, the target vehicle decelerates at acceleration a. If the conflicting vehicle has not occupied the conflict area, the time it takes for the target vehicle's front end to reach the starting point of its conflict area is calculated as ; Calculate the time it takes for the front of the conflicting vehicle to reach the starting point of its conflict area ; Calculate the time it takes for the rear end of the conflicting vehicle to leave its conflict area ;like , then the target vehicle decelerates at acceleration a; if or , the target vehicle does not slow down to avoid the conflict point.

[0018] Furthermore, occupying the conflict area means that the conflict satisfies the following relationship:

[0019]

[0020] in, Indicates conflicting vehicles The front deviation in the conflicting lane, and Respectively represent the offsets of the starting and ending points of the conflict area on the conflict lane, Indicates conflicting vehicles The driver of the vehicle.

[0021] Furthermore, in step (7), the sub-steps are as follows:

[0022] (7.1) Obtain the distance from the front of the target vehicle to the end of its lane , get the vehicle closest to the end of the conflict lane on the conflict lane and the distance from the front of the vehicle to the end of its lane ;

[0023] (7.2) If , then the target vehicle does not adjust its speed due to the conflict point; if , then find the conflicting vehicles on the conflicting lane , establish a dynamic conflict area, the target vehicle uses the acceleration calculated based on the offset of the starting point of the conflict area Adjust vehicle speed.

[0024] Furthermore, the specific process of finding the conflicting vehicles on the conflicting lane is as follows: find the conflicting vehicles on the conflicting lane that satisfy the distance from the front of the vehicle to the end of the lane is not greater than All k vehicles are sorted from the smallest to the largest distance from the front to the end of the lane to obtain the vehicle sequence ,in That is, it is set as a conflict vehicle.

[0025] Furthermore, in the lane where the target vehicle is located, the end point of the conflict area is the merging conflict point, and the offset of the starting point of the conflict area is The calculation is as follows:

[0026]

[0027] in, is the length of the lane L where the target vehicle is located, For conflict vehicles The distance from the front of the vehicle to the end of the lane, For conflict vehicles The driver, The preset buffer length.

[0028] In a second aspect, the present invention also provides a device for avoiding intersection conflicts based on static or dynamic conflict areas, comprising a memory and one or more processors, wherein the memory stores executable code, and when the processor executes the executable code, it implements the method for avoiding intersection conflicts based on static or dynamic conflict areas.

[0029] In a third aspect, the present invention further provides a computer-readable storage medium having a program stored thereon, which, when executed by a processor, implements the method for avoiding intersection conflicts based on static or dynamic conflict areas.

[0030] In a fourth aspect, the present invention further provides a computer program product, comprising a computer program, which, when executed by a processor, implements the method for avoiding intersection conflicts based on static or dynamic conflict areas.

[0031] The beneficial effects of the present invention are as follows: the present invention mainly solves the problem of possible conflicts between vehicles in intersections in microscopic traffic simulation, and enables vehicles in intersections to effectively avoid each other; compared with traditional models, the present invention can better simulate the driver's behavior pattern in intersections with multiple upstream lanes and downstream lanes, especially in intersections without traffic lights, so that vehicle driving is closer to real driving conditions, improves the traffic efficiency of the simulation model intersection, and solves the problem of overlapping conflicts between vehicles, especially large vehicles, in certain merging situations. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0033] Figure 1 It is a flow chart of the method of the present invention.

[0034] Figure 2 yes Figure 1 Expanded flowchart for the "Handling Conflicts" section in .

[0035] Figure 3 It is an explanatory diagram of embodiment 1.

[0036] Figure 4 This is an explanatory diagram of the second embodiment.

[0037] Figure 5 It is a structural diagram of an intersection conflict avoidance device based on static or dynamic conflict areas of the present invention. DETAILED DESCRIPTION

[0038] In order to make the purpose, technical solution and advantages of the present invention more clearly understood, the present invention is further described below with reference to the accompanying drawings and examples. It should be understood that the specific examples described herein are only used to explain the present invention and are not intended to limit the present invention.

[0039] like Figure 1 and Figure 2 As shown, the present invention provides a method for avoiding intersection conflicts based on static or dynamic conflict areas, comprising the following steps:

[0040] (1) Establishing the connection between lanes and intersections: Obtain all intersections, their upstream and downstream roads and lanes based on the road network data. According to the traffic rules within the intersection, establish all possible internal lanes for the upstream and downstream lanes of each intersection;

[0041] (2) Obtaining conflict points: For each intersection, traverse all the inner lanes in the intersection in pairs. For each pair of intersecting lanes, the two lanes are each other's conflicting lanes, and the intersection point is called the conflict point. If the two lanes intersect at the end of the lane, the conflict point is a merging conflict point. Calculate the offset of the conflict point relative to the head endpoints of the two intersecting inner lanes.

[0042] (3) When performing simulation, the target vehicle to be judged obtains real-time intersection data: for each target vehicle traveling in the intersection, obtain the lane, speed, head offset relative to the starting point of the lane, conflict point on the lane, and conflict lane;

[0043] (4) The target vehicle has not yet passed through the n conflict points from near to far Follow the steps below to determine whether speed adjustment is necessary. If there are no conflicting vehicles in the conflict lane where the conflict point is located, skip the judgment of that point. If deceleration is required, skip the judgment of the remaining conflict points. If there are no conflict points that the vehicle head has not passed or the speed is not adjusted due to any conflict points after judgment, the target vehicle will drive according to the car-following model in the simulation model.

[0044] (5) Determine whether the conflict point is a merging conflict point and the two conflicting lanes come from the same upstream road. If not, establish a static conflict area and execute step (6); if so, establish a dynamic conflict area and execute step (7);

[0045] (6) Establish a static conflict zone to determine whether the target vehicle needs to slow down and avoid;

[0046] (6.1) Establish a static conflict region. Use the conflict point to be determined as the midpoint and dist as the length. Delineate the conflict region in the target vehicle lane and the conflict lane.

[0047] (6.2) Find the conflicting vehicle. The conflicting vehicle is the vehicle closest to the end of the lane among the vehicles occupying the conflict area or not yet in the conflict area. Determine whether the conflicting vehicle has occupied the conflict area. Occupying the conflict area means that the conflict satisfies the following relationship:

[0048]

[0049] in, Indicates conflicting vehicles The front deviation in the conflicting lane, and Respectively represent the offsets of the starting and ending points of the conflict area on the conflict lane, Indicates conflicting vehicles The vehicle commander;

[0050] (6.3) If the conflicting vehicle has already occupied the conflict area, the acceleration a is calculated as follows, and the target vehicle decelerates at acceleration a:

[0051]

[0052] in, The target vehicle The speed at this time, The target vehicle The offset of the starting point of the conflict area on the lane, The target vehicle The vehicle's front deviation in the lane it is in, is the minimum acceleration allowed;

[0053] If the conflicting vehicle does not occupy the conflict area, the time it takes for the target vehicle's head to reach the starting point of its conflict area is calculated. ; Calculate the time it takes for the front of the conflicting vehicle to reach the starting point of its conflict area ; Calculate the time it takes for the rear end of the conflicting vehicle to leave its conflict area ;like , calculate the acceleration a in the same way, the target vehicle is is acceleration deceleration;

[0054] like or , the target vehicle does not slow down to avoid the conflict point;

[0055] (7) Establish a dynamic conflict area to determine whether the target vehicle needs to adjust its speed:

[0056] (7.1) Obtain the distance from the front of the target vehicle to the end of its lane , get the vehicle closest to the end of the conflict lane on the conflict lane and the distance from the front of the vehicle to the end of its lane ;

[0057] (7.2) If , then the target vehicle does not adjust its speed due to the conflict point;

[0058] like , find the conflict lane where the distance from the front of the vehicle to the end of the lane is not greater than All k vehicles are sorted from the smallest to the largest distance from the front to the end of the lane to obtain the vehicle sequence ,in That is, it is set as a conflict vehicle;

[0059] On the lane where the target vehicle is located, a dynamic conflict area is established, and the offset of the starting point of the conflict area is set. The calculation is as follows:

[0060]

[0061] in, is the length of the lane L where the target vehicle is located, For conflict vehicles The distance from the front of the vehicle to the end of the lane, For conflict vehicles The driver, is the preset buffer length; the end point of the conflict area is the confluence conflict point;

[0062] The target vehicle accelerates Adjust vehicle speed:

[0063]

[0064] in, , is the headway offset of the target vehicle in its lane, is the target vehicle’s speed at this moment, It is a conflict vehicle The speed at this time, is the minimum acceleration allowed, is the maximum acceleration allowed.

[0065] Two embodiments of the present invention in combination with specific scenarios are as follows:

[0066] Example 1: Establishing a static conflict zone for speed reduction and avoidance

[0067] Step 1: Establish the connection between lanes and intersections: Obtain all intersections, their upstream and downstream roads and lanes based on the road network data, and establish all possible internal lanes of the intersection for the upstream lane and downstream lane of each intersection according to the traffic rules within the intersection; Figure 3 Shown are the three inner lanes L001, L002 and L003 of an intersection;

[0068] Step 2: Obtain the conflict point. L001 and L002 intersect at conflict point P. The offset of point P relative to L001 is 17m. The offset of point P relative to L002 is 22m. L001 and L003 intersect at conflict point Q. The offset of point Q relative to L001 is 12m.

[0069] Step 3: When simulating, for the target vehicle , Captain is 4m. At a certain moment, the vehicle is traveling on the inner lane L001 of the intersection. The vehicle head offset in lane L001 is 7m, speed The speed is 4m / s. Get all conflict points of lane L001: P and Q.

[0070] Step 4: Target Vehicle The two conflict points Q and P that the vehicle has not passed through from near to far are judged. There is no conflicting vehicle in the conflict lane L003 where the conflict point Q is located, and there is a conflicting vehicle in the conflict lane L002 where the conflict point P is located. Vehicle Commander is 4m, and its frontal offset in lane L002 is 8m, speed 8m / s;

[0071] Step 5: Determine whether the conflict point is a merging conflict point and the two conflicting lanes come from the same upstream road. Point P is not the end point of the two conflicting lanes and is not a merging conflict point.

[0072] Step 6: Establish a static conflict zone and determine whether the target vehicle needs to slow down and avoid:

[0073] (6.1) Establish a static conflict area, with the conflict point P as the midpoint and dist = 4m as the length, and delineate the conflict area on the target vehicle lane and the conflict lane respectively; AB and CD are the conflict areas of lanes L001 and L002 about the conflict point P; the offset of point A with respect to L001 is is 15m, then the offset of point B relative to L001 is The offset of point C relative to L002 is 19m. The offset of point D relative to L002 is 20m. 24m;

[0074] (6.2) The conflict area CD at point P on lane L002 is not Occupy, that is

[0075]

[0076] Dissatisfied

[0077]

[0078] (6.3) Calculate the time it takes for the target vehicle's front end to reach the starting point of its conflict zone :

[0079]

[0080] Calculate the time it takes for the front of the conflicting vehicle to reach the starting point of its conflict area :

[0081]

[0082] Calculate the time it takes for the rear end of the conflicting vehicle to leave its conflict area :

[0083]

[0084] By comparison , then the target vehicle by To decelerate for acceleration:

[0085]

[0086] in, is the minimum acceleration allowed, take .

[0087] Example 2: Establishing a dynamic conflict zone to adjust vehicle speed

[0088] Step 1: Establish the connection between lanes and intersections: Obtain all intersections, their upstream and downstream roads and lanes based on the road network data, and establish all possible internal lanes of the intersection for the upstream lane and downstream lane of each intersection according to the traffic rules within the intersection; Figure 4 The figure shows two inner lanes L001 and L002 at an intersection. They are both 30 meters long and come from the same upstream road. They merge into the same downstream lane.

[0089] Step 2: Get the conflict point. L001 and L002 intersect at the conflict point P, which is the end point of L001 and L002. The offset of point P to L001 and L002 is 30m.

[0090] Step 3: When simulating, for the target vehicle , Captain is 4m. At a certain moment, the vehicle is traveling on the inner lane L001 of the intersection. The vehicle head offset in lane L001 is 12m, speed The speed is 2m / s; get all conflict points of the inner lane L001: P;

[0091] Step 4: The target vehicle determines whether to adjust the speed at the only conflict point P that the vehicle has not passed. There is a conflicting vehicle in the conflict lane L002 where the conflict point P is located. 、 and When driving on lane L002, the length of the vehicles is 4m. The offset of their front end to lane L002 is They are 28m, 20m and 10m respectively. Their speeds and Both are 1m / s;

[0092] Step 5: Conflict point P is a merging conflict point and L001 and L002 come from the same upstream road;

[0093] Step 6: Establish a dynamic conflict zone and determine whether the target vehicle needs to adjust its speed:

[0094] (6.1) Obtaining the target vehicle Distance from the front of the vehicle to the end of the lane , get the vehicle closest to the end of the conflict lane on the conflict lane and the distance from the front of the vehicle to the end of its lane ;

[0095] (6.2) , find the conflict lane L002 that satisfies the requirement that the distance from the front of the vehicle to the end of the lane is no greater than All two vehicles are sorted from small to large according to the distance from the front to the end of the lane to obtain the vehicle sequence ,in That is, it is set as a conflict vehicle;

[0096] In the lane where the target vehicle is located, a dynamic conflict area AP is established, and the offset of the starting point A of the conflict area in the lane is

[0097]

[0098] in, is the length of lane L001 where the target vehicle is located, It is a conflict vehicle The distance from the front of the vehicle to the end of the lane, It is a conflict vehicle Vehicle length, the preset buffer zone length dis is 2m; the end point of the conflict zone is point P;

[0099] Target vehicle With acceleration Adjust vehicle speed:

[0100]

[0101] in, ), The target vehicle The vehicle's front deviation in the lane it is in, is the minimum acceleration allowed, take , is the maximum acceleration allowed, take .

[0102] Corresponding to the aforementioned embodiment of the method for avoiding intersection conflicts based on static or dynamic conflict areas, the present invention further provides an embodiment of an apparatus for avoiding intersection conflicts based on static or dynamic conflict areas.

[0103] See also Figure 5 An embodiment of the present invention provides an intersection conflict avoidance device based on static or dynamic conflict areas, including a memory and one or more processors. The memory stores executable code. When the processor executes the executable code, it is used to implement a method for avoiding intersection conflicts based on static or dynamic conflict areas in the above embodiment.

[0104] The embodiment of the intersection conflict avoidance device based on static or dynamic conflict areas provided by the present invention can be applied to any device with data processing capabilities, and the device with data processing capabilities can be a device or apparatus such as a computer. The device embodiment can be implemented through software, or through hardware or a combination of software and hardware. Taking software implementation as an example, as a device in a logical sense, it is formed by the processor of any device with data processing capabilities in which it is located reading the corresponding computer program instructions in the non-volatile memory into the memory for execution. From the hardware level, if Figure 5 As shown, a hardware structure diagram of a device for avoiding intersection conflicts based on static or dynamic conflict areas provided by the present invention is provided, in addition to Figure 5 In addition to the processor, memory, network interface, and non-volatile memory shown, any device with data processing capabilities in which the apparatus in the embodiment is located may also include other hardware, generally based on the actual functions of the device with data processing capabilities, which will not be described in detail.

[0105] The implementation process of the functions and effects of each unit in the above-mentioned device is specifically described in the implementation process of the corresponding steps in the above-mentioned method, and will not be repeated here.

[0106] For the device embodiments, since they basically correspond to the method embodiments, the relevant parts can be referred to the partial description of the method embodiments. The device embodiments described above are merely illustrative, wherein the units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed across multiple network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the present invention. A person of ordinary skill in the art can understand and implement the present invention without inventive work.

[0107] An embodiment of the present invention further provides a computer-readable storage medium having a program stored thereon. When the program is executed by a processor, the method for avoiding intersection conflicts based on static or dynamic conflict areas in the above embodiment is implemented.

[0108] The computer-readable storage medium may be an internal storage unit of any device with data processing capabilities described in any of the aforementioned embodiments, such as a hard disk or memory. The computer-readable storage medium may also be an external storage device of any device with data processing capabilities, such as a plug-in hard disk, a smart media card (SMC), an SD card, a flash card, etc. equipped on the device. Furthermore, the computer-readable storage medium may also include both an internal storage unit and an external storage device of any device with data processing capabilities. The computer-readable storage medium is used to store the computer program and other programs and data required by any device with data processing capabilities, and may also be used to temporarily store data that has been output or is to be output.

[0109] The present invention also provides a computer program product, comprising a computer program, wherein when the computer program is executed by a processor, the computer program implements the method for avoiding intersection conflicts based on static or dynamic conflict areas.

[0110] The above embodiments are used to illustrate the present invention rather than to limit the present invention. Any modifications and changes made to the present invention within the spirit of the present invention and the protection scope of the claims shall fall within the protection scope of the present invention.

Claims

1. A method for avoiding intersection conflicts based on static or dynamic conflict zones, characterized in that: The following steps are involved: (1) Establishing the connection between lanes and intersections: Obtain all intersections, their upstream and downstream roads and lanes based on the road network data. According to the traffic rules within the intersection, establish all possible internal lanes for the upstream and downstream lanes of each intersection; (2) Obtaining conflict points: For each intersection, traverse all the inner lanes in the intersection in pairs. For each pair of intersecting lanes, the two lanes are each other's conflicting lanes, and the intersection point is called the conflict point. If the two lanes intersect at the end of the lane, the conflict point is a merging conflict point. Calculate the offset of the conflict point relative to the head endpoints of the two intersecting inner lanes. (3) When performing simulation, the target vehicle to be judged obtains real-time intersection data: for each target vehicle traveling in the intersection, obtain the lane, speed, head offset relative to the starting point of the lane, conflict point on the lane, and conflict lane; (4) The target vehicle determines whether it needs to adjust its speed for the conflict points that the vehicle has not passed through, from near to far, in the following order. If there is no conflicting vehicle in the conflict lane where the conflict point is located, the judgment of that point is skipped. If deceleration is required, the judgment of the remaining conflict points is skipped. If there is no conflict point that the vehicle has not passed through or the speed is not adjusted for any conflict point after the judgment, the target vehicle drives according to the following model in the simulation model. (5) Determine whether the conflict point is a merging conflict point and the two conflicting lanes come from the same upstream road. If not, establish a static conflict area and execute step (6); if so, establish a dynamic conflict area and execute step (7); (6) Establish a static conflict zone to determine whether the target vehicle needs to slow down and avoid; (7) Establish a dynamic conflict area to determine whether the target vehicle needs to adjust its speed.

2. The intersection conflict avoidance method based on static or dynamic conflict areas according to claim 1, characterized in that: In step (6), the sub-steps are as follows: (6.1) Establish a static conflict zone, with the conflict point to be determined as the midpoint, and delineate the conflict zone in the target vehicle lane and the conflict lane; (6.2) Find the conflicting vehicle, which is the vehicle closest to the end of the conflicting lane among the vehicles occupying the conflicting area or not yet in the conflicting area, and determine whether the conflicting vehicle has occupied the conflicting area. (6.3) If the conflicting vehicle has already occupied the conflict area, the target vehicle decelerates at acceleration a; If the conflicting vehicle does not occupy the conflict area, the time it takes for the target vehicle's head to reach the starting point of its conflict area is calculated. ; Calculate the time it takes for the front of the conflicting vehicle to reach the starting point of its conflict area ; Calculate the time it takes for the rear end of the conflicting vehicle to leave its conflict area ;like , then the target vehicle decelerates at acceleration a; if or , the target vehicle does not slow down to avoid the conflict point.

3. The intersection conflict avoidance method based on static or dynamic conflict areas according to claim 2, characterized in that: Occupying a conflict area means that the conflict satisfies the following relationship: in, Indicates conflicting vehicles The front deviation in the conflicting lane, and Respectively represent the offsets of the starting and ending points of the conflict area on the conflict lane, Indicates conflicting vehicles The driver of the vehicle.

4. The intersection conflict avoidance method based on static or dynamic conflict areas according to claim 1, characterized in that: In step (7), the sub-steps are as follows: (7.1) Obtain the distance from the front of the target vehicle to the end of its lane , get the vehicle closest to the end of the conflict lane on the conflict lane and the distance from the front of the vehicle to the end of its lane ; (7.2) If , the target vehicle does not adjust its speed due to the conflict point; if , then find the conflicting vehicles on the conflicting lane , establish a dynamic conflict area, the target vehicle is calculated based on the acceleration of the starting point offset of the conflict area Adjust vehicle speed.

5. The method for avoiding intersection conflicts based on static or dynamic conflict areas according to claim 4, characterized in that: The specific process of finding the conflicting vehicles on the conflicting lane is: find the conflicting vehicles on the conflicting lane that satisfy the requirement that the distance from the front of the vehicle to the end of the lane is not greater than All k vehicles are sorted from the smallest to the largest distance from the front to the end of the lane to obtain the vehicle sequence ,in That is, it is set as a conflict vehicle.

6. The method for avoiding intersection conflicts based on static or dynamic conflict areas according to claim 4, characterized in that: In the lane where the target vehicle is located, the end point of the conflict area is the merging conflict point, and the offset of the starting point of the conflict area is The calculation is as follows: in, is the length of the lane L where the target vehicle is located, For conflict vehicles The distance from the front of the vehicle to the end of the lane, For conflict vehicles The driver, The preset buffer length.

7. An intersection conflict avoidance device based on static or dynamic conflict zones, comprising a memory and one or more processors, wherein the memory stores executable code, characterized in that: When the processor executes the executable code, the method for avoiding intersection conflicts based on static or dynamic conflict areas according to any one of claims 1 to 6 is implemented.

8. A computer-readable storage medium having a program stored thereon, characterized in that: When the program is executed by a processor, a method for avoiding intersection conflicts based on static or dynamic conflict areas according to any one of claims 1 to 6 is implemented.

9. A computer program product comprising a computer program, characterized in that When the computer program is executed by a processor, the method for avoiding intersection conflicts based on static or dynamic conflict areas as described in any one of claims 1 to 6 is implemented.

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