Methods and devices for avoiding intersection conflicts based on static or dynamic conflict zones

Abstract

This invention discloses a method and apparatus for avoiding intersection conflicts based on static or dynamic conflict zones. The process involves establishing a connection between lanes and the intersection; acquiring conflict points; during simulation, the target vehicle acquires real-time intersection data; the target vehicle sequentially determines whether to adjust its speed for conflict points it has not yet passed, from nearest to farthest; the type of conflict point determines whether to establish a static or dynamic conflict zone; and the speed is adjusted based on the position and speed relationship. This invention utilizes the real-time position and speed relationship between the target vehicle and conflicting vehicles to establish static or dynamic conflict zones, adjusting the target vehicle's speed to avoid conflicts within the intersection. The constructed model makes vehicle driving more closely resemble real-world driving conditions, improving the traffic efficiency of the simulated intersection and solving the problem of overlapping conflicts, especially among large vehicles, that may occur in certain merging scenarios.

Description

Technical Field

[0001] This invention relates to the field of traffic simulation, and in particular to a method and apparatus for avoiding intersection conflicts based on static or dynamic conflict zones. Background Technology

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

[0003] In microscopic traffic simulation, intersection conflict refers to a potential dangerous scenario where two or more traffic flows (vehicles, pedestrians, etc.) may collide or become obstructed when crossing an intersection due to intersecting travel paths or conflicting travel directions. It is one of the core indicators for evaluating intersection safety and traffic efficiency, and a key aspect that needs to be simulated and analyzed in traffic simulation.

[0004] Existing models have low traffic efficiency at intersections with many complex internal lane intersections, and in certain merging scenarios, especially for large vehicles, overlapping conflicts may occur. Summary of the Invention

[0005] The purpose of this invention is to address the shortcomings of existing technologies by proposing a method and apparatus for avoiding intersection conflicts based on static or dynamic conflict areas. This improves the efficiency of intersection traffic models and avoids conflicts between vehicles in different lanes, especially in complex scenarios such as merging.

[0006] The objective of this 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) Establish the connection between lanes and intersections: Based on the road network data, obtain all intersections, their upstream and downstream roads and lanes, and establish all possible internal lanes of each intersection for the upstream and downstream lanes according to the traffic rules within the intersection;

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

[0009] (3) When performing the simulation, the target vehicle needs to obtain real-time intersection data: for each target vehicle driving in the intersection, obtain the lane, vehicle speed, head offset relative to the starting point of the lane, conflict point and conflict lane in the lane.

[0010] (4) The target vehicle judges whether it needs to adjust its speed for conflict points that the front of the vehicle has not yet passed, from near to far. If there are no conflicting vehicles in the conflict lane where the conflict point is located, the judgment of that point is skipped. If it needs to decelerate, the judgment of the remaining conflict points is skipped. If there are no conflict points that the front of the vehicle has not yet passed or the vehicle speed is not adjusted due to any conflict point after the judgment, the target vehicle drives according to the car-following model in the simulation model.

[0011] (5) Determine whether the conflict point is a merging conflict point and the two conflict 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 and determine whether the target vehicle needs to slow down and avoid it;

[0013] (7) Establish a dynamic conflict zone and 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 static conflict zones. Using the conflict point that needs to be determined as the midpoint, define conflict zones on the lane where the target vehicle is located and the conflict lane respectively.

[0016] (6.2) Locate the conflicting vehicle. The conflicting vehicle is the vehicle closest to the end of the conflicting lane among the vehicles occupying the conflict area or not yet reaching the conflict area in the conflicting lane. Determine whether the conflicting vehicle has already occupied the conflict area.

[0017] (6.3) If the conflicting vehicles have already occupied the conflict area, the target vehicle decelerates with acceleration a; if the conflicting vehicles have not occupied the conflict area, the time it takes for the front of the target vehicle to reach the starting point of its conflict area is calculated. ; Calculate the time it takes for the front of the conflicting vehicles to reach the starting point of their conflict zone. ; Calculate the time it takes for the rear of the conflicting vehicles to leave their conflict zone. ;like The target vehicle decelerates with acceleration 'a'; if or If the target vehicle does not slow down or avoid the point of conflict, then the target vehicle will not slow down or avoid the conflict.

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

[0019]

[0020] in, Indicates conflict vehicles The amount of vehicle head-on deviation in the conflict lane, and These represent the offsets of the start and end points of the conflict zone on the conflict lane, respectively. Indicates conflict vehicles The length of the train.

[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 If the target vehicle does not adjust its speed due to the point of conflict; Then find the conflicting vehicles in the conflict lane. A dynamic conflict zone is established, and the target vehicle's acceleration is calculated based on the offset from the starting point of the conflict zone. Adjust the vehicle speed.

[0024] Furthermore, the specific process for locating conflicting vehicles in the conflict lane is as follows: find vehicles in the conflict lane whose front end is no more than [a certain value] from the end of their lane. The vehicle sequence is obtained by sorting all k vehicles in ascending order of the distance from the front of the vehicle to the end of its lane. ,in This means it is set as a conflict vehicle.

[0025] Furthermore, on the lane where the target vehicle is located, the endpoint of the conflict zone is the merging conflict point, and the offset of the starting point of the conflict zone is... The calculation is as follows:

[0026]

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

[0028] Secondly, the present invention also provides an intersection conflict avoidance device based on static or dynamic conflict areas, including a memory and one or more processors, wherein the memory stores executable code, and when the processor executes the executable code, it implements the intersection conflict avoidance method based on static or dynamic conflict areas.

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

[0030] Fourthly, the present invention also provides a computer program product, including a computer program, which, when executed by a processor, implements the aforementioned method for avoiding intersection conflicts based on static or dynamic conflict areas.

[0031] The beneficial effects of this invention are as follows: This invention mainly solves the problem of potential vehicle conflicts at intersections in microscopic traffic simulation, enabling vehicles to effectively avoid collisions within the intersection. Compared with traditional models, this invention can better simulate driver behavior patterns at intersections with multiple upstream and downstream lanes, especially at intersections without traffic lights, making vehicle driving closer to real-world driving conditions, improving the traffic efficiency of the simulation model intersection, and solving the problem of potential overlap and conflict between vehicles, especially large vehicles, in certain merging scenarios. Attached Figure Description

[0032] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0033] Figure 1 This is a flowchart of the method of the present invention.

[0034] Figure 2 yes Figure 1 The flowchart for the "Conflict Resolution" section.

[0035] Figure 3 This is an illustration of Example 1.

[0036] Figure 4 This is an illustration of Example 2.

[0037] Figure 5 This is a structural diagram of an intersection conflict avoidance device based on static or dynamic conflict areas according to the present invention. Detailed Implementation

[0038] To make the objectives, technical solutions, and advantages of this invention clearer, the invention will be further described below with reference to the accompanying drawings and examples. It should be understood that the specific examples described herein are merely illustrative and not intended to limit the 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) Establish the connection between lanes and intersections: Based on the road network data, obtain all intersections, their upstream and downstream roads and lanes, and establish all possible internal lanes of each intersection for the upstream and downstream lanes according to the traffic rules within the intersection;

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

[0042] (3) When performing the simulation, the target vehicle needs to obtain real-time intersection data: for each target vehicle driving in the intersection, obtain the lane, vehicle speed, head offset relative to the starting point of the lane, conflict point and conflict lane in the lane.

[0043] (4) The target vehicle has not yet passed through the n conflict points from near to far. The following steps are used to determine whether the vehicle speed needs to be adjusted. If there are no conflicting vehicles in the conflict lane where the conflict point is located, the judgment of that point is skipped. If the vehicle needs to slow down, the judgment of the remaining conflict points is skipped. If there are no conflict points that the front of the vehicle has not yet passed or the vehicle speed is not adjusted due to any conflict points after the 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 conflict 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 and determine whether the target vehicle needs to slow down and avoid it;

[0046] (6.1) Establish static conflict zones, with the conflict point to be determined as the midpoint and dist as the length, and delineate the conflict zones on the lane where the target vehicle is located and the conflict lane respectively.

[0047] (6.2) Locate the conflicting vehicle. The conflicting vehicle is the vehicle closest to the end of the lane among those vehicles occupying the conflict area or those that have not yet reached 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 conflict vehicles The amount of vehicle head-on deviation in the conflict lane, and These represent the offsets of the start and end points of the conflict zone on the conflict lane, respectively. Indicates conflict vehicles The length of the vehicle;

[0050] (6.3) If the conflicting vehicles have already occupied the conflict area, calculate the acceleration 'a' using the following formula, and decelerate the target vehicle with acceleration 'a':

[0051]

[0052] in, The target vehicle At this speed, The target vehicle The offset of the starting point of the conflict zone on the lane in which it is located. The target vehicle The amount of headroom of the vehicle in its lane. It is the minimum acceleration that is allowed to be obtained;

[0053] If the conflicting vehicles do not occupy the conflict zone, the time it takes for the front of the target vehicle to reach the starting point of its conflict zone is calculated. ; Calculate the time it takes for the front of the conflicting vehicles to reach the starting point of their conflict zone. ; Calculate the time it takes for the rear of the conflicting vehicles to leave their conflict zone. ;like Calculate the acceleration 'a' in the same way, and the target vehicle moves... To accelerate or decelerate;

[0054] like or If so, the target vehicle will not slow down or avoid the conflict point;

[0055] (7) Establish a dynamic conflict zone and 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 If so, the target vehicle will not adjust its speed due to the point of conflict;

[0058] like Find lanes where the distance from the front of the vehicle to the end of its lane is no greater than [missing information]. The vehicle sequence is obtained by sorting all k vehicles in ascending order of the distance from the front of the vehicle to the end of its lane. ,in That is, set as a conflict vehicle;

[0059] A dynamic conflict zone is established in the lane where the target vehicle is located, with the offset of the conflict zone's starting point. The calculation is as follows:

[0060]

[0061] in, Let L be the length of the lane where the target vehicle is located. For conflict vehicles The distance from the front of the vehicle to the end of its lane. For conflict vehicles The length of the train, The default buffer zone length is specified; the endpoint of the conflict zone is the merging conflict point.

[0062] The target vehicle accelerates Adjust vehicle speed:

[0063]

[0064] in, , It is the amount of headroom deviation of the target vehicle in its lane. It is the speed of the target vehicle at this moment. Conflict vehicles At this speed, It is the minimum acceleration that is allowed to be obtained. It is the maximum acceleration that is allowed to be achieved.

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

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

[0067] Step 1: Establish connections between lanes and intersections: Based on road network data, obtain all intersections, their upstream and downstream roads and lanes, and according to the traffic rules within the intersections, establish all possible internal lanes for the upstream and downstream lanes of each intersection; for example... Figure 3 The image shows three internal lanes L001, L002, and L003 at an intersection.

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

[0069] Step 3: During simulation, for the target vehicle Train commander Given a vehicle with a length of 4m traveling in lane L001 within an intersection at a certain moment, its head-on deviation in lane L001 is [value missing]. 7m, speed The speed is 4 m / s; obtain all conflict points in lane L001: P and Q;

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

[0071] Step 5: Determine whether the conflict point is a merging conflict point and whether 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 Six: Establish a static conflict zone and determine whether the target vehicle needs to slow down and give way:

[0073] (6.1) Establish a static conflict zone. With conflict point P as the midpoint and dist=4m as the length, define conflict zones on the lane where the target vehicle is located and the conflict lane respectively; AB and CD are the conflict zones of lanes L001 and L002 with respect to conflict point P, respectively; the offset of point A from L001. If the distance is 15m, then the offset of point B relative to L001 is... The offset of point C from L002 is 19m. The offset of point D relative to L002 is 20m. It is 24m;

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

[0075]

[0076] Not satisfied

[0077]

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

[0079]

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

[0081]

[0082] Calculate the time it takes for the rear of the conflicting vehicles to leave their conflict zone. :

[0083]

[0084] After comparison Then the target vehicle by To accelerate or decelerate:

[0085]

[0086] in, It is the minimum allowable acceleration, take .

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

[0088] Step 1: Establish connections between lanes and intersections: Based on road network data, obtain all intersections, their upstream and downstream roads and lanes, and according to the traffic rules within the intersections, establish all possible internal lanes for the upstream and downstream lanes of each intersection; for example... Figure 4 The diagram shows two internal lanes, L001 and L002, at an intersection. They are both 30m long and originate from the same upstream road. They merge into the same downstream lane.

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

[0090] Step 3: During simulation, for the target vehicle Train commander Given a vehicle with a length of 4m traveling in lane L001 within an intersection at a certain moment, its head-on deviation in lane L001 is [value missing]. 12m, speed The speed is 2 m / s; obtain all conflict points of lane L001 within it: P;

[0091] Step 4: The target vehicle determines whether it needs to adjust its speed at the only conflict point P that its front has not yet passed. There are conflicting vehicles in the conflict lane L002 where conflict point P is located. , and All vehicles are 4 meters long and are traveling in lane L002. What is their front-end offset relative to lane L002? Their speeds are 28m, 20m, and 10m respectively. and Both are 1 m / s;

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

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

[0094] (6.1) Obtain the target vehicle Distance from the front of the 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 ;

[0095] (6.2) Find the conflict lane L002 where the distance from the front of the vehicle to the end of the lane is no greater than [missing information]. The vehicle sequence is obtained by sorting all two vehicles by the distance from the front of the vehicle to the end of its lane in ascending order. ,in That is, set as a conflict vehicle;

[0096] In the lane where the target vehicle is located, a dynamic conflict zone AP is established, and the offset of the conflict zone start point A from its lane is defined.

[0097]

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

[0099] Target vehicle With acceleration Adjust vehicle speed:

[0100]

[0101] in, ), The target vehicle The amount of headroom of the vehicle in its lane. It is the minimum allowable acceleration, take , It is the maximum allowable acceleration, take .

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

[0103] See Figure 5 The present invention provides a crossroads avoidance device based on static or dynamic conflict areas, comprising a memory and one or more processors. The memory stores executable code, and when the processor executes the executable code, it implements a crossroads avoidance method based on static or dynamic conflict areas as described in the above embodiment.

[0104] The present invention provides an embodiment of an intersection conflict avoidance device based on static or dynamic conflict areas, which can be applied to any device with data processing capabilities, such as a computer. The device embodiment can be implemented in software, hardware, or a combination of both. Taking software implementation as an example, as a logical device, it is formed by the processor of any data processing device loading the corresponding computer program instructions from non-volatile memory into memory for execution. From a hardware perspective, such as... Figure 5 The diagram shown is a hardware structure diagram of any data processing-capable device located at an intersection where a device for avoiding intersection conflicts based on static or dynamic conflict areas, provided by the present invention, is provided. (Except for...) Figure 5 In addition to the processor, memory, network interface, and non-volatile memory shown, any data processing device in the embodiment may also include other hardware depending on the actual function of the data processing device, which will not be described in detail here.

[0105] The specific implementation process of the functions and roles of each unit in the above device can be found in the implementation process of the corresponding steps in the above 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 in the description of the method embodiments. The device embodiments described above are merely illustrative. The units described as separate components may or may not be physically separate, 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 can be selected to achieve the purpose of the present invention according to actual needs. Those skilled in the art can understand and implement this without creative effort.

[0107] This invention also provides a computer-readable storage medium storing a program thereon, which, when executed by a processor, implements a method for avoiding intersection conflicts based on static or dynamic conflict areas as described in the above embodiments.

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

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

[0110] The above embodiments are used to explain and illustrate the present invention, but not to limit the present invention. Any modifications and changes made to the present invention within the spirit and 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 areas, characterized in that, Includes the following steps: (1) Establish the connection between lanes and intersections: Based on the road network data, obtain all intersections, their upstream and downstream roads and lanes, and establish all possible internal lanes of each intersection for the upstream and downstream lanes according to the traffic rules within the intersection; (2) Obtaining conflict points: For each intersection, traverse all internal lanes in the intersection in pairs. For each pair of intersecting lanes, the two lanes are each other's conflict lanes. The intersection point is called the conflict point. If the two lanes intersect at the end of the lanes, the conflict point is the merging conflict point. Calculate the offset of the conflict point relative to the head endpoints of the two intersecting internal lanes. (3) When performing the simulation, the target vehicle needs to obtain real-time intersection data: for each target vehicle driving in the intersection, obtain the lane, vehicle speed, head offset relative to the starting point of the lane, conflict point and conflict lane in the lane. (4) The target vehicle judges whether it needs to adjust its speed for conflict points that the front of the vehicle has not yet passed, from near to far. If there are no conflicting vehicles in the conflict lane where the conflict point is located, the judgment of that point is skipped. If it needs to decelerate, the judgment of the remaining conflict points is skipped. If there are no conflict points that the front of the vehicle has not yet passed or the vehicle speed is not adjusted due to any conflict point after the judgment, the target vehicle drives according to the car-following model in the simulation model. (5) Determine whether the conflict point is a merging conflict point and the two conflict 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 and determine whether the target vehicle needs to slow down and avoid it; (7) Establish a dynamic conflict zone and determine whether the target vehicle needs to adjust its speed.

2. The method for avoiding intersection conflicts 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 static conflict zones. Using the conflict point that needs to be determined as the midpoint, define conflict zones on the lane where the target vehicle is located and the conflict lane respectively. (6.2) Locate the conflicting vehicle. The conflicting vehicle is the vehicle closest to the end of the conflicting lane among the vehicles occupying the conflict area or not yet reaching the conflict area in the conflicting lane. Determine whether the conflicting vehicle has already occupied the conflict area. (6.3) If the conflicting vehicles have already occupied the conflict area, the target vehicle decelerates with acceleration a; If the conflicting vehicles do not occupy the conflict zone, the time it takes for the front of the target vehicle to reach the starting point of its conflict zone is calculated. ; Calculate the time it takes for the front of a conflicting vehicle to reach the starting point of its conflict zone. ; Calculate the time it takes for the rear of the conflicting vehicles to leave their conflict zone. ;like The target vehicle decelerates with acceleration 'a'; if or If the target vehicle does not slow down or avoid the point of conflict, then the target vehicle will not slow down or avoid the conflict.

3. The method for avoiding intersection conflicts based on static or dynamic conflict areas according to claim 2, characterized in that, Occupying a conflict zone means that the conflict satisfies the following relationship: in, Indicates conflict vehicles The amount of vehicle head-on deviation in the conflict lane, and These represent the offsets of the start and end points of the conflict zone on the conflict lane, respectively. Indicates conflict vehicles The length of the train.

4. The method for avoiding intersection conflicts 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 If the target vehicle does not adjust its speed due to the point of conflict; Then find the conflicting vehicles in the conflict lane. A dynamic conflict zone is established, and the target vehicle's acceleration is calculated based on the offset from the starting point of the conflict zone. Adjust the 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 for locating conflicting vehicles in the conflict lane is as follows: Find vehicles in the conflict lane whose front end is no more than [missing information - likely a number] meters from the end of their lane. The vehicle sequence is obtained by sorting all k vehicles in ascending order of the distance from the front of the vehicle to the end of its lane. ,in This means 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, On the lane where the target vehicle is located, the endpoint of the conflict zone is the merging conflict point, and the offset of the starting point of the conflict zone is... The calculation is as follows: in, Let L be the length of the lane where the target vehicle is located. For conflict vehicles The distance from the front of the vehicle to the end of its lane. For conflict vehicles The length of the train, This is the preset buffer length.

7. 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, characterized in that, When the processor executes the executable code, it implements a method for avoiding intersection conflicts based on static or dynamic conflict areas as described in any one of claims 1-6.

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

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

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