A control method and system for a vehicle platoon to pass through a toll station or inspection portal

Abstract

The application relates to a control method and system for a vehicle formation to pass through a toll station or a check portal, and the method comprises the following steps: acquiring basic information of the vehicle formation; acquiring state information of the vehicle formation in real time at the toll station or the check portal; judging whether congestion exists according to the state information of the vehicle formation acquired at the toll station or the check portal, and if yes, executing an intelligent shunting mode, otherwise, executing a normal passing mode; in the intelligent shunting mode, a self-service card swiping channel is opened, and the vehicle formation is shunted according to the basic information of the vehicle formation; in the normal passing mode, the vehicle formation passes according to a preset vehicle speed interval. Compared with the prior art, the application can reasonably manage and adjust before and after the portal, improve the speed limiting effect by combining with intelligent technology, reduce the safety hidden danger, and thus realize more efficient and safer highway passing.

Description

Technical Field

[0001] This invention relates to the field of vehicle platooning control technology, and in particular to a control method and system for vehicle platooning passing through toll stations or checkpoints. Background Technology

[0002] With the rapid development of transportation technology, platooning has become an important way to improve transportation efficiency and alleviate traffic congestion. At highway toll stations or checkpoints, platooned vehicles face numerous challenges. Traditional platooning control methods are ill-suited to complex traffic environments, especially under conditions of high traffic volume and congestion at manual tollbooth lanes. Platoons are prone to disintegration or delays, impacting overall driving efficiency and safety.

[0003] Currently, speed-limiting measures at highway toll stations, such as welded iron pins, iron blocks, and speed bumps, are not very effective, especially in situations where dynamic weighing of trucks and ETC lanes for passenger vehicles impose strict speed limits. Furthermore, existing intelligent guidance systems often fail to effectively prevent drivers from cutting in during congestion, leading to severe traffic jams. At the same time, the lack of human oversight in the ETC system also creates management loopholes, potentially allowing unscrupulous vehicle owners to exploit system flaws to evade toll payments.

[0004] To address these issues, there is an urgent need for an intelligent control method for vehicle platooning through toll stations or checkpoints to ensure that platooned vehicles can pass through smoothly and maintain a stable platooning state. For example, inventions such as CN118298522A disclose a method, system, and electronic equipment for controlling passage through highway toll stations, and CN119705447A disclose a vehicle control method, a vehicle platooning system, and a storage medium. However, these existing solutions have the following drawbacks:

[0005] Traditional vehicle platooning control methods are ill-suited to complex traffic environments, especially when there is heavy traffic or congestion at manual toll booths. In such cases, platoons are prone to disbanding or delays, which can negatively impact overall driving efficiency and safety. Summary of the Invention

[0006] The purpose of this invention is to overcome the shortcomings of the prior art, such as its inability to cope with complex traffic environments and the failure of intelligent guidance systems in congested conditions, and to provide a control method and system for vehicle platooning to pass through toll stations or checkpoints.

[0007] The objective of this invention can be achieved through the following technical solutions:

[0008] A method for controlling vehicle platooning through toll stations or checkpoints includes the following steps:

[0009] S1: Obtain basic information about the vehicle platoon;

[0010] S2: Obtain real-time status information of vehicle platoons at toll stations or checkpoints;

[0011] S3: Based on the vehicle platoon status information obtained from the toll station or checkpoint, determine whether there is congestion. If there is, proceed to step S4; otherwise, proceed to step S5.

[0012] S4: Execute intelligent diversion mode. In this intelligent diversion mode, by enabling ETC passage, the vehicle platoon is diverted according to the basic information of the vehicle platoon.

[0013] S5: Execute normal traffic mode, in which vehicle platoons travel according to preset speed ranges.

[0014] Furthermore, step S1 specifically includes:

[0015] The vehicle model recognition device identifies the vehicle model information of each vehicle in the convoy;

[0016] The location information of each vehicle in the convoy is collected in real time using lidar, millimeter-wave radar and cameras;

[0017] Establish a vehicle platoon database to record the vehicle type and location information of each vehicle in the platoon.

[0018] Furthermore, step S2 specifically includes:

[0019] The vehicle communication system can acquire real-time information on the speed, position, and driving status of each vehicle in the convoy.

[0020] The queue detector is used to detect the number of vehicles and their speed in the lanes of toll stations or checkpoints to obtain the status information of vehicle platooning.

[0021] Furthermore, the method also includes:

[0022] The number of vehicles in the lane can be displayed in real time on a screen or transmitted to each terminal device via wireless communication, so that subsequent vehicle platooning can be used for route planning.

[0023] Furthermore, in step S3, determining whether there is congestion specifically involves: based on the vehicle speed, vehicle spacing, and static road data in the vehicle platoon status information, including lane length, toll booth barrier position, and roadside sensing data, including the number of vehicles ahead, their speed, and vehicle position, the lane capacity is calculated in real time and compared with a preset threshold to determine whether there is congestion.

[0024] Furthermore, step S4 specifically involves:

[0025] S401: Open the barrier of the self-service card reader channel to allow vehicles to enter the self-service card reader channel for diversion;

[0026] S402: Adjust the vehicle passage permissions of each lane in the toll station or checkpoint by identifying the basic information of the vehicle platoon and determining whether to allow the vehicle to pass based on the vehicle passage permissions of the corresponding lane.

[0027] S403: Update the optimized route for vehicle platooning based on vehicle type and current traffic conditions at toll stations or checkpoints.

[0028] Furthermore, step S5 specifically involves:

[0029] The system guides vehicle formation based on basic information, static road information, and roadside perception information, and displays the optimal route.

[0030] The vehicle communication system sends normal passage instructions to each vehicle in the convoy and provides suggestions on speed ranges.

[0031] Close the barrier of the opened self-service card reader lane.

[0032] Furthermore, step S3 also includes activating the congestion alarm system after determining that congestion exists, and reminding staff to adjust the traffic flow.

[0033] The present invention also provides a control system for implementing the above-described control method for vehicle platooning through toll stations or checkpoints, comprising:

[0034] Vehicle model recognition device is used to identify the vehicle model information of vehicles entering toll stations or checkpoints;

[0035] LiDAR and ultrasonic sensors are used to collect the position information of each vehicle in the vehicle platoon;

[0036] The vehicle platoon database module is used to record the vehicle type and location information of each vehicle in the platoon;

[0037] Vehicle communication systems are used to transmit information on the speed, position, and driving status of each vehicle in a platoon.

[0038] Queue detectors are used to detect the number of vehicles and their speed in lanes at toll booths or checkpoints, and to obtain information about the status of vehicle platooning.

[0039] The controller is connected to the vehicle type recognition device, lidar, ultrasonic sensor, vehicle platoon database module, vehicle communication system and queue detector respectively. It is used to determine whether there is congestion based on the vehicle platoon status information obtained from the toll station or checkpoint. If there is congestion, it will execute the intelligent diversion mode; otherwise, it will execute the normal passage mode.

[0040] The self-service card-swiping channel is equipped with a barrier, which is used to open or close the barrier under the control of the controller.

[0041] Furthermore, the control system also includes:

[0042] The display screen is used to show the number of vehicles in the lane in real time, so that subsequent vehicle platooning can be used for route planning.

[0043] Compared with the prior art, the present invention has the following advantages:

[0044] (1) This invention obtains basic information and status information of vehicle platooning in real time at toll stations or checkpoints, determines whether there is congestion, and promptly diverts vehicles by opening autonomous card swiping channels, thereby reasonably managing and adjusting vehicle platooning. This effectively solves the stability problem of traditional platooning control methods in complex traffic environments, ensures that platooned vehicles can pass through checkpoints smoothly and maintain a stable platooning state, and improves overall driving efficiency and safety.

[0045] (2) By identifying vehicle types, setting vehicle access permissions for autonomous card-swiping channels, and monitoring location and limiting speed, this invention achieves accurate vehicle identification and precise speed control, effectively solving the problem of insufficient accuracy and reliability of vehicle speed control in the prior art and reducing safety hazards.

[0046] (3) This invention collects the speed, position and driving status information of each vehicle in the vehicle platoon through the vehicle communication system to determine whether there is congestion. It executes intelligent diversion mode and normal passage mode respectively for congestion status. The collected vehicle platoon information is fed back to other vehicles through the display screen or wireless communication. The overall solution realizes intelligent management and precise guidance of vehicles, effectively prevents drivers from cutting in front of other vehicles and reduces the occurrence of congestion.

[0047] (4) This invention uses an intelligent front and rear checkpoint management mechanism to identify vehicles and set vehicle passage permissions. Combined with a manual supervision system, it forms a complete vehicle passage management solution, which effectively solves the management loopholes in the ETC system that lacks manual supervision and eliminates the phenomenon of illegal vehicle owners taking advantage of system defects to evade toll payments.

[0048] (5) This system has good scalability and adaptability, and can flexibly adjust the control strategy according to actual needs to adapt to different vehicle models and driving environments, further improving the system's practicality and maintainability. Attached Figure Description

[0049] Figure 1 This is a flowchart illustrating a control method for vehicle platooning passing through toll stations or checkpoints, provided in an embodiment of the present invention. Detailed Implementation

[0050] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. The components of the embodiments of the present invention described and shown in the accompanying drawings can generally be arranged and designed in various different configurations.

[0051] Therefore, the following detailed description of the embodiments of the invention provided in the accompanying drawings is not intended to limit the scope of the claimed invention, but merely to illustrate selected embodiments of the invention. All other embodiments obtained by those skilled in the art based on the embodiments of the invention without inventive effort are within the scope of protection of the invention.

[0052] It should be noted that similar labels and letters in the following figures indicate similar items. Therefore, once an item is defined in one figure, it does not need to be further defined and explained in subsequent figures.

[0053] Example 1

[0054] like Figure 1 As shown, this embodiment provides a control method for vehicles platooning through toll stations or checkpoints, including the following steps:

[0055] S1: Obtain basic information about the vehicle platoon;

[0056] S2: Obtain real-time status information of vehicle platoons at toll stations or checkpoints;

[0057] S3: Based on the vehicle platoon status information obtained from the toll station or checkpoint, determine whether there is congestion. If there is, proceed to step S4; otherwise, proceed to step S5.

[0058] S4: Execute intelligent diversion mode. In this intelligent diversion mode, the vehicle platoon is diverted based on the basic information of the vehicle platoon by opening the self-service card swiping channel.

[0059] S5: Execute normal traffic mode, in which vehicle platoons travel according to preset speed ranges.

[0060] Step S1 specifically includes:

[0061] S101: Identifies the vehicle type information of each vehicle in a convoy using a vehicle type identifier, such as identifying vehicles with a length of 2.5-3.5 meters, a height of 1.2-1.8 meters, and a width of 1.8-2.5 meters;

[0062] S102: Real-time acquisition of the position information of each vehicle in the vehicle formation through lidar and ultrasonic sensors. Optionally, the lidar has a working range of 30-100 meters, and the ultrasonic sensor has a detection range of 0.5-5 meters.

[0063] S103: Establish a vehicle platoon database to record the vehicle type and location information of each vehicle in the platoon, as well as collect and record the driving status; for example, the location information is longitude: 116.324, latitude: 40.003; the driving status includes stationary / low-speed driving / high-speed driving.

[0064] Step S2 specifically includes:

[0065] S201: Real-time acquisition of speed, position and driving status information of each vehicle in the vehicle platoon through the vehicle-mounted communication system, such as the speed of the acquired vehicle being 20-120km / h, the position being longitude: 116.324, latitude: 40.003, and the driving status being stationary / low-speed driving / high-speed driving;

[0066] S202: Use queue detectors to detect the number of vehicles and their speed in the lanes of toll booths or checkpoints to obtain vehicle platoon status information;

[0067] For example, if the number of vehicles detected in the lane is 10-30 and the vehicle speed is 20-120 km / h;

[0068] S203: The number of vehicles in the lane is displayed in real time via a display screen, or the number of vehicles in the lane is transmitted to each terminal device via wireless communication for subsequent vehicle platooning and route planning. In this embodiment, an LED display screen is selected.

[0069] In step S3, determining whether there is congestion specifically involves: calculating the lane capacity in real time based on the vehicle speed and lane width in the vehicle platoon status information, and then comparing it with a preset threshold to determine whether there is congestion.

[0070] Step S3 specifically includes:

[0071] S301: The controller calculates lane capacity in real time, based on vehicle speed and lane width.

[0072] S302: Determine whether the lane capacity is lower than the preset threshold (less than 5000 vehicles / hour). If so, proceed to step S4.

[0073] S303: If the traffic capacity is lower than the preset threshold, the congestion alarm system will be activated to remind staff to adjust the traffic flow in a timely manner.

[0074] Step S4 is as follows:

[0075] S401: Open the barrier of the self-service card reader channel to allow vehicles to enter the self-service card reader channel for diversion;

[0076] S402: Adjust vehicle passage permissions for each lane in toll station or checkpoint through controller, identify basic information of vehicle platoons, and determine whether to allow vehicles to pass based on the vehicle passage permissions of the corresponding lanes, so as to restrict the passage of certain vehicle types in specific lanes.

[0077] S403: Dynamically update the optimized route for vehicle platooning based on vehicle type and current traffic conditions at toll stations or checkpoints.

[0078] Step S5 is as follows:

[0079] S501: Guides vehicle formation based on basic information of the vehicle formation and displays the optimal route through the vehicle terminal display screen;

[0080] S502: Sends normal passage instructions to each vehicle in the platoon through the vehicle communication system and provides suggestions on speed ranges, such as a suggested speed of 45-90 km / h.

[0081] S503: Close the barrier of the opened self-service card reader lane and restore the original lane layout.

[0082] Example 2

[0083] This embodiment provides a control system for implementing a control method for vehicle platooning passing through a toll station or checkpoint as described in Embodiment 1, including:

[0084] Vehicle model recognition device is used to identify the vehicle model information of vehicles entering toll stations or checkpoints;

[0085] LiDAR and ultrasonic sensors are used to collect the position information of each vehicle in the vehicle platoon;

[0086] The vehicle platoon database module is used to record the vehicle type and location information of each vehicle in the platoon;

[0087] Vehicle communication systems are used to transmit information on the speed, position, and driving status of each vehicle in a platoon.

[0088] Queue detectors are used to detect the number of vehicles and their speed in lanes at toll booths or checkpoints, and to obtain information about the status of vehicle platooning.

[0089] The controller is connected to the vehicle type recognition device, lidar, ultrasonic sensor, vehicle platoon database module, vehicle communication system and queue detector respectively. It is used to determine whether there is congestion based on the vehicle platoon status information obtained from the toll station or checkpoint. If there is congestion, it will execute the intelligent diversion mode; otherwise, it will execute the normal passage mode.

[0090] The self-service card-swiping channel is equipped with a barrier, which is used to open or close the barrier under the control of the controller.

[0091] Preferably, the control system further includes:

[0092] The display screen is used to show the number of vehicles in the lane in real time, so that subsequent vehicle platooning can be used for route planning.

[0093] It should be noted that the specific content and beneficial effects of the system in this application can be found in the above method embodiments, and will not be repeated here.

[0094] Those skilled in the art will understand that embodiments of this application can be provided as methods, systems, or computer program products. Therefore, this application can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, this application can take the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code. The solutions in the embodiments of this application can be implemented in various computer languages, such as the object-oriented programming language Java and the interpreted scripting language JavaScript.

[0095] This application is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of this application. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, generate instructions for implementing the flowchart... Figure 1 One or more processes and / or boxes Figure 1 A device that provides the functions specified in one or more boxes.

[0096] These computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing device to function in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means, which are implemented in a process Figure 1 One or more processes and / or boxes Figure 1 The function specified in one or more boxes.

[0097] These computer program instructions may also be loaded onto a computer or other programmable data processing equipment to cause a series of operational steps to be performed on the computer or other programmable equipment to produce a computer-implemented process, thereby providing instructions that execute on the computer or other programmable equipment for implementing the process. Figure 1 One or more processes and / or boxes Figure 1 The steps of the function specified in one or more boxes.

[0098] Although preferred embodiments of this application have been described, those skilled in the art, upon learning the basic inventive concept, can make other changes and modifications to these embodiments. Therefore, the appended claims are intended to be interpreted as including the preferred embodiments as well as all changes and modifications falling within the scope of this application.

[0099] Obviously, those skilled in the art can make various modifications and variations to this application without departing from the spirit and scope of this application. Therefore, if such modifications and variations fall within the scope of the claims of this application and their equivalents, this application also intends to include such modifications and variations.

Claims

1. A control method for vehicle platooning passing through toll stations or checkpoints, characterized in that, Includes the following steps: S1: Obtain basic information about the vehicle platoon; S2: Obtain real-time status information of vehicle platoons at toll stations or checkpoints; S3: Based on the vehicle platoon status information obtained from the toll station or checkpoint, determine whether there is congestion. If there is, proceed to step S4; otherwise, proceed to step S5. S4: Execute intelligent diversion mode. In this intelligent diversion mode, the vehicle platoon is diverted based on the basic information of the vehicle platoon by opening the self-service channel. S5: Execute normal traffic mode, in which vehicle platoons travel according to preset speed ranges; Step S1 specifically includes: The vehicle model recognition device identifies the vehicle model information of each vehicle in the convoy; The location information of each vehicle in the convoy is collected in real time using lidar, millimeter-wave radar and cameras; Establish a vehicle platoon database to record the vehicle type and location information of each vehicle in the platoon; Step S2 specifically includes: The vehicle communication system can acquire real-time information on the speed, position, and driving status of each vehicle in the convoy. The queue detector is used to detect the number of vehicles and their speed in the lanes of toll stations or checkpoints to obtain the status information of vehicle platooning. In step S3, determining whether there is congestion specifically involves: based on the vehicle speed, vehicle spacing, and static road data in the vehicle platoon status information, including lane length, toll booth barrier position, and roadside sensing data, including the number of vehicles ahead, their speed, and vehicle position, the lane capacity is calculated in real time and compared with a preset threshold to determine whether there is congestion.

2. The control method for vehicle platooning passing through toll stations or inspection checkpoints according to claim 1, characterized in that, The method further includes: The number of vehicles in the lane can be displayed in real time on a screen or transmitted to each terminal device via wireless communication, so that subsequent vehicle platooning can be used for route planning.

3. The control method for vehicle platooning passing through toll stations or inspection checkpoints according to claim 1, characterized in that, Step S4 is as follows: S401: Open the barrier of the self-service card reader channel to allow vehicles to enter the self-service card reader channel for diversion; S402: Adjust the vehicle passage permissions of each lane in the toll station or checkpoint by identifying the basic information of the vehicle platoon and determining whether to allow the vehicle to pass based on the vehicle passage permissions of the corresponding lane. S403: Update the optimized route for vehicle platooning based on vehicle type and current traffic conditions at toll stations or checkpoints.

4. The control method for vehicle platooning passing through toll stations or inspection checkpoints according to claim 1, characterized in that, Step S5 is as follows: The system guides vehicle formation based on basic information, static road information, and roadside perception information, and displays the optimal route. The vehicle communication system sends normal passage instructions to each vehicle in the convoy and provides suggestions on speed ranges. Close the barrier of the opened self-service card reader lane.

5. The control method for vehicle platooning passing through toll stations or inspection checkpoints according to claim 1, characterized in that, Step S3 also includes activating the congestion alarm system after determining that congestion exists, and reminding staff to adjust the traffic flow.

6. A control system for implementing the control method for vehicle platooning passing through a toll station or checkpoint as described in any one of claims 1-5, characterized in that, include: Vehicle model recognition device is used to identify the vehicle model information of vehicles entering toll stations or checkpoints; LiDAR and ultrasonic sensors are used to collect the position information of each vehicle in the vehicle platoon; The vehicle platoon database module is used to record the vehicle type and location information of each vehicle in the platoon; Vehicle communication systems are used to transmit information on the speed, position, and driving status of each vehicle in a platoon. Queue detectors are used to detect the number of vehicles and their speed in lanes at toll booths or checkpoints, and to obtain information about the status of vehicle platooning. The controller is connected to the vehicle type recognition device, lidar, ultrasonic sensor, vehicle platoon database module, vehicle communication system and queue detector respectively. It is used to determine whether there is congestion based on the vehicle platoon status information obtained from the toll station or checkpoint. If there is congestion, it will execute the intelligent diversion mode; otherwise, it will execute the normal passage mode. The self-service card-swiping channel is equipped with a barrier, which is used to open or close the barrier under the control of the controller.

7. The control system according to claim 6, characterized in that, The control system further includes: The display screen is used to show the number of vehicles in the lane in real time, so that subsequent vehicle platooning can be used for route planning.

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