Flexible management method for automatic driving special lane for expressway

Abstract

The invention discloses an expressway-oriented flexible management method for an automatic driving special lane, and relates to the technical field of intelligent traffic, the permeability of an intelligent network connection vehicle is dynamically acquired, and when the permeability is relatively low, a person-driven vehicle meeting the condition is allowed to enter a special lane for driving, so that lane resources can be more effectively utilized, and the driving efficiency is improved. And the situation of road resource waste is avoided, so that the overall passing efficiency of the road section is improved. In addition, through reasonable management of the automatic driving special lane which is fixedly arranged, the problems that when the special lane is dynamically arranged, the requirement for road infrastructures is high, and the execution process is complex are solved. On the basis of fully utilizing the existing facilities and equipment of the expressway, the investment cost for managing the automatic driving special lane of the expressway is effectively reduced, and the feasibility is relatively high.

Description

Technical Field

[0001] This invention relates to the field of intelligent transportation technology, and more specifically to a flexible management method for dedicated lanes for autonomous driving on highways. Background Technology

[0002] Currently, with the continuous improvement of technologies related to intelligent transportation, autonomous driving will become an important direction for the future development of the automotive industry. However, due to factors such as policy, technology, and cost, intelligent connected vehicles are still struggling to achieve mass production. Therefore, during the process of technological iteration and popularization, they will share roads with human-driven vehicles, forming a mixed traffic flow environment. This process may continue for a considerable period of time. To better address the impact of mixed traffic flow and leverage the technological advantages of autonomous vehicles, related research has proposed solutions such as setting up dedicated lanes for autonomous driving.

[0003] Dedicated lanes provide independent driving areas for connected vehicles, separating them from complex mixed traffic flows. This improves vehicle safety and encourages connected vehicles to form platoons, fully leveraging their technological advantages, improving road traffic efficiency, reducing energy consumption and emissions, and supporting the development of autonomous driving technologies. Adding dedicated lanes on top of the existing number of lanes would significantly increase road construction and operating costs, and with low connected vehicle penetration, the overall return on investment would be low. Therefore, current solutions primarily involve either permanently designating a lane as a dedicated lane on existing roads or dynamically setting up dedicated lanes based on connected vehicle penetration. However, since human-driven vehicles cannot travel in dedicated lanes, permanently designating lanes in low-penetration scenarios would waste road resources, reduce overall traffic volume, and even exacerbate traffic congestion. While dynamically setting up dedicated lanes can handle more scenarios with higher penetration rates, it requires a large number of roadside intelligent devices, implying substantial financial investment and low economic and social benefits.

[0004] Therefore, how to make fuller use of dedicated lanes for autonomous driving and improve road traffic efficiency based on existing conditions has become one of the key issues that urgently need to be addressed. Summary of the Invention

[0005] In view of this, the present invention provides a flexible management method for dedicated lanes for autonomous driving on highways. When the penetration rate of intelligent connected vehicles is low, by reasonably managing dedicated lanes for autonomous driving, road resources can be utilized more fully, and the utilization rate and traffic efficiency of roads can be improved.

[0006] To achieve the above objectives, the present invention adopts the following technical solution: A flexible management method for dedicated lanes for autonomous driving on highways includes: S1. Divide the expressway into sections and determine the target sections; S2. Collect the total number of vehicles and the number of intelligent connected vehicles on the target road segment within a fixed time period; S3. Based on the data collection results of the target road segment, determine whether the relationship between the traffic flow and the maximum capacity of the dedicated lane and the ordinary lane on the target road segment under the current intelligent connected vehicle penetration rate should adopt flexible lane management. If yes, proceed to S4; otherwise, it indicates that the dedicated lane is not suitable for flexible lane management at this time, and proceed to S5. S4. Construct a management model for dedicated lanes for autonomous driving and implement a flexible management approach; S5. If the flexible lane management method is not suitable in S3, then the smart road stud will be set to a constant red state, indicating that vehicles and pedestrians in adjacent ordinary lanes are not allowed to enter the autonomous driving lane. If a flexible lane management method is suitable for S3, the relationship between traffic flow and maximum capacity of the dedicated lane under the flexible management method is statistically analyzed. If the traffic flow exceeds the threshold set for the maximum capacity, the smart road beacon turns solid red, prohibiting pedestrians and vehicles from entering the dedicated autonomous driving lane. Simultaneously, existing pedestrians and vehicles in the dedicated lane are cleared. After clearing, only intelligent connected vehicles are allowed to pass through the dedicated lane. If the traffic flow is less than the set threshold, the flexible lane management method continues to be implemented. S6. Return to the sequence of S1 and continue to collect the total number of vehicles entering the target road segment and the number of intelligent connected vehicles in the next fixed time period, and determine the lane management method for the road segment in the next time period.

[0007] Optionally, S1 specifically includes: The system acquires information on the location and quantity of road facilities along the highway route, and divides the highway into segments using road facilities as nodes. The segments between nodes are the target segments, and the segments are connected by buffer zones to facilitate lane-changing operations. Within the buffer zones, autonomous vehicles can change lanes between dedicated lanes and ordinary lanes. Human-driven vehicles can only change lanes from dedicated lanes to ordinary lanes, and cannot enter dedicated lanes from ordinary lanes.

[0008] Optionally, S2 specifically includes: S2.1 Use vehicle detection loops to collect the total number of vehicles entering the target road segment within a time period T (unit: hour), and number the vehicles in each lane of the target road segment; that is, on a one-way highway... MThere are 1 lane, numbered 1, 2, ... from the inside out. M When there is lane 1 N When there are 10 vehicles, number them sequentially according to the order in which they entered. The total number on all lanes is ; S2.2 Collects the number of intelligent connected vehicles traveling in the dedicated lane during the current time period T using intelligent roadside equipment, and records it as... Therefore, the penetration rate of intelligent connected vehicles on the dedicated lane at this time can be obtained. The overall penetration rate of intelligent connected vehicles on the road segment is .

[0009] Optionally, the judgment relation in S3 is:

[0010] In the formula: Indicates the total number of vehicles on the road segment; Indicates the number of intelligent connected vehicles; T Indicates a fixed time interval; This indicates the maximum lane capacity of the dedicated lane for autonomous driving. This indicates the maximum lane capacity of a regular lane. Indicates the dynamic adjustment coefficient; L This indicates the number of regular lanes.

[0011] Optionally, S4 specifically includes: S4.1, set up dynamic exclusive zones in front of and behind the intelligent connected vehicle. When the distance between the driver / vehicle and the intelligent connected vehicle after entering the dedicated lane is greater than or equal to the dynamic exclusive zone, the driver / vehicle is allowed to enter the dedicated lane. Construct judgment conditions. If the conditions are met, control the intelligent road stud on the right side of the dedicated lane to turn green, indicating that the driver / vehicle in the adjacent ordinary lane that meets the conditions has the right to enter the autonomous driving dedicated lane. At the same time, send information to the driver / vehicle through the onboard intelligent terminal and variable message sign. S4.2 When a human-driven vehicle that meets the conditions enters the dedicated lane for autonomous driving, the distance between the intelligent connected vehicle and the human-driven vehicle is dynamically acquired. When the distance is less than the dynamic exclusive area of ​​the intelligent connected vehicle, the adjacent intelligent road stud turns yellow and flashes. If the distance decreases further, the intelligent road stud turns red and flashes, and sends a prompt message to it to leave the dedicated lane. Upon receiving the warning, the system obtains the speed and location information of nearby vehicles in the regular lane to further determine whether the conditions for a safe lane change are met. If a safe lane change is possible, the vehicle exits the dedicated lane. If the conditions for a safe lane change are not met, the vehicle is not forced to leave, the smart road stud returns to its yellow flashing state, and a prompt message is sent to the vehicle via the onboard terminal.

[0012] Optionally, the judgment condition is:

[0013] In the formula: This indicates the distance between intelligent connected vehicles and human-driven vehicles. This indicates the expected headway between intelligent connected vehicles and human-driven vehicles. Indicates the speed of a vehicle driven by a person. Indicates the speed of a vehicle driven by a person.

[0014] Optionally, the safe lane-changing condition is:

[0015] In the formula: Indicates the safe distance for changing lanes. This indicates the distance between a pedestrian / vehicle and the adjacent vehicle in the regular lane. This indicates the distance between a pedestrian / vehicle and an adjacent vehicle in a regular lane. This represents the speed of the rear vehicle in the front-rear position relationship among the three vehicles involved in the calculation. This indicates the speed of the vehicle in front. Indicates the driver's reaction time. a This indicates the maximum deceleration.

[0016] Optionally, the relationship between traffic flow and maximum capacity of the dedicated lane under the flexible management method is as follows:

[0017] In the formula, This represents the traffic flow on a dedicated lane for autonomous driving under a flexible management approach. This indicates the maximum lane capacity of the dedicated lane for autonomous driving. This is a dynamic adjustment coefficient; This indicates the penetration rate of intelligent connected vehicles on dedicated lanes under the flexible management approach; This represents the threshold for the aforementioned penetration rate.

[0018] Optionally, road detection coils are deployed at the starting point of the target road segment; intelligent roadside equipment is evenly distributed on both sides of the road and interacts with the vehicle-to-road communication system on the intelligent connected vehicle via short-range wireless communication; intelligent luminous road studs are evenly distributed on the traffic markings on the right side of the dedicated autonomous driving lane.

[0019] As can be seen from the above technical solution, compared with the prior art, this invention discloses a flexible management method for dedicated lanes for autonomous driving on highways. By dynamically acquiring the penetration rate of intelligent connected vehicles, and allowing qualified human-driven vehicles to enter the dedicated lanes when the penetration rate is low, it can more effectively utilize lane resources, avoid waste of road resources, and thus improve the overall traffic efficiency of the road segment. Furthermore, by rationally managing the fixed-location dedicated lanes for autonomous driving, it alleviates the problems of high requirements for road infrastructure and complex execution processes when dynamically setting up dedicated lanes. This invention effectively reduces the investment cost for managing dedicated lanes for autonomous driving on highways while making full use of existing highway facilities and equipment, demonstrating high feasibility. Attached Figure Description

[0020] 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 embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on the provided drawings without creative effort.

[0021] Figure 1 A flowchart of an embodiment provided by the present invention; Figure 2 This is a schematic diagram illustrating an application scenario of the dedicated lane management method provided by the present invention; Figure 3 This is a schematic diagram of the flexible management method for dedicated lanes provided by the present invention. Detailed Implementation

[0022] 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. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0023] This invention discloses a flexible management method for dedicated lanes for autonomous driving on highways, such as... Figure 1 As shown, it includes: S1. Divide the expressway into sections and determine the target sections; The system acquires information on the location and quantity of road facilities such as the starting and ending points, toll stations, service areas, and traffic hubs of one-way highway lanes. Using these road facilities as nodes, the highway is divided into segments, with the segment between two nodes defined as the target segment described in this invention. Segments are connected by buffer zones. Within the buffer zones, intelligent connected vehicles can switch between dedicated lanes and ordinary lanes; however, human-driven vehicles can only switch from dedicated lanes to ordinary lanes and cannot enter dedicated lanes from ordinary lanes. S2. Collect the total number of vehicles and the number of intelligent connected vehicles on the target road segment within a fixed time period; like Figure 2 As shown, vehicle detection coils and intelligent roadside equipment are set at the starting section of each target road segment; when entering the target road segment, the intelligent connected vehicle has already completed the lane-changing operation in the buffer zone and is driving in the dedicated lane for autonomous driving.

[0024] S2.1. Use vehicle detection loops to collect the total number of vehicles entering the target road segment within a certain period of time, and number the vehicles in each lane of that road segment. Assume there are [number missing] vehicles in one direction on the highway. M There are 1 lane, numbered 1, 2, ... from the inside out. M When there are N vehicles in lane 1, number them sequentially according to the order in which they entered. The total number counted on all lanes is recorded as follows: ; S2.2 The number of intelligent connected vehicles traveling in the dedicated lane during the current time period is collected using intelligent roadside equipment and recorded as follows: Therefore, the overall intelligent connected vehicle penetration rate of this road segment can be obtained. ; S3. By obtaining the data collection results of step 2, use equation (1) to determine the relationship between the traffic flow on the dedicated lane and the ordinary lane on the target road segment and the maximum capacity of each lane under the current intelligent connected vehicle penetration rate. If equation (1) is satisfied, it indicates that the dedicated lane can adopt flexible lane management in the current time period, and S4 is executed. Otherwise, it indicates that flexible lane management is not adopted at this time, and S5 is executed. (1) In the formula: Indicates the total number of vehicles on the road segment; Indicates the number of intelligent connected vehicles; T Indicates a fixed time interval; The maximum lane capacity of a dedicated lane for autonomous driving is represented by the following formula: ; This represents the maximum lane capacity of a regular lane, calculated using the following formula: ; This represents the dynamic adjustment coefficient, and a recommended value is [0.65, 0.7]. L This indicates the number of regular lanes.

[0025] S4. Construct a management model for dedicated lanes for autonomous driving and implement a flexible management approach; The specific steps are as follows: S4.1, dynamic exclusive zones are set up before and after the intelligent connected vehicle. When the distance between the driver-driven vehicle and the intelligent connected vehicle after entering the dedicated lane is greater than or equal to the dynamic exclusive zone, the driver-driven vehicle is allowed to enter the dedicated lane, and its speed should be basically the same as the speed of the intelligent connected vehicle. The basic conditions for judgment are shown in equation (2). If the conditions are met, the intelligent road stud on the right side of the dedicated lane turns green, indicating that the driver-driven vehicle in the adjacent ordinary lane that meets the conditions can enter the dedicated lane for autonomous driving. At the same time, information is sent to the driver-driven vehicle through the on-board intelligent terminal and variable information board.

[0026] (2)

[0027] In the formula: This indicates the distance between intelligent connected vehicles and human-driven vehicles. This indicates the expected headway between intelligent connected vehicles and human-driven vehicles. Indicates the speed of a vehicle driven by a person. Indicates the speed of a vehicle driven by a person.

[0028] S4.2 When a qualified driver-vehicle enters the dedicated lane for autonomous driving, the distance between the intelligent connected vehicle and the driver-vehicle is dynamically acquired. When the distance is less than the dynamic exclusive area of ​​the intelligent connected vehicle, the adjacent intelligent road stud turns yellow and flashes, indicating that the driver-vehicle needs to adjust its speed to meet the distance requirement. If the distance decreases further, the driver-vehicle needs to be driven away, the intelligent road stud turns red and flashes, and a prompt message is sent to it to leave the dedicated lane.

[0029] Upon receiving the lane-changing information, the system obtains the speed and position information of nearby vehicles in the ordinary lane and further determines whether the safe lane-changing conditions can be met, as shown in equation (3). If a safe lane-changing is possible, the vehicle exits the dedicated lane; if the safe lane-changing conditions are not met, the vehicle is not driven away, the smart road stud returns to its yellow flashing state, and a prompt message is sent to it via the vehicle terminal.

[0030] (3)

[0031] In the formula: Indicates the safe distance for changing lanes. This indicates the distance between a pedestrian / vehicle and the adjacent vehicle in the regular lane. This indicates the distance between a pedestrian / vehicle and an adjacent vehicle in a regular lane. This represents the speed of the rear vehicle in the front-rear position relationship among the three vehicles involved in the calculation. This indicates the speed of the vehicle in front. Indicates the driver's reaction time. a This indicates the maximum deceleration.

[0032] S5. If the condition of equation (1) is not met in S3, the smart road stud will be set to a constant red state, indicating that vehicles driven by people in adjacent ordinary lanes are not allowed to enter the dedicated autonomous driving lane.

[0033] If the condition of equation (1) is met in S3, after S4 is executed, the relationship between the traffic flow and the maximum capacity of the dedicated lane under the flexible management method is calculated. If the condition shown in equation (4) is met, the smart road stud turns into a constantly lit red state, prohibiting human-driven vehicles from entering the dedicated autonomous driving lane. At the same time, the existing human-driven vehicles on the dedicated lane are cleared, and the clearing operation is carried out according to S4.2. After the clearing is completed, only intelligent connected vehicles are allowed to pass through the dedicated lane; if the condition of equation (4) is not met, the flexible management method of the dedicated lane continues to be implemented. (4) In the formula, This indicates the maximum lane capacity of the dedicated lane for autonomous driving. The formula for calculating the traffic flow of a dedicated lane under the flexible management method is as follows: ; This is a dynamic adjustment coefficient; the recommended value range is the same as above. This indicates the penetration rate of intelligent connected vehicles on dedicated lanes under the flexible management approach; The threshold representing the aforementioned penetration rate is recommended to be [0.8, 0.85]; assuming the type of intelligent connected vehicle is 1 and the type of human-driven vehicle is 0, then... express The type of car with a sloping rear is The probability of a certain type of car; The vector representing the headway of the vehicle, where This indicates the headway between the intelligent connected vehicle and the intelligent connected vehicle. This indicates the headway between two vehicles driven by a person and another vehicle driven by a person. This indicates the headway between the driver-driven vehicle and the intelligent connected vehicle. This indicates the headway between the intelligent connected vehicle and the driver-driven vehicle.

[0034] S6. Return to the sequence of S1 and continue to collect the total number of vehicles entering the target road segment and the number of intelligent connected vehicles in the next fixed time period, and determine the lane management method for the road segment in the next time period.

[0035] This embodiment uses a three-lane highway in one direction as an example for further detailed explanation, such as... Figure 3 As shown, after dividing the road into sections, the target road section for the dedicated lane management method is clearly defined as the basic highway section; by using vehicle detection coils set at the starting point of the target road section and intelligent roadside equipment evenly distributed along the roadside, data is collected at fixed time intervals. The total number of vehicles entering the target road section within the scope is The number of intelligent connected vehicles is Vehicles; Setting the headway between intelligent connected vehicles and other intelligent connected vehicles is... Human-driven vehicles and human-driven vehicles are Due to the existence of dynamic dedicated zones, the headway between intelligent connected vehicles and human-driven vehicles is set. Dynamic adjustment coefficient Number of ordinary lanes in the road section ; According to formula (1), we can calculate that 480 / 0.5 < 3600 / 1 0.65, (2650-480) / 0.5>2000 2. If the conditions shown in equation (1) are met, then the flexible management method for dedicated lanes is implemented; vehicles can enter the dedicated lane when equation (2) is met, and if equation (2) is not met, it is determined whether they can safely leave the dedicated lane in conjunction with equation (3); further, the relationship between the traffic flow and the maximum capacity of the dedicated lane under the flexible management method is determined. If there are 340 vehicles entering the dedicated lane, according to equation (4), the penetration rate of intelligent connected vehicles on the dedicated lane at this time is about 58.5% < 0.8, while the traffic flow of the dedicated lane under the flexible management method is Therefore, the condition of equation (4) is not met, and the flexible management method for dedicated lanes will continue to be implemented. The embodiments involved in this example , , , , , , The parameters mentioned above represent the preferred parameters in this embodiment. In actual applications, the selection of the above parameters needs to be further determined based on the actual situation.

[0036] The various embodiments in this specification are described in a progressive manner, with each embodiment focusing on its differences from other embodiments. Similar or identical parts between embodiments can be referred to interchangeably. For the apparatus disclosed in the embodiments, since they correspond to the methods disclosed in the embodiments, the description is relatively simple; relevant parts can be referred to the method section.

[0037] The above description of the disclosed embodiments enables those skilled in the art to make or use the invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the invention. Therefore, the invention is not to be limited to the embodiments shown herein, but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A flexible management method for dedicated lanes for autonomous driving on highways, characterized in that, include: S1. Divide the expressway into sections and determine the target sections; S2. Collect the total number of vehicles and the number of intelligent connected vehicles on the target road segment within a fixed time period; S3. Based on the data collection results of the target road segment, determine whether the relationship between the traffic flow and the maximum capacity of the dedicated lane and the ordinary lane on the target road segment under the current intelligent connected vehicle penetration rate should adopt flexible lane management. If yes, proceed to S4; otherwise, it indicates that the dedicated lane is not suitable for flexible lane management at this time, and proceed to S5. S4. Construct a management model for dedicated lanes for autonomous driving and implement a flexible management approach; S5. If the flexible lane management method is not suitable in S3, then the smart road stud will be set to a constant red state, indicating that vehicles and pedestrians in adjacent ordinary lanes are not allowed to enter the autonomous driving lane. If a flexible lane management method is suitable in S3, the relationship between the traffic flow and the maximum capacity of the dedicated lane under the flexible management method is statistically analyzed. If the traffic flow is greater than the threshold set for the maximum capacity, the smart road stud turns red and is prohibited from entering the dedicated autonomous driving lane. At the same time, the existing vehicles in the dedicated lane are cleared. After the clearance is completed, only intelligent connected vehicles are allowed to pass through the dedicated lane. If the traffic flow is less than the set threshold, the flexible lane management method continues to be implemented. S6. Return to the sequence of S1 and continue to collect the total number of vehicles entering the target road segment and the number of intelligent connected vehicles in the next fixed time period, and determine the lane management method for the road segment in the next time period.

2. The flexible management method for dedicated lanes for autonomous driving on highways according to claim 1, characterized in that, Specifically, S1 is: The system acquires information on the location and quantity of road facilities along the highway route, and divides the highway into segments using road facilities as nodes. The segments between nodes are the target segments, and the segments are connected by buffer zones to facilitate lane changing operations for vehicles. Within the buffer zone, intelligent connected vehicles can switch lanes between dedicated lanes and regular lanes. However, human-driven vehicles can only switch from dedicated lanes to regular lanes, and cannot switch from regular lanes to dedicated lanes.

3. The flexible management method for dedicated lanes for autonomous driving on highways according to claim 1, characterized in that, Specifically, S2 is: S2.1 Uses a vehicle detection coil to collect data for a period of time. T The total number of vehicles entering the target road segment, and the number of vehicles in each lane within the target road segment; that is, the number of vehicles entering the target road segment in one direction on the highway. M There are 1 lane, numbered 1, 2, ... from the inside out. M When there is lane 1 N When there are 10 vehicles, number them sequentially according to the order in which they entered. The total number on all lanes is ; S2.2 Collects the number of intelligent connected vehicles traveling in the dedicated lane during the current time period T using intelligent roadside equipment, and records it as... Therefore, the penetration rate of intelligent connected vehicles on the dedicated lane at this time can be obtained. The overall penetration rate of intelligent connected vehicles on the road section is... .

4. The flexible management method for dedicated lanes for autonomous driving on highways according to claim 1, characterized in that, The judgment relation in S3 is: In the formula: Indicates the total number of vehicles on the road segment; Indicates the number of intelligent connected vehicles; T Indicates a fixed time interval; This indicates the maximum lane capacity of the dedicated lane for autonomous driving. This indicates the maximum lane capacity for ordinary lanes; Indicates the dynamic adjustment coefficient; L This indicates the number of regular lanes.

5. A flexible management method for dedicated lanes for autonomous driving on highways according to claim 1, characterized in that, Specifically, S4 is: S4.1, set up dynamic exclusive zones in front of and behind the intelligent connected vehicle. When the distance between the driver / vehicle and the intelligent connected vehicle after entering the dedicated lane is greater than or equal to the dynamic exclusive zone, the driver / vehicle is allowed to enter the dedicated lane. Construct judgment conditions. If the conditions are met, control the intelligent road stud on the right side of the dedicated lane to turn green, indicating that the driver / vehicle in the adjacent ordinary lane that meets the conditions has the right to enter the autonomous driving dedicated lane. At the same time, send information to the driver / vehicle through the onboard intelligent terminal and variable message sign. S4.2 When a human-driven vehicle that meets the conditions enters the dedicated lane for autonomous driving, the distance between the intelligent connected vehicle and the human-driven vehicle is dynamically acquired. When the distance is less than the dynamic exclusive area of ​​the intelligent connected vehicle, the adjacent intelligent road stud turns yellow and flashes. If the distance decreases further, the intelligent road stud turns red and flashes, and sends a prompt message to it to leave the dedicated lane. Upon receiving the warning, the system obtains the speed and location information of nearby vehicles in the regular lane to further determine whether the conditions for a safe lane change are met. If a safe lane change is possible, the vehicle exits the dedicated lane. If the conditions for a safe lane change are not met, the vehicle is not forced to leave, the smart road stud returns to its yellow flashing state, and a prompt message is sent to the vehicle via the onboard terminal.

6. A flexible management method for dedicated lanes for autonomous driving on highways according to claim 5, characterized in that, The judgment condition is: In the formula: This indicates the distance between intelligent connected vehicles and human-driven vehicles. This indicates the expected headway between intelligent connected vehicles and human-driven vehicles. Indicates the speed of a vehicle driven by a person. Indicates the speed of a vehicle driven by a person.

7. A flexible management method for dedicated lanes for autonomous driving on highways according to claim 5, characterized in that, The safe lane-changing conditions are as follows: In the formula: Indicates the safe distance for changing lanes. This indicates the distance between a pedestrian / vehicle and the adjacent vehicle in the regular lane. This indicates the distance between a pedestrian / vehicle and an adjacent vehicle in a regular lane. This represents the speed of the rear vehicle in the front-rear position relationship among the three vehicles involved in the calculation. This indicates the speed of the vehicle in front. Indicates the driver's reaction time. a This indicates the maximum deceleration.

8. A flexible management method for dedicated lanes for autonomous driving on highways according to claim 1, characterized in that, The relationship between traffic flow and maximum capacity of dedicated lanes under the flexible management method is as follows: In the formula, This represents the traffic flow on a dedicated lane for autonomous driving under a flexible management approach. This indicates the maximum lane capacity of the dedicated lane for autonomous driving. This is a dynamic adjustment coefficient; This indicates the penetration rate of intelligent connected vehicles on dedicated lanes under the flexible management approach; This represents the threshold for the aforementioned penetration rate.

9. A flexible management method for dedicated lanes for autonomous driving on highways according to claim 1, characterized in that, Road detection coils are deployed at the starting point of the target road segment; intelligent roadside equipment is evenly distributed on both sides of the road and interacts with the vehicle-to-road communication system on the intelligent connected vehicle through short-range wireless communication; intelligent luminous road studs are evenly distributed on the traffic markings on the right side of the dedicated autonomous driving lane.

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