CN109993965A - Target velocity calculation method and device, MEC server and storage medium - Google Patents
Target velocity calculation method and device, MEC server and storage medium Download PDFInfo
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- CN109993965A CN109993965A CN201810001615.4A CN201810001615A CN109993965A CN 109993965 A CN109993965 A CN 109993965A CN 201810001615 A CN201810001615 A CN 201810001615A CN 109993965 A CN109993965 A CN 109993965A
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/01—Detecting movement of traffic to be counted or controlled
- G08G1/0104—Measuring and analyzing of parameters relative to traffic conditions
- G08G1/0125—Traffic data processing
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/01—Detecting movement of traffic to be counted or controlled
- G08G1/0104—Measuring and analyzing of parameters relative to traffic conditions
- G08G1/0137—Measuring and analyzing of parameters relative to traffic conditions for specific applications
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/16—Anti-collision systems
- G08G1/166—Anti-collision systems for active traffic, e.g. moving vehicles, pedestrians, bikes
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Abstract
The embodiment of the present invention provides a kind of target velocity calculation method, mobile edge calculations server and storage medium.The target velocity calculation method, comprising: determine whether the adjacent i+1 vehicle of the i-th vehicle meets predetermined boundary condition, wherein i is positive integer；When the i+1 vehicle meets the predetermined boundary condition, determine that i-th vehicle is the boundary for dividing vehicle group；Based on the boundary demarcation vehicle group；According to corresponding first risk threshold value of vehicle group, the target velocity for dividing vehicle group to calculate vehicle in vehicle group.
Description
Technical field
The present invention relates to information technology field more particularly to a kind of target velocity calculation methods, mobile edge calculations service
Device and storage medium.
Background technique
With the fast development of road traffic, presently, there are the schemes of speed guidance, are chiefly used near traffic lights intersection,
According to intersection traffic lamp phase, suggestion speed is issued to vehicle, allows vehicle by intersection without waiting.
And for entire section, car speed changes the driving status for influencing whether rear car, city especially intensive in vehicle
City's road, one vehicle of this influence meeting are transmitted, are similar to " chain reaction ", finally to the traffic behavior in certain region with connecing a vehicle
It affects.When calculating the speed of guidance vehicle in the prior art, generally it is based on directly between Adjacent vehicles
The situations such as spacing, the target velocity for calculating each vehicle from front to back.Since this strong incidence relation makes this calculating
It must be realized by the same equipment or the same calculating group, which results in computationally intensive, the front and backs two of single computer
A calculated result relevance is excessive, is only capable of sequence and calculates, big and the problems such as delay is big so as to cause computation complexity.
Summary of the invention
In view of this, an embodiment of the present invention is intended to provide a kind of target velocity calculation methods, mobile edge calculations server
And storage medium, at least partly solve the above problems.
In order to achieve the above objectives, the technical scheme of the present invention is realized as follows:
In a first aspect, the embodiment of the present invention provides a kind of target velocity calculation method, comprising:
Determine whether the adjacent i+1 vehicle of the i-th vehicle meets predetermined boundary condition, wherein i is positive integer；
When the i+1 vehicle meets the predetermined boundary condition, determine that i-th vehicle is the side for dividing vehicle group
Boundary；
Based on the boundary demarcation vehicle group；
According to corresponding first risk threshold value of vehicle group, the target velocity for dividing vehicle group to calculate vehicle in vehicle group.
Optionally, whether the adjacent i+1 vehicle of i-th vehicle of determination meets predetermined boundary condition, including following
At least one:
Determine whether the i+1 vehicle has been divided into the Che Qunzhong constructed；
Determine whether i+1 is greater than numerical upper limits；
Determine whether the distance between the i+1 vehicle and the 1st vehicle are greater than distance threshold；
Determine whether the relative status information between the i+1 vehicle and i-th vehicle meets predetermined Partition condition.
Optionally, whether the relative status information between the determination i+1 vehicle and i-th vehicle meets pre-
Determine Partition condition, including at least one of:
Determine that whether risk of collision is less than the second risk threshold value between the i+1 vehicle and i-th vehicle；
Determine whether the following distance between the i+1 vehicle and i-th vehicle is greater than the first spacing threshold.
Optionally, whether the relative status information between the determination i+1 vehicle and i-th vehicle meets pre-
Determine Partition condition, comprising:
If the vehicle number for being added to vehicle group yet to be built alreadys exceed numerical lower limits, the i+1 vehicle and i-th vehicle are determined
Whether the relative status information between meets predetermined Partition condition.
Optionally, described according to corresponding first risk threshold value of vehicle group, the target velocity for dividing vehicle group to calculate vehicle in vehicle group,
Include:
When determining that the vehicle risk being coupled between vehicle pair between vehicle group Gn and vehicle group Gm is no more than first risk threshold value,
The target velocity for the vehicle Vm being located in the Gm is calculated according to the present speed of vehicle Vn；Wherein, the Gm is the Gn's
The latter vehicle group；The Vn is the vehicle in the Gm；The Vm is to be located at the rear Vn and adjacent vehicle in the Gm；
The target velocity of remaining vehicle in the Gm is calculated according to the target velocity of the Vm.
Optionally, the vehicle risk being coupled between the determining vehicle group Gn and vehicle group Gm between vehicle pair is no more than described first
When risk threshold value, the target velocity for the vehicle Vm being located in the Gm is calculated, comprising:
According to the present speed and acceleration of Vn adjacent with the Vm in Gn, it is pre- after time t to calculate the Vn
Estimate speed vn '；
Based on first risk threshold value and the vn ', maximum permission speed vm ' of the Vm after t is determined；
According to the vm ', the aimed acceleration of the Vm is determined；
The target velocity of the Vm is calculated according to the aimed acceleration.
Optionally, the present speed and acceleration according to Vn adjacent with the Vm in Gn calculates the Vn and passes through
Speed vn ' is estimated after time t, comprising:
Vn is calculated using formula vn '=vn+an*t and estimates speed after time t, wherein the vn is the Vn's
Present speed；An is the acceleration of the Vn；
The aimed acceleration that the Vm is calculated according to the length velocity relation, comprising:
If vm '=vn ', aimed acceleration am is calculated using using am=(vn '-vm)/t.
Optionally, the target velocity v is calculated using following formula:
Due to amin≤am≤amax, vn+an*t-amin*t≤vm≤vn+an*t-amax*t；
v≤min(vm,vr)；The vr is road speed limit；The amin is the minimum acceleration of the Vm；The amax
For the peak acceleration of the Vm.
Optionally, described according to corresponding first risk threshold value of vehicle group, the target velocity for dividing vehicle group to calculate vehicle in vehicle group,
Include:
According to the current vehicle speed and aimed acceleration of Vx in vehicle group, calculates the Vx and estimate speed after time t
vx'；
Based on the second threshold and the vx ' between vehicle in same vehicle group, determine latter vehicle Vx+1 of the Vx by t
Maximum target speed vx ' afterwards；
The aimed acceleration of the Vx+1 is calculated according to the length velocity relation；
The target velocity of the Vx+1 is calculated according to the aimed acceleration.
Optionally, described according to corresponding first risk threshold value of vehicle group, the target velocity for dividing vehicle group to calculate vehicle in vehicle group,
Include:
Using mobile edge calculations (Mobile Edge Computing, MEC) server according to the first risk threshold
Value, the target velocity for dividing vehicle group to calculate vehicle in vehicle group.
Optionally, the method also includes:
The MEC server receives the first predetermined information that vehicle reports in corresponding vehicle group, wherein the described first predetermined letter
Breath includes: at least one of state of motion of vehicle information and vehicle attribute parameter；
According at least one of the state of motion of vehicle information and vehicle attribute parameter, the driving between vehicle is calculated
Risk.
Optionally, the method also includes:
The second predetermined information is interacted with periphery MEC server, wherein second predetermined information includes: vehicle group identification, with
At least the first predetermined information and vehicles identifications of edge vehicle in the corresponding vehicle group of the vehicle group identification, first predetermined information
It include: at least one of state of motion of vehicle information and vehicle attribute parameter.
Optionally, described to interact the second predetermined information with periphery MEC server, specifically include at least one of:
According to the dispatch command of region server, second predetermined information is interacted with the periphery MEC server；
According to the coverage area of the position of vehicle and this MEC server, the vehicle of the coverage area will exceed
First predetermined information and the vehicles identifications are sent to periphery MEC server；
According to the coverage area of Che Qunyu this MEC server, will exceed the vehicle group of the coverage area described second is pre-
Determine information and is sent to periphery MEC server.
Second aspect, the embodiment of the present invention provide a kind of target velocity computing device, comprising:
First determination unit, for determining whether the adjacent i+1 vehicle of the i-th vehicle meets predetermined boundary condition, wherein
I is positive integer；
Second determination unit, for determining i-th vehicle when the i+1 vehicle meets the predetermined boundary condition
For divide vehicle group boundary；
Division unit, for being based on the boundary demarcation vehicle group；
Computing unit, for according to corresponding first risk threshold value of vehicle group, the target for dividing vehicle group to calculate vehicle in vehicle group to be fast
Degree.
The third aspect, the embodiment of the present invention provide a kind of server, comprising: transceiver, memory, processor and are stored in
The computer program executed on the memory and by the processor；
The processor is connect with the transceiver and the memory respectively, for by executing the computer journey
Sequence executes the target velocity calculation method that aforementioned one or more technical solutions provide.
Fourth aspect, the embodiment of the present invention provide a kind of computer storage medium, and the computer storage medium is stored with
Computer program, the computer program can be realized the target velocity that one or more technical solutions provide and calculate after being performed
Method.
Target velocity calculation method provided in an embodiment of the present invention, mobile edge calculations server and storage medium, into
Before the target velocity of driving, the vehicle for meeting predetermined boundary condition is first judged, to obtain dividing the boundary vehicle of vehicle group
Or edge vehicle, be then based on boundary carry out vehicle group division, based on vehicle group carry out vehicle group in vehicle target velocity calculating.
In a first aspect, dividing by vehicle group, the target velocity of each vehicle is calculated, based on vehicle group so as to avoid the prior art
In do not divide vehicle group vehicle target speed calculate chain type reflection, reduce because a large amount of fore-aft vehicles between speed it is continuous
Iteration, so that the volume for simplifying target velocity calculates.
Second aspect, by vehicle, group is divided, and different vehicle groups can carry out target velocity in vehicle group by different servers
Calculating, realize the distributed computing of vehicle target speed, the quick calculating of the target velocity of vehicle may be implemented, reduce
Computation delay.
The third aspect, the boundary of vehicle group is corresponding vehicle in the present embodiment, and is not based on fixed geographical side
Boundary etc. is split by force, can will be divided into a vehicle group with the speed big vehicle that influences each other in this way, so as to avoid machine
Tool divides vehicle group caused by vehicle group and divides unreasonable, and then the low problem of computational accuracy of caused target velocity, has and calculates
The high feature of accuracy.
Detailed description of the invention
Fig. 1 is the flow diagram of the first target velocity calculation method provided in an embodiment of the present invention；
Fig. 2 is the flow diagram on the boundary that a kind of determining vehicle group provided in an embodiment of the present invention divides；
Fig. 3 is a kind of vehicle group schematic diagram provided in an embodiment of the present invention；
Fig. 4 is the flow diagram of second of target velocity calculation method provided in an embodiment of the present invention；
Fig. 5 is a kind of server connection schematic diagram of target velocity for calculating vehicle provided in an embodiment of the present invention；
Fig. 6 is a kind of structural schematic diagram of target velocity computing device provided in an embodiment of the present invention；
Fig. 7 is a kind of structural schematic diagram of server provided in an embodiment of the present invention.
Specific embodiment
Technical solution of the present invention is further described in detail with reference to the accompanying drawings and specific embodiments of the specification.
As shown in Figure 1, the present embodiment provides a kind of target velocity calculation methods, comprising:
Step S110: determine whether the adjacent i+1 vehicle of the i-th vehicle meets predetermined boundary condition, wherein i is positive whole
Number；
Step S120: when the i+1 vehicle meets the predetermined boundary condition, i-th vehicle is determined to divide
The boundary of vehicle group；
Step S130: it is based on the boundary demarcation vehicle group；
Step S140: according to corresponding first risk threshold value of vehicle group, the target velocity for dividing vehicle group to calculate vehicle in vehicle group.
The present embodiment can be for applied in the calculating equipment such as various servers of travel speed for calculating vehicle.The target
Speed can be vehicle driving suggestion speed, or perhaps vehicle speed adjustment target value.
In the present embodiment in step s 110 into step S130 first can one have been added in a group to be divided
Che Qunzhong to be divided is added in the nearby vehicle of vehicle, it needs to be determined that the vehicle for going out to divide different vehicle groups is made before dividing vehicle group
For the boundary of vehicle group.If i+1 vehicle meets predetermined boundary condition in the present embodiment, using the i-th vehicle as boundary vehicle,
Mark off vehicle group.
Fig. 2 show a kind of determining boundary and divides the schematic diagram of vehicle group.
Step S1: selected vehicle Vi；
Step S2: nearby vehicle Vs is found；
Step S3: judging whether Vs meets predetermined boundary condition, is then step S6, otherwise enters step S4；
Step S4: the nearby vehicle Vs ' of all Vs is sought；
Step S5: judging whether Vs ' meets predetermined boundary condition, is, enters step S6；It returns if not and finds periphery vehicle
The step of；
Step S6: according to determining boundary demarcation vehicle group.
In specific implementation, from selected 1st vehicle, then the adjacent nearby vehicle of the 1st vehicle first, judges whether to meet
Predetermined boundary condition does not meet the nearby vehicle for continually looking for currently having been added to the vehicle of searching, until judging to meet institute
State predetermined boundary condition.The division of this vehicle group is not limited to carry out vehicle group division in some region, but with some
Vehicle is the boundary that vehicle group divides, in this case, it is clear that be different in the division of the vehicle group of a region different moments.
Several optional ways for judging i+1 vehicle and whether meeting the predetermined boundary condition presented below:
Optional way one:
Determine whether the i+1 vehicle has been divided into the Che Qunzhong constructed.If i+1 vehicle has been other
The vehicle in vehicle group is constructed, it is clear that the boundary of other vehicles group is had reached, in order to avoid a vehicle belongs to different vehicle groups
The problem of, current i-th vehicle is just boundary vehicle；
Optional way two:
Determine whether i+1 is greater than numerical upper limits；The numerical upper limits of vehicle included by a vehicle group have been preset, therefore at this
Determine whether i+1 is greater than numerical upper limits in embodiment, if more than numerical upper limits, it is clear that the i-th vehicle is exactly boundary vehicle.
Optional way three:
Determine whether the distance between the i+1 vehicle and the 1st vehicle are greater than distance threshold.In order to ensure being located at one
The region that vehicle in vehicle group is passed through is unlikely to excessive, the distance between determining i+1 vehicle and the 1st vehicle whether be greater than away from
From threshold value.Usual 1st vehicle is that the 1st vehicle of Che Qunzhong to be divided and the core vehicle of vehicle group, general position is added
In the intermediate region of vehicle group.
Optional way three:
Determine whether the relative status information between the i+1 vehicle and i-th vehicle meets predetermined Partition condition.
Here relative status information can be the parameters such as the following distance and/or risk of collision of i+1 vehicle and the i-th vehicle
To indicate.For example, the relative status information between the determination i+1 vehicle and i-th vehicle whether meet it is predetermined
Partition condition, including at least one of:
Determine that whether risk of collision is less than the second risk threshold value between the i+1 vehicle and i-th vehicle；
Determine whether the following distance between the i+1 vehicle and i-th vehicle is greater than the first spacing threshold.
If the spacing of two adjacent vehicles is sufficiently large, illustrate that the risk collided between the two is sufficiently small, vehicle distribution
It is very sparse, can be divided into different vehicle groups, therefore using the i-th vehicle as boundary vehicle, be considered as the boundary that divides vehicle group into
The group that drives a vehicle divides.
It will be assessed in some embodiments from risk of collision, following distance, driving between the risk of collision and two vehicles
The parameters such as speed and brake ability are related, if the collision risk of two vehicles is sufficiently small, it is clear that be distributed it is more sparse or
Person will be distributed more sparse, can be divided into two vehicle groups.
Optionally such as, it when whether determine has risk of collision between vehicle, can be evaluated by play TH when calculating headstock.
Time headway (time headway) refers in the vehicle platoon travelled on same lane, two Adjacent vehicles vehicles
The time interval that cephalic par passes through a certain section.The front end that time headway represents front and back two cars passes through the time in same place
The space headway of front and back vehicle generally can be used divided by rear vehicle speed to calculate in difference.Time headway is represented when front truck brake, rear car
The maximum reaction time possessed by driver, therefore it is not fluctuated with the variation of speed.Ideally, vehicle vehicle on road
When head when reaching permitted minimum time headway (THmin) away from TH, vehicle is in a safe condition and road efficiency highest.
That is, vehicle is travelled at this time with identical speed v, the spacing between vehicle is maintained at safe distance (Smin), and safe distance is by vehicle
Brake level, condition of road surface determine when vehicle braking (i.e. will not collide front truck).In the present embodiment, the THmin is
One kind of first risk threshold value.
Optionally, the step S120 can include:
If the vehicle number for being added to vehicle group yet to be built alreadys exceed numerical lower limits, the i+1 vehicle and i-th vehicle are determined
Whether the relative status information between meets predetermined Partition condition.
It when determining boundary, needs to meet condition using the relative status information between vehicle currently to have determined and can add
The vehicle for entering vehicle group has been not less than numerical lower limits, and is less than numerical upper limits.If current vehicle number is also less than numerical lower limits, it is
Avoid the vehicle number in a vehicle group very little and the excessive phenomenon of the vehicle group that divides, may require that ensures vehicle in the present embodiment
Number is not less than numerical lower limits.
Fig. 3, which is shown, provides a kind of vehicle group schematic diagram based on the embodiment of the present invention.A circle indicates a vehicle in Fig. 3
Group.Vehicle Va and vehicle Vb is adjacent vehicle in Fig. 3, but belongs to the vehicle of vehicle group, wherein vehicle Va is boundary
Vehicle can be used for dividing vehicle group.
The determination of vehicle in vehicle group is completed, while in step s 130 in order to which mark vehicle group can distribute vehicle group for vehicle group
Mark.There are three vehicle groups for display in Fig. 3, are vehicle group C, Che Qun C+1 and vehicle group C+2 etc. respectively, in the traveling of vehicle group in Fig. 3
On direction, successively vehicle group to be numbered according to tandem, when specific implementation, the number of vehicle group is not limited to shown in Fig. 3,
The number of the vehicle group is one kind of vehicle group identification.In further embodiments, the mark of the vehicle group can also be according to vehicle
The mark of the server of vehicle target speed calculating is carried out in group to determine, for example, vehicle group identification can include: first part: meter
Calculate the server identification of the server of the target velocity of vehicle in its vehicle group, second part, of the vehicle group of the server admin
Several numbers etc..In this way, if calculate target velocity be MEC server, the MEC server of the upper level of MEC server, also known as it
For region server, it can determine that current vehicle group is carried out the meter of target velocity by which MEC server according to vehicle group identification
Calculate and monitor etc., it can determine vehicle group is which vehicle group that the MEC server currently manages according to the vehicle group identification, from
And region server can interpret many information needed for oneself by vehicle group identification, then MEC server and region server
When carrying out information exchange, some information can not have to report again, it is possible to reduce signaling overheads.In short, vehicle group identification has very much
Kind, it is not limited to any one of the above.
Further, as shown in figure 4, the step S140 can include:
Step S141: determine that the vehicle risk being coupled between vehicle pair between vehicle group Gn and vehicle group Gm is no more than first wind
When dangerous threshold value, the target velocity for the vehicle Vm being located in the Gm is calculated according to the present speed of vehicle Vn；Wherein, the Gm is
The latter vehicle group of the Gn；The Vn is the vehicle in the Gm；The Vm is to be located at the rear Vn and phase in the Gm
Adjacent vehicle；
Step S142: the target velocity of remaining vehicle in the Gm is calculated according to the target velocity of the Vm.
It is coupled vehicle in the present embodiment to the adjacent two cars being located on the same lane for different Che Qunzhong.
In Fig. 3, the vehicle b in the vehicle Va and vehicle group C+1 of Che Qun C is a connection vehicle pair.In order to avoid touching
It hits, the speed of rear car and the speed of front truck are related.In the present embodiment, the target of Vm is calculated according to the current driving speed of Vn
Speed.If what the speed of the vehicle close to previous vehicle group in a vehicle group determined, the speed of other vehicles after the vehicle
Degree, so that it may which the target velocity based on the vehicle is calculated one by one.
Further.The step S141 can include:
According to the present speed and acceleration of Vn adjacent with the Vm in Gn, it is pre- after time t to calculate the Vn
Estimate speed vn '；
Based on first risk threshold value and the vn ', maximum permission speed vm ' of the Vm after t is determined；
According to the vm ', the aimed acceleration of the Vm is determined；
The target velocity of the Vm is calculated according to the aimed acceleration.
The maximum permission speed can be interpreted as Vm and Vn do not collide just or risk of collision be less than particular probability
When speed, therefore in the present embodiment be referred to as maximum permission speed can be according to Vm's if maximum permission speed has determined
Present speed calculates aimed acceleration, accelerates the current goal speed for being assured that out Vm according to target.
In some embodiments, the present speed and acceleration according to Vn adjacent with the Vm in Gn calculates institute
It states Vn and estimates speed vn ' after time t, comprising: calculate Vn estimating after time t using formula vn '=vn+an*t
Speed, wherein the vn is the present speed of the Vn；An is the acceleration of the Vn.It is described to be closed according to the speed
System calculates the aimed acceleration of the Vm, comprising: if vm '=vn ', calculates aimed acceleration using using am=(vn '-vm)/t
am。
Speed when vm '=vn ' can not be collided just in the present embodiment for Vm and Vn.
Optionally, the target velocity v is calculated using following formula:
Due to amin≤am≤amax, vn+an*t-amin*t≤vm≤vn+an*t-amax*t；
v≤min(vm,vr)；The vr is road speed limit；The amin is the minimum acceleration of the Vm；The amax
For the peak acceleration of the Vm.
In some embodiments, the step S140 can include:
According to the current vehicle speed and aimed acceleration of Vx in vehicle group, calculates the Vx and estimate speed after time t
vx'；
Based on the second threshold and the vx ' between vehicle in same vehicle group, determine latter vehicle Vx+1 of the Vx by t
Maximum target speed vx ' afterwards；
The aimed acceleration of the Vx+1 is calculated according to the length velocity relation；
The target velocity of the Vx+1 is calculated according to the aimed acceleration.
The target velocity of front and back two cars in vehicle group is calculated in embodiments of the present invention, it can be two in vehicle groups different from calculating
Speed between vehicle is similar, is not just repeated herein.
Optionally, the step S140 can include: using MEC server is calculated according to first risk threshold value, divide Che Qun
Calculate the target velocity of vehicle in vehicle group.
What performance objective speed calculated in the present embodiment is MEC server.MEC server usually has many, and is
Region-by-region distribution.The calculating for being carried out vehicle target speed in vehicle group using MEC server in the present embodiment, may be implemented more
The distributed computing of MEC server.One MEC server can calculate the speed of multiple vehicle groups, can also calculate a vehicle group
Speed.
In the present embodiment the division of vehicle group is carried out due to realizing, relative to the traveling form based on vehicle by chain type
Iterative calculation split multiple portions and calculated, and each is individually calculated obviously relative to successively calculating from front to back,
It can be lifted at the calculating speed of the target velocity of rear vehicle, to reduce calculation delay, can also reduce the number of iterations causes
Complexity it is big the problems such as, have the characteristics that calculate simple and calculating speed fast.On the other hand, it is counted using MEC server
Calculate, it is abundant using MEC server close to vehicle the features such as, once calculate transmission path that target velocity can be held very much and
By transmission node as few as possible, so that it may the target velocity for suggesting traveling are sent to mobile unit, thus relative to vehicle
The time delay for obtaining target velocity is again reduced for load equipment.
And in some embodiments, the MEC server needs to obtain many of vehicle when carrying out target velocity calculating
Information, for example, driving conditions information, vehicle attribute parameter and road condition information etc., are the mobile units needed with vehicle
Information exchange is carried out, if obtaining these information using MEC server, it is clear that have the characteristics that propagation delay time is small.
During specific implementation, the Che Qunke with division the period can be divided to carry out, each scheduled duration carries out one
Train group's repartitions.
Further, the method also includes:
The MEC server receives the first predetermined information that vehicle reports in corresponding vehicle group, wherein the described first predetermined letter
Breath includes: at least one of state of motion of vehicle information and vehicle attribute parameter；
According at least one of the state of motion of vehicle information and vehicle attribute parameter, the driving between vehicle is calculated
Risk.
The travel condition of vehicle information can include: location information, present speed, current acceleration, course etc. with it is current
One or more of relevant parameter of driving condition.
The vehicle attribute parameter can include: vehicle dimension, vehicle mass, the tire coefficient of friction of vehicle, type of vehicle
Deng these parameters can all influence the stopping power of vehicle, can be used for calculating the risk of collision between vehicle.For example, vehicle ruler
Very little and vehicle mass increasing inertia is all larger, then the risk that front truck is collided when braking is larger, for example, tire coefficient of friction equally may be used
Coasting distance etc. when being braked for calculating.Type of vehicle, if lorry may carry cargo, cargo landing etc. in braking
Risk may be caused to nearby vehicle, therefore can also need to consider vehicle attribute parameter in the present embodiment.
In some embodiments, the MEC server can also be stored with the vehicles identifications (Identity, ID) of the vehicle,
For distinguishing the vehicle, and vehicle ID storage corresponding with the group identification of vehicle group where it.The vehicle ID can be the vehicle of vehicle
The trade mark is also possible to the specific identity of the MEC server specific assigned vehicle.
Optionally, the method also includes:
The second predetermined information is interacted with periphery MEC server, wherein second predetermined information includes: vehicle group identification, with
At least first predetermined information and vehicles identifications of edge vehicle in the corresponding vehicle group of the vehicle group identification.
Information exchange can also be carried out between different MEC servers.In the present embodiment, second predetermined information can
It include: the information of vehicle group, alternatively, the information of the Some vehicles in group, for example, the first predetermined information and vehicle mark of boundary vehicle
Know etc..
Convenient in this way, the target velocity that different MEC servers divides group to carry out vehicle calculates.
In some embodiments, calculating network is layer architecture, comprising: the MEC server on the boundary in a region,
Further include: two MEC servers and region server can be connected, which is regarded as the upper level of MEC server
MEC server.
As shown in figure 4, region server is serviced with MEC server 1 and MEC server 2, MEC server 1 and MEC respectively
It is all stored with vehicle database in device 2, the information of vehicle in the information and vehicle group of vehicle group can be stored in the vehicle database.
Data interaction between MEC server 1 and MEC server 2 can be carried out by region server.
Region server can be used for dispatching computing resource, for example, according to the coverage area and present load of MEC server
Amount determines vehicle group's number that MEC server calculates, and calculates the target velocity etc. of the vehicle in which vehicle group.
Therefore in some embodiments, described to interact the second predetermined information with periphery MEC server, specifically include it is following at least
One of:
According to the dispatch command of region server, second predetermined information is interacted with the periphery MEC server；
According to the coverage area of the position of vehicle and this MEC server, the vehicle of the coverage area will exceed
First predetermined information and the vehicles identifications are sent to periphery MEC server；
According to the coverage area of Che Qunyu this MEC server, will exceed the vehicle group of the coverage area described second is pre-
Determine information and is sent to periphery MEC server.
In the present embodiment, the region server can be the upper level server of MEC server, be set at some
The server in region.The region server can send dispatch command to MEC server, which can be used for a MCE
Server and the MCE server on its periphery carry out information exchange, and in the present embodiment, the periphery MEC server can be one
The adjacent MEC server of MEC server, can also with its at a predetermined distance in MEC server.
The coverage area of one MEC server is limited, and MEC server also judges right in vehicle group in the present embodiment
Whether the vehicle answered maintains in the coverage area of itself, if the coverage area where having exceeded it, needs described
One predetermined information informs corresponding MEC server.In some embodiments, this MEC can be determined according to the travel route of vehicle
The coverage area that vehicle will enter out is which periphery MEC server belonged to, and is sent to the periphery MEC server determined
First predetermined information of corresponding vehicle.
In further embodiments, this MEC can correspond to vehicle to the multiple MEC server broadcasts for being located at its periphery
First predetermined information, in this case, if after a MEC server receives the broadcast message, if really corresponding vehicle enters
The coverage area of oneself can then carry out the processing such as monitoring of various states of the vehicle according to first predetermined information, for example,
The Che Qunzhong for adding it to self-management, the speed based on the vehicle determine the speed for being located at its vehicle for exercising front
Deng.
In some embodiments, whether the vehicle group that a MEC also judges oneself monitoring exceeds the covering model of itself
It encloses, if exceeding the coverage area of itself, the second predetermined information of corresponding vehicle group is informed into corresponding MEC server, alternatively,
Multiple MEC servers that periphery is informed by way of broadcast receive the MEC server of information according to the vehicle group oneself monitored
Determine whether to use the information.
It is presented below several there are many modes for judging coverage area that whether a vehicle group exceeds a MEC server
Kind optional way:
The edge vehicle of one vehicle group is driven out to the coverage area of a MEC server, then it is believed that vehicle group exceeds the MEC
The coverage area of server；
The coverage area for having the vehicle of the first predetermined ratio to be driven out to a MEC server in one vehicle group, then it is believed that should
Vehicle group exceeds the coverage area of the MEC server；
There is the vehicle of the second predetermined ratio to drive into the coverage area to another MEC server in one vehicle group, then can recognize
Exceed the coverage area of the MEC server for vehicle group.
In some embodiments, first predetermined ratio and the second predetermined ratio preset can be worth, and described first
The value of predetermined ratio and second predetermined ratio can be identical, can also be different.In the present embodiment, first predetermined ratio
Preferably greater than described second predetermined ratio.
As shown in fig. 6, the present embodiment provides a kind of target velocity computing devices, comprising:
First determination unit 110, for determining whether the adjacent i+1 vehicle of the i-th vehicle meets predetermined boundary condition,
In, i is positive integer；
Second determination unit 120, for determining described i-th when the i+1 vehicle meets the predetermined boundary condition
Vehicle is the boundary for dividing vehicle group；
Division unit 130, for being based on the boundary demarcation vehicle group；
Computing unit 140, for dividing the target of vehicle in vehicle group calculating vehicle group according to corresponding first risk threshold value of vehicle group
Speed.
Target velocity computing device described in the present embodiment can be applied in the equipment of the target velocity of various vehicles, example
Such as, other servers other than MEC server or MEC server.
First determination unit 110, the second determination unit 120, division unit 130 and computing unit 140 can correspond to
One or more processors in server；The processor can be central processing unit, microprocessor, Digital Signal Processing
Device, application processor, programmable array or specific integrated circuit etc..
The processor can holding by computer program, application program or operating system specific function function or component
Row, may be implemented the realization of each functional unit.
The target velocity computing device in the present embodiment can first be based on predetermined boundary condition, determine to divide vehicle group
Boundary, this boundary is corresponding vehicle, rather than geographic geographical frontier etc., so as to realize in the present invention is implemented
Divide the calculating of the vehicle target speed of vehicle group, and does not have to carry out the computationally intensive of single device caused by speed iteration and meter always
The problems such as complexity is high is calculated, the computation rate of target velocity is improved, reduces computation delay, and the accuracy calculated is higher.
Optionally, first determination unit 110, at least for executing following one:
Determine whether the i+1 vehicle has been divided into the Che Qunzhong constructed；
Determine whether i+1 is greater than numerical upper limits；
Determine whether the distance between the i+1 vehicle and the 1st vehicle are greater than distance threshold；
Determine whether the relative status information between the i+1 vehicle and i-th vehicle meets predetermined Partition condition.
Further, the determination unit, specifically for being collided between the determination i+1 vehicle and i-th vehicle
Whether risk is less than the second risk threshold value；Determine whether the following distance between the i+1 vehicle and i-th vehicle is greater than
One spacing threshold.
Optionally, first determination unit 110, if alreading exceed number specifically for the vehicle number for being added to vehicle group yet to be built
It is worth lower limit, determines whether the relative status information between the i+1 vehicle and i-th vehicle meets predetermined Partition condition.
Optionally, the computing unit 140, specifically for the vehicle being coupled between vehicle pair between determining vehicle group Gn and vehicle group Gm
When risk is no more than first risk threshold value, calculate the vehicle Vm's being located in the Gm according to the present speed of vehicle Vn
Target velocity；Wherein, the Gm is the latter vehicle group of the Gn；The Vn is the vehicle in the Gm；The Vm is described
It is located at the rear Vn and adjacent vehicle in Gm；The target of remaining vehicle in the Gm is calculated according to the target velocity of the Vm
Speed.
Optionally, the determination unit, specifically for according to Vn adjacent with the Vm in Gn present speed and acceleration
Degree, calculates the Vn and estimates speed vn ' after time t；Based on first risk threshold value and the vn ', institute is determined
State maximum permission speed vm ' of the Vm after t；According to the vm ', the aimed acceleration of the Vm is determined；According to the target
The target velocity of Vm described in acceleration calculation.
Further, the computing unit 140 can be used for calculating Vn using formula vn '=vn+an*t by time t
Afterwards estimate speed, wherein the vn be the Vn present speed；An is the acceleration of the Vn；If vm '=vn ',
Aimed acceleration am is calculated using using am=(vn '-vm)/t.
Further, the target velocity v is calculated using following formula:
Due to amin≤am≤amax, vn+an*t-amin*t≤vm≤vn+an*t-amax*t；
v≤min(vm,vr)；The vr is road speed limit；The amin is the minimum acceleration of the Vm；The amax
For the peak acceleration of the Vm.
The computing unit 140 calculates the Vx specifically for the current vehicle speed and aimed acceleration according to Vx in vehicle group
Speed vx ' is estimated after time t；Based on the second threshold and the vx ' between vehicle in same vehicle group, the Vx is determined
Maximum target speed vx ' of the latter vehicle Vx+1 after t；Accelerated according to the target that the length velocity relation calculates the Vx+1
Degree；The target velocity of the Vx+1 is calculated according to the aimed acceleration.
The computing unit 140, also particularly useful for the mobile edge calculations MEC server of utilization according to the first risk threshold
Value, the target velocity for dividing vehicle group to calculate vehicle in vehicle group.
Optionally, described device further include:
First communication unit, can correspond to communication interface, receives vehicle in corresponding vehicle group for the MEC server and reports
The first predetermined information, wherein first predetermined information include: state of motion of vehicle information and vehicle attribute parameter at least
One of them；
The computing unit 140, specifically for according to the state of motion of vehicle information and vehicle attribute parameter at least
One of them, calculates the driving risk between vehicle.
Described device further include:
Second communication unit, can correspond to communication interface, can be used for interacting the second predetermined information with periphery MEC server,
Wherein, second predetermined information includes: vehicle group identification, at least the of edge vehicle in vehicle group corresponding with the vehicle group identification
One predetermined information and vehicles identifications, wherein first predetermined information includes: state of motion of vehicle information and vehicle attribute parameter
At least one.
Optionally, second communication unit is specifically used for executing at least one of: according to the scheduling of region server
Instruction, interacts second predetermined information with the periphery MEC server；
According to the coverage area of the position of vehicle and this MEC server, the vehicle of the coverage area will exceed
First predetermined information and the vehicles identifications are sent to periphery MEC server；
According to the coverage area of Che Qunyu this MEC server, will exceed the vehicle group of the coverage area described second is pre-
Determine information and is sent to periphery MEC server.
As described in Figure 7, the embodiment of the present invention provides a kind of server, the server can for Edge Server or other
The server of target velocity can be calculated characterized by comprising transceiver 210, memory 220, processor 230 and storage
The computer program executed on the memory 220 and by the processor 230；
The processor 230 is connect with the transceiver 210 and the memory 220 respectively, for by described in execution
Computer program executes the target velocity calculation method that aforementioned one or more technical solutions provide.
In the present embodiment, the transceiver 210 can correspond to various communication interfaces, for example, wireline interface or wirelessly connecing
Mouthful etc..The wireline interface is divided into cable interface and fiber optic cable interface again, and the wireless interface is divided into various with information transmit-receive again
The antenna of function.
Memory 220 can include: storage medium can be used for storing various information.The storage medium can be to deposit at random
Storage media, read-only storage medium, flash memory, solid state hard disk or mechanical hard disk etc..
The processor 230 can be central processing unit, microprocessor, digital signal processor, application processor, may be programmed
Array, specific integrated circuit etc. can be connect with the transceiver and memory by various buses, can be used for controlling the receipts
The information transmit-receive of device and/or the Card read/write of the memory are sent out, and passes through the computer-executable codes such as computer program
It executes, realizes the target velocity calculation method of aforementioned one or more technical solutions.
In server provided in an embodiment of the present invention, by the determination of edge vehicle, the boundary for dividing vehicle group is determined,
Based on boundary demarcation vehicle group, to carry out the target velocity for calculating vehicle based on vehicle group, have calculation amount small and calculate and is simple
Feature.
Server provided in this embodiment can be aforementioned MEC server, for example, MEC server 1 as shown in Figure 5 and/or
MEC server 2 etc..
The embodiment of the present invention provides a kind of computer storage medium, and the computer storage medium is stored with computer journey
Sequence, the computer program are capable of the target velocity calculation method of aforementioned one or more technical solutions offers after being performed.
And computer storage medium above-mentioned includes: movable storage device, read-only memory (ROM, Read-Only
Memory), random access memory (RAM, Random Access Memory), magnetic or disk etc. are various can store journey
The medium of sequence code is chosen as non-moment storage medium.
Several specific examples are provided below in conjunction with any one above-mentioned embodiment:
Example 1:
The target velocity calculation method for the vehicle that this example provides, can be applied in car networking.Car networking system uses
(Mobile Edge Computing, MEC technology guarantees traffic safety, promotes traffic efficiency for V2X and mobile edge calculations.V2X
It is the general designation of V2V (vehicle), V2I (infrastructure), V2N (network), V2P (pedestrian), X can recognize
To represent everything, vehicle and vehicle, trackside facility, network, pedestrian etc. are communicated, and are exchanged information with one another, are realized people-Che-road
A variety of applications of collaboration, improve traffic safety and efficiency.
MEC server provides telecommunication user network technology (Internet using Radio Access Network nearby
Technology, IT) needed for service and cloud computing function, and create one and have high-performance, low latency and high bandwidth
Carrier grade service environment, accelerate every content in network, service and application it is quick-downloading, allow consumer to enjoy continual height
Quality web experience.In this example, MEC provides the car networking service function based on V2X.
MEC server: be deployed in operator base station or other physically, have access to a certain range of vehicle
, edge calculations ability is provided.
Region server: accessing several MEC servers, realizes that the data exchange between MEC server, business function are coordinated
Etc. functions.That is, can be in communication with each other between V2X edge calculations node, the data for exchanging information of vehicles and being calculated.
Whether there is risk of collision between vehicle vehicle, can be evaluated by calculating time headway TH.
Time headway (time headway) refers in the vehicle platoon travelled on same lane, two continuous vehicle vehicles
The time interval that cephalic par passes through a certain section.The front end that time headway represents front and back two cars passes through the time in same place
The space headway of front and back vehicle generally can be used divided by rear vehicle speed to calculate in difference.Time headway is represented when front truck brake, rear car
The maximum reaction time possessed by driver, therefore it is not fluctuated with the variation of speed.
Ideally, when vehicle time headway TH reaches permitted minimum time headway THmin on road, at vehicle
In safe condition and road efficiency highest.That is, vehicle is travelled at this time with identical speed v, the spacing between vehicle is kept
In safe distance Smin, safe distance determined by brake level, the condition of road surface of vehicle (i.e. vehicle braking when will not collide before
Vehicle).
The two cars Vn and Vm for being used to calculation risk can be called vehicle to [Vn, Vm].
This example proposes a kind of speed suggestion method based on mobile edge calculations (MEC).This method comprises: determining vehicle
Group calculates boundary to carry out vehicle group's division, and the suggestion travel speed between the vehicle group calculating vehicle group based on division and etc..
The conditions such as computation complexity, computing resource expense are limited to, when vehicle group divides, the vehicle number limitation of each vehicle group.
If Che Qunwei Gi, maximum vehicle number is Nvmax in group, and minimum vehicle number is Nvmin in group.
Some region of vehicle is divided into vehicle group G={ G1, G2 ..., Gn }, Nvmin≤n≤Nvmax.
Inside vehicle group, vehicle can be calculated, (table is come with time headway or other parameters to the risk between [Vn, Vn+1]
Sign).
Also interaction is had between vehicle group, Che Qunyu vehicle group may be constructed Che Qunlian.
Vehicle between vehicle group Gn and vehicle group Gm is to for [Vn, Vm], [Vn+1, Vm+1] ...；Claim Vn, Vn+1 ... Vm, Vm+1 ...
Connection vehicle between Gn and Gm.
Finally, the interaction between vehicle group is embodied in the phase interaction for being coupled the vehicle pair that vehicle is constituted of two vehicle groups
With i.e. risk between risk between vehicle group i.e. these vehicles pair.
The interaction that vehicle group divides between vehicle group is as shown in Figure 3.Vehicle is considered as being divided into a vehicle in enclosing
Group, there is interaction between Che Qunyu vehicle group.
So, it is believed that Risk Calculation method is unified between vehicle risk and vehicle group in vehicle group, is all to calculate vehicle vehicle
Between risk.
Risk D control between the vehicle group in certain region can be retrodicted into out the overall operation speed v of vehicle group within threshold value DTH.
Calculate the risk { Dj } being coupled between vehicle between two vehicle groups, risk D=max ({ Dj }) between vehicle group.
In this way, just having obtained the suggestion of the overall operation speed of certain vehicle group Gn.
When calculating, using certain vehicle group G1 in region as starting point, the risk between G1, G2 is calculated, the suggestion speed of G2 is obtained；So
The risk between G2, G3 is calculated afterwards, obtains the suggestion speed of G3.And so on.It is then possible to which this suggests that speed is control mesh
Mark, gives car speed suggestion in vehicle group.
Vehicle group's division methods can be in the following way.
Before vehicle group divides, first to determine that vehicle group calculates boundary.Vehicle group calculates boundary and refers to, calculates and once meets this
Part then stops the calculating for working as front truck group boundary.Using this vehicle to the connection vehicle as two vehicle groups.
Che Qunzhong vehicle is to be extended along road direction for constraint with road, can there is multiple boundaries to Risk Calculation.Than
Such as, to the road of Mr. Yu's section entrance useless, there are two boundaries along road direction by vehicle group.
It is specific as follows.
1, other vehicles of vehicle centering belong to another determining vehicle group, Vm ∈ Gm；The risk between vehicle group [Gn, Gm] can at this time
With with being coupled vehicle to [Vn, Vm], risk between [Vn+1, Vm+1] ... is evaluated.
2, vehicle exceeds spatial dimension R, at this point, current vehicle forms vehicle group Gn, neighbouring vehicle forms vehicle group Gm；Vehicle at this time
Risk between group [Gn, Gm] can be with vehicle to [Vn, Vm], and risk between [Vn+1, Vm+1] ... is evaluated.
3, calculated vehicle number Nc > Nvmax；It is completed at this point, vehicle group Gn is established, continues next vehicle group Gm and establish,
Risk between Che Qun [Gn, Gm] can be with vehicle to [Vn, Vm], and risk between [Vn+1, Vm+1] ... is evaluated.
4, Nvmin≤Nc≤Nvmax, and current calculating vehicle is less than threshold value DTH to [Vi, Vi+1] risk.At this point, Che Qun
Gn, which is established, to be completed, and is continued next vehicle group Gm and is established, the risk between Che Qun [Gn, Gm] can with vehicle to [Vn, Vm],
Risk between [Vn+1, Vm+1] ... evaluates (risk is less than threshold value DTH between vehicle group at this time).
It is recommended that the constraint condition of speed v.It is recommended that can take and effectively arrange when speed v should meet rear car and risky front truck
Apply elimination risk.There are many calculation methods, and simplest is using kinematics formula.
It is recommended that speed needs to comprehensively consider condition of road surface.Surface friction coefficient f, road grade α, vehicle condition (such as vehicle
Tire) etc. directly influence vehicle peak acceleration and deceleration.And consider the impression of driver when acceleration and deceleration, if maximum accelerate
Degree is amax, maximum deceleration amin.
If there is risk of collision between vehicle Vn, Vm, rear car can be avoided collision by braking.Assuming that two vehicles do one
Dimension linear motion, front truck Vn speed is vn, acceleration an at this time；Rear car Vm takes the measure of avoiding collision, and speed Vm accelerates
Degree is am；Two vehicles distance is S.
Assuming that not collided just by time t, Vn and Vm.Front truck Vn speed vn '=vn+an*t；Vm speed vm ' at this time
=vn ', and so am=(vn '-vm)/t.
Due to amin≤am≤amax, vn+an*t-amin*t≤vm≤vn+an*t-amax*t.
Simultaneously, it is proposed that speed V is less than road speed limit vr.That is v≤min (vm, vr).
In this way, having obtained the suggestion speed v of vehicle group G where Vm.
In car networking system, vehicle is equipped with communication device, satellite positioning device, acceleration measurement device etc., uses these
Device can be completed in the acquisition of MEC server communication, state of motion of vehicle (position, speed, acceleration, course etc.)；Together
When, vehicle saves vehicle parameter and unique vehicle ID.State of motion of vehicle, vehicle parameter (vehicle dimension, type of vehicle,
And coefficient of friction of tire etc.), vehicle ID can periodically be reported to MEC server.
MEC server local safeguards a vehicle database.The database purchase vehicles identifications (ID), vehicle movement shape
State and vehicle parameter, at the same save calculating as a result, there being the corresponding vehicle group ID of vehicle ID.
The intercommunication of MEC server.Certain MEC server is according to certain strategy, by certain vehicle cluster several vehicle of tail { V }
Vehicle ID and corresponding vehicle group ID are sent to periphery MEC server, these MEC servers protect vehicle ID and corresponding vehicle group ID
There are local data bases.
If a certain vehicle is not belonging to any one vehicle group in above-mentioned vehicle { V }, MEC server can be to holding the vehicle
The MEC server of information sends message, removes its information.
Information is transmitted between MEC server, can be by region server United Dispatching.
Further, the information of periphery MEC server is stored in MEC server database, which contains itself
With the coverage area of periphery MEC server, and information can be with real-time update.MEC server is serviced according to vehicle location and MEC
Device coverage area, judges whether vehicle will cover edge across MEC server, if it is, will include vehicle ID, affiliated vehicle
The information of group ID (vehicle group ID represents the vehicle for sky and is not belonging to any one vehicle group) is sent to one that vehicle may enter
Or multiple MEC servers.
In this way, MEC server can inquire the information for not accessing the vehicle of the MEC server when vehicle group establishes.
Moreover, by the available connection vehicle pair of this method, being used for if two vehicle groups are located at two MEC servers at this time
Subsequent calculating.
In several embodiments provided herein, it should be understood that disclosed device and method can pass through it
Its mode is realized.Apparatus embodiments described above are merely indicative, for example, the division of the unit, only
A kind of logical function partition, there may be another division manner in actual implementation, such as: multiple units or components can combine, or
It is desirably integrated into another system, or some features can be ignored or not executed.In addition, shown or discussed each composition portion
Mutual coupling or direct-coupling or communication connection is divided to can be through some interfaces, the INDIRECT COUPLING of equipment or unit
Or communication connection, it can be electrical, mechanical or other forms.
Above-mentioned unit as illustrated by the separation member, which can be or may not be, to be physically separated, aobvious as unit
The component shown can be or may not be physical unit, it can and it is in one place, it may be distributed over multiple network lists
In member；Some or all of units can be selected to achieve the purpose of the solution of this embodiment according to the actual needs.
In addition, each functional unit in various embodiments of the present invention can be fully integrated into a processing module, it can also
To be each unit individually as a unit, can also be integrated in one unit with two or more units；It is above-mentioned
Integrated unit both can take the form of hardware realization, can also realize in the form of hardware adds SFU software functional unit.
Those of ordinary skill in the art will appreciate that: realize that all or part of the steps of above method embodiment can pass through
The relevant hardware of program instruction is completed, and program above-mentioned can be stored in a computer readable storage medium, the program
When being executed, step including the steps of the foregoing method embodiments is executed.
The above description is merely a specific embodiment, but scope of protection of the present invention is not limited thereto, any
Those familiar with the art in the technical scope disclosed by the present invention, can easily think of the change or the replacement, and should all contain
Lid is within protection scope of the present invention.Therefore, protection scope of the present invention should be based on the protection scope of the described claims.
Claims (16)
1. a kind of target velocity calculation method characterized by comprising
Determine whether the adjacent i+1 vehicle of the i-th vehicle meets predetermined boundary condition, wherein i is positive integer；
When the i+1 vehicle meets the predetermined boundary condition, determine that i-th vehicle is the boundary for dividing vehicle group；
Based on the boundary demarcation vehicle group；
According to corresponding first risk threshold value of vehicle group, the target velocity for dividing vehicle group to calculate vehicle in vehicle group.
2. according to the method described in claim 1, whether the adjacent i+1 vehicle of the i-th vehicle of the determination meets predetermined sides
Boundary's condition, including at least one of:
Determine whether the i+1 vehicle has been divided into the Che Qunzhong constructed；
Determine whether i+1 is greater than numerical upper limits；
Determine whether the distance between the i+1 vehicle and the 1st vehicle are greater than distance threshold；
Determine whether the relative status information between the i+1 vehicle and i-th vehicle meets predetermined Partition condition.
3. according to the method described in claim 2, it is characterized in that,
Whether the relative status information between the determination i+1 vehicle and i-th vehicle meets predetermined Partition condition,
Including at least one of:
Determine that whether risk of collision is less than the second risk threshold value between the i+1 vehicle and i-th vehicle；
Determine whether the following distance between the i+1 vehicle and i-th vehicle is greater than the first spacing threshold.
4. according to the method described in claim 2, it is characterized in that,
Whether the relative status information between the determination i+1 vehicle and i-th vehicle meets predetermined Partition condition,
Include:
If the vehicle number for being added to vehicle group yet to be built alreadys exceed numerical lower limits, determine the i+1 vehicle and i-th vehicle it
Between relative status information whether meet predetermined Partition condition.
5. method according to any one of claims 1 to 4, which is characterized in that
The target velocity for according to corresponding first risk threshold value of vehicle group, vehicle group being divided to calculate vehicle in vehicle group, comprising:
When determining that the vehicle risk being coupled between vehicle pair between vehicle group Gn and vehicle group Gm is no more than first risk threshold value, according to
The present speed of vehicle Vn calculates the target velocity for the vehicle Vm being located in the Gm；Wherein, the Gm is the latter of the Gn
A vehicle group；The Vn is the vehicle in the Gm；The Vm is to be located at the rear Vn and adjacent vehicle in the Gm；
The target velocity of remaining vehicle in the Gm is calculated according to the target velocity of the Vm.
6. according to the method described in claim 5, it is characterized in that,
When being coupled the vehicle risk between vehicle pair between the determining vehicle group Gn and vehicle group Gm no more than first risk threshold value,
Calculate the target velocity for the vehicle Vm being located in the Gm, comprising:
According to the present speed and acceleration of Vn adjacent with the Vm in Gn, calculates the Vn and estimate speed after time t
Spend vn '；
Based on first risk threshold value and the vn ', maximum permission speed vm ' of the Vm after t is determined；
According to the vm ', the aimed acceleration of the Vm is determined；
The target velocity of the Vm is calculated according to the aimed acceleration.
7. according to the method described in claim 6, it is characterized in that,
The present speed and acceleration according to Vn adjacent with the Vm in Gn, it is pre- after time t to calculate the Vn
Estimate speed vn ', comprising:
Vn is calculated using formula vn '=vn+an*t and estimates speed after time t, wherein the vn is the current of the Vn
Speed；An is the acceleration of the Vn；
The aimed acceleration that the Vm is calculated according to the length velocity relation, comprising:
If vm '=vn ', aimed acceleration am is calculated using using am=(vn '-vm)/t.
8. the method according to the description of claim 7 is characterized in that
The target velocity v is calculated using following formula:
Due to amin≤am≤amax, vn+an*t-amin*t≤vm≤vn+an*t-amax*t；
v≤min(vm,vr)；The vr is road speed limit；The amin is the minimum acceleration of the Vm；The amax is institute
State the peak acceleration of Vm.
9. method according to any one of claims 1 to 4, which is characterized in that
The target velocity for according to corresponding first risk threshold value of vehicle group, vehicle group being divided to calculate vehicle in vehicle group, comprising:
According to the current vehicle speed and aimed acceleration of Vx in vehicle group, calculates the Vx and estimate speed vx ' after time t；
Based on the second threshold and the vx ' between vehicle in same vehicle group, determine latter vehicle Vx+1 of the Vx after t
Maximum target speed vx '；
The aimed acceleration of the Vx+1 is calculated according to the length velocity relation；
The target velocity of the Vx+1 is calculated according to the aimed acceleration.
10. method according to any one of claims 1 to 4, which is characterized in that
The target velocity for according to corresponding first risk threshold value of vehicle group, vehicle group being divided to calculate vehicle in vehicle group, comprising:
Using mobile edge calculations MEC server according to first risk threshold value, the target for dividing vehicle group to calculate vehicle in vehicle group
Speed.
11. according to the method described in claim 10, it is characterized in that,
The method also includes:
The MEC server receives the first predetermined information that vehicle reports in corresponding vehicle group, wherein the first predetermined information packet
It includes: at least one of state of motion of vehicle information and vehicle attribute parameter；
According at least one of the state of motion of vehicle information and vehicle attribute parameter, the driving wind between vehicle is calculated
Danger.
12. according to the method described in claim 10, it is characterized in that,
The method also includes:
The second predetermined information is interacted with periphery MEC server, wherein second predetermined information includes: vehicle group identification, and described
At least the first predetermined information and vehicles identifications of edge vehicle in the corresponding vehicle group of vehicle group identification, the first predetermined information packet
It includes: at least one of state of motion of vehicle information and vehicle attribute parameter.
13. according to the method for claim 12, which is characterized in that
It is described to interact the second predetermined information with periphery MEC server, specifically include at least one of:
According to the dispatch command of region server, second predetermined information is interacted with the periphery MEC server；
According to the coverage area of the position of vehicle and this MEC server, the described of the vehicle of the coverage area will exceed
First predetermined information and the vehicles identifications are sent to periphery MEC server；
According to the coverage area of Che Qunyu this MEC server, the described second predetermined letter of the vehicle group of the coverage area will exceed
Breath is sent to periphery MEC server.
14. a kind of target velocity computing device characterized by comprising
First determination unit, for determining whether the adjacent i+1 vehicle of the i-th vehicle meets predetermined boundary condition, wherein i is
Positive integer；
Second determination unit, for when the i+1 vehicle meets the predetermined boundary condition, determining that i-th vehicle is
Divide the boundary of vehicle group；
Division unit, for being based on the boundary demarcation vehicle group；
Computing unit, for dividing the target velocity of vehicle in vehicle group calculating vehicle group according to corresponding first risk threshold value of vehicle group.
15. a kind of server characterized by comprising transceiver, memory, processor and be stored on the memory simultaneously
The computer program executed by the processor；
The processor is connect with the transceiver and the memory respectively, for being held by executing the computer program
The target velocity calculation method that any one of row claim 1 to 13 provides.
16. a kind of computer storage medium, the computer storage medium is stored with computer program, the computer program quilt
It can be realized the target velocity calculation method that any one of claim 1 to 13 provides after execution.
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| CN112735166A (en) * | 2020-12-29 | 2021-04-30 | 中国联合网络通信集团有限公司 | Vehicle driving guiding method and device |
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