CN111199641B - Motorcade running method and system based on intelligent lamp pole - Google Patents
Motorcade running method and system based on intelligent lamp pole Download PDFInfo
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- CN111199641B CN111199641B CN202010073016.0A CN202010073016A CN111199641B CN 111199641 B CN111199641 B CN 111199641B CN 202010073016 A CN202010073016 A CN 202010073016A CN 111199641 B CN111199641 B CN 111199641B
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/20—Monitoring the location of vehicles belonging to a group, e.g. fleet of vehicles, countable or determined number of vehicles
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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
- G08G1/0108—Measuring and analyzing of parameters relative to traffic conditions based on the source of data
- G08G1/0116—Measuring and analyzing of parameters relative to traffic conditions based on the source of data from roadside infrastructure, e.g. beacons
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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
- G08G1/01—Detecting movement of traffic to be counted or controlled
- G08G1/052—Detecting movement of traffic to be counted or controlled with provision for determining speed or overspeed
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/22—Platooning, i.e. convoy of communicating vehicles
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Abstract
The invention discloses a motorcade running method and system based on an intelligent lamp pole. The method comprises the following steps: acquiring the current position and the driving route of a motorcade; obtaining light pole base station information related to a driving route of a vehicle team by taking the current position of the vehicle team as a starting point; acquiring the front speed of a motorcade head vehicle and the average speed of traffic flow in an area where the motorcade is located; calculating reasonable speed of the fleet according to the front speed of the head vehicle and the average speed of traffic flow; identifying lane information of a road related to a motorcade driving route; calculating a road matching coefficient according to the lane information of the relevant road; and judging whether the road matching coefficient of the current lane of the fleet is smaller than a road matching threshold value, if so, selecting the lane of which the road matching coefficient is larger than the road matching threshold value for the fleet. The method and the system solve the technical problem of how to control the driving speed and the lane of the motorcade based on the intelligent lamp post.
Description
Technical Field
The invention belongs to the technical field of intelligent lamp poles, and particularly relates to a motorcade driving method and system based on an intelligent lamp pole.
Background
Currently, the fleet is usually driven by experienced drivers to keep the fleet complete and smooth. In the development stage of the current 5G communication technology, the automatic driving fleet may become a popular application for the future automatic driving.
The automatic driving motorcade needs to closely follow the motorcade and is consistent with the response of emergency situations, but the current automatic driving technology needs a remote server to receive and analyze data detected by a vehicle sensor and generate a control command for controlling the vehicle, the control command generation delay and the signal transmission delay are high, the vehicle reaction between the motorcades is insensitive, the response can not be carried out at the first time, the possibility of disorder of the motorcade is increased, and the usability of the automatic driving motorcade is reduced.
At present, no technical scheme for controlling the driving speed and the lane of a motorcade based on a smart lamp pole exists. Therefore, a motorcade driving method and system based on intelligent lamp posts are provided.
Disclosure of Invention
In order to solve the problems, the invention provides a motorcade driving method and system based on a smart lamp pole.
The invention relies on a lamp post base station system and an automatic driving vehicle system.
The invention discloses a motorcade running method based on an intelligent lamp pole, which comprises the following steps:
acquiring the current position and the driving route of a motorcade;
obtaining light pole base station information related to a driving route of a vehicle team by taking the current position of the vehicle team as a starting point;
acquiring the front speed of a motorcade head vehicle and the average speed of traffic flow in an area where the motorcade is located;
calculating reasonable speed of the fleet according to the front speed of the head vehicle and the average speed of traffic flow;
identifying lane information of a road related to a motorcade driving route;
calculating a road matching coefficient according to the lane information of the relevant road;
and judging whether the road matching coefficient of the current lane of the fleet is smaller than a road matching threshold value, if so, selecting the lane of which the road matching coefficient is larger than the road matching threshold value for the fleet.
Preferably, after selecting the lane with the road matching coefficient larger than the road matching threshold value for the fleet, the method further comprises the following steps:
acquiring the current time speed of each vehicle in the fleet and recording the speed as ujWherein j represents the number of the vehicles in the motorcade, and the reasonable speed of the motorcade is recorded as v;
according to the current speed u of each vehiclejCalculating abnormal coefficient x of vehicle in the motorcade according to reasonable speed v of motorcadej，
Wherein e is a calculation coefficient set according to any one of the regional historical traffic data or the road characteristics;
judging the abnormal coefficient x of the vehiclejWhether the vehicle speed is greater than a preset abnormal threshold value or not is judged, and if yes, the vehicle in the fleet is judged to be abnormal;
and controlling abnormal vehicles to exit the fleet queue or adjusting the speed of the fleet according to the abnormality.
Preferably, after selecting the lane with the road matching coefficient larger than the road matching threshold value for the fleet, the method further comprises the following steps:
obtaining the distance between a certain vehicle and the front vehicle in the fleet according to a certain sampling time interval, and recording the distance as sjWherein j is the vehicleVehicle number;
comparing the distance s between the vehicle and the preceding vehiclejWith a preset safe distance threshold S1And following distance threshold S2The size of (d);
if sj<S1According to the distance s between the vehicle and the front vehiclejAnd a safe distance threshold S1The front vehicle speed and the rear vehicle speed are improved;
if sj>S2According to the distance s between the vehicle and the front vehiclejAnd following distance threshold S2The front vehicle speed and the rear vehicle speed are reduced.
Further preferably, the distance s between the vehicle and the front vehicle is used as the basisjAnd a safe distance threshold S1Increasing the front and rear vehicle speeds, comprising:
the speed of the front vehicle is denoted vqThe rear vehicle speed is denoted vc；
According to the distance s between the vehicle and the front vehiclejAnd a safe distance threshold S1Calculating the speed increasing value b of the front vehicle1，
Wherein a is1Is a calculation coefficient set according to any one of the regional historical traffic data or the road characteristics;
according to the distance s between the vehicle and the front vehiclejAnd a safe distance threshold S1Calculating the rear vehicle speed increase value b2，
Wherein a is2Is a calculation coefficient set according to any one of the regional historical traffic data or the road characteristics;
according to the speed increasing value b of the front vehicle1And the rear vehicle speed increase value b2The front vehicle speed and the rear vehicle speed are improved.
Further preferably, the distance s between the vehicle and the front vehicle is used as the basisjAnd following distance threshold S2Reducing front and rear vehicle speeds, comprising:
the speed of the front vehicle is denoted vqThe rear vehicle speed is denoted vc；
According to the distance s between the vehicle and the front vehiclejAnd following distance threshold S2Calculating the speed reduction value o of the front vehicle1，o1＝z1·(sj-S2)·vqWherein z is1Is a calculation coefficient set according to any one of the regional historical traffic data or the road characteristics;
according to the distance s between the vehicle and the front vehiclejAnd following distance threshold S2Calculating a rear vehicle speed reduction value o2，o2＝z2·(sj-S2)·vcWherein z is2Is a calculation coefficient set according to any one of the regional historical traffic data or the road characteristics;
according to the speed reduction value o of the front vehicle1And a rear vehicle speed reduction value o2The front vehicle speed and the rear vehicle speed are reduced.
Preferably, the acquiring the speed of the head vehicle of the fleet and the average speed of the traffic flow in the area where the fleet is located includes:
acquiring the running speed of a vehicle right in front of a head vehicle of a fleet at the current moment, and recording the running speed as w;
obtaining lamp post base station information of an area where a motorcade is located;
acquiring traffic flow speed in the coverage area of each lamp post base station;
and calculating the average value of the traffic flow speed in the coverage area of each lamp post base station, and recording the average value as the traffic flow average speed r of the area where the fleet is located.
Preferably, the calculating the reasonable speed of the fleet according to the front speed of the head vehicle and the average speed of the traffic flow comprises:
the front vehicle speed of the head vehicle is recorded as w, and the average vehicle flow speed is recorded as r;
calculating reasonable speed v of the fleet according to the front speed w of the head vehicle and the average speed r of the traffic flow, wherein v is f1·w+f2R, wherein f1And f2Is a weighting coefficient set according to the influence degree of the regional traffic flow and the front vehicle on the speed of the fleet.
Preferably, the lane information for identifying the road related to the driving route of the fleet includes:
acquiring roads included by a motorcade driving route;
acquiring physical information of each lane in a road, wherein the physical information comprises lane width and lane length;
and acquiring the number information of vehicles in each lane in the road.
Preferably, the calculating a road matching coefficient according to the lane information of the relevant road includes:
the lane information of the relevant road comprises the width, the length and the number of vehicles of each lane, which are respectively marked as di、hiAnd niWherein i is the number of each lane;
according to the width d of the laneiLength h ofiNumber n of vehicles in laneiCalculating a road matching coefficient pi，
Or
Where k is a calculation coefficient set according to any one or a combination of plural items of regional road condition data or regional characteristics or accident data, g1And g2Is a weighting coefficient set according to the degree of influence of the road characteristic and the vehicle characteristic.
A computer-readable storage medium storing a computer program for electronic data exchange, wherein the computer program causes a computer to perform the above method.
The utility model provides a motorcade traveling system based on wisdom lamp pole which characterized in that includes:
a lamp post;
a fleet of vehicles;
a base station controller;
a processor;
a memory;
and
one or more programs, wherein the one or more programs are stored in the memory and configured to be executed by the processor, the programs causing the computer to perform the method described above.
The method and the system have the advantages that:
(1) by predicting the vehicle running route and judging the lamp post base station on the vehicle running route, the control function is transferred from the remote server to the nearby lamp post base station, the control time delay is reduced, and the control efficiency is improved.
(2) The reasonable speed of the fleet is calculated according to the speed of the front vehicle of the head vehicle of the fleet and the traffic flow speed in the area, so that the condition that the fleet is disturbed due to too low speed or is disordered due to too high speed can be effectively avoided.
(3) The matching coefficient of the lanes is calculated according to the physical information and the vehicle information of the lanes, and the lanes are switched when the matching coefficient of the current lane of the motorcade is too low, so that the chaos of the motorcade can be effectively avoided, and the traffic efficiency can be improved.
(4) The abnormal coefficient is calculated according to the running speed of a certain vehicle in the fleet, and when the abnormal coefficient of the vehicle is larger than the threshold value, the vehicle is driven out of the fleet queue, so that the integrity of the fleet can be effectively ensured, and the chaos of the fleet is effectively avoided.
(5) When the distance between a certain vehicle and the front vehicle in the fleet is too small or too large, the running speed of the adjacent front and rear vehicles is adjusted, and the rationality of the fleet distance is effectively kept.
Drawings
Fig. 1 is a flowchart of a smart light pole-based fleet driving method according to an embodiment of the present invention;
FIG. 2 is a flowchart illustrating the detailed steps of step S03 in FIG. 1;
FIG. 3 is a flowchart illustrating the detailed steps of step S04 in FIG. 1;
FIG. 4 is a flowchart illustrating the detailed steps of step S06 in FIG. 1;
FIG. 5 is a flowchart showing the detailed steps of step S08 in FIG. 1;
fig. 6 is a flowchart illustrating the detailed steps of the additional step S08 according to the second embodiment of the present invention;
fig. 7 is a flowchart illustrating the detailed steps of sub-step S083 of the additional step S08 according to the third embodiment of the present invention;
FIG. 8 is a flowchart illustrating the detailed steps of substep S084 of additional step S08 according to a third embodiment of the present invention;
fig. 9 is a schematic structural diagram of a smart light pole-based fleet driving system according to a fifth embodiment of the present invention.
Detailed Description
The following describes in detail preferred embodiments of the present invention.
The embodiment of the invention depends on the existing lamp post system and the base station system, considers the communication demand in the region, the load capacity of the lamp post base station in the region and the distance from the terminal, and selects the lamp post base station suitable for access for the terminal.
The fleet driving method based on the intelligent lamp pole in the first embodiment of the invention is realized by the following steps as shown in fig. 1:
step S01, acquiring the current position and the driving route of the motorcade;
step S02, obtaining light pole base station information related to the driving route of the vehicle team by taking the current position of the vehicle team as a starting point;
step S03, acquiring the front speed of the head car of the motorcade and the average speed of the traffic flow of the area where the motorcade is located;
step S04, calculating reasonable speed of the fleet according to the speed of the front vehicle and the average speed of the traffic flow;
step S05, recognizing lane information of a road related to a motorcade driving route;
step S06, calculating a road matching coefficient according to the lane information of the relevant road;
and step S07, judging whether the road matching coefficient of the current lane of the fleet is smaller than a road matching threshold, if so, selecting the lane of which the road matching coefficient is larger than the road matching threshold for the fleet.
In a preferred embodiment shown in fig. 2, the step S03 of obtaining the front speed of the head car of the fleet and the average speed of the traffic flow in the area where the fleet is located includes:
step S031, obtain the driving speed of the vehicle in front of the first vehicle of the fleet at the present moment, note as w;
step S032, obtaining lamp post base station information of an area where a motorcade is located;
step S033, obtaining traffic flow speed in the coverage area of each lamp post base station;
and S034, calculating the average value of the traffic flow speed in the coverage area of each lamp post base station, and recording the average value as the traffic flow average speed r of the area where the fleet is located.
In this embodiment, the position of the first vehicle (i.e., the head vehicle) in a certain fleet is identified, the driving speed w of the vehicle directly ahead of the head vehicle in the same lane of the fleet at the current time is 80 (kilometer/hour), 2 lampposts of the area where the fleet is located are obtained, the traffic speeds in the coverage areas of the 2 lampposts are 58 and 70 respectively, and the average value is 64, that is, the average speed r of the traffic in the area where the fleet is located is 64 (kilometer/hour).
In a preferred embodiment shown in fig. 3, the step S04 of calculating the reasonable speed of the fleet according to the speed of the leading vehicle and the average speed of the traffic flow includes:
step S041, recording the front vehicle speed of the head vehicle as w, and recording the average traffic flow speed as r;
step S042, calculating a reasonable speed v of the fleet according to the front speed w of the head vehicle and the average speed r of the traffic flow, wherein v is f1·w+f2R, wherein f1And f2Are weighting coefficients set in advance.
In the present embodiment, the traveling speed w at the current time ahead of the head vehicle is 80, the traffic flow average speed r is 64, and the weighting coefficient f is set according to the regional traffic flow and the degree of influence of the front vehicle on the speed of the vehicle group1＝0.3，f2And (f) calculating the reasonable speed v of the fleet as f according to the speed w of the front vehicle and the average speed r of the traffic flow1·w+f2R is 0.3 × 80+0.7 × 64 is 68.8 (km/hr).
And step S05, identifying the lane information of the road related to the motorcade driving route. In this embodiment, the acquired driving route of the fleet includes 2 roads, each road has 2 lanes, and the width and length of each lane and the number of vehicles on the lane are acquired.
In a preferred embodiment shown in fig. 4, the step S06 of calculating the road matching coefficient according to the lane information of the relevant road includes:
step S061, the lane information of the relevant roads includes the width, length and number of vehicles of each lane, which are respectively recorded as di、hiAnd niWherein i is the number of each lane;
step S062, according to the width d of the laneiLength h ofiNumber n of vehicles in laneiCalculating a road matching coefficient pi，
Where k is a calculation coefficient set in advance.
In the present embodiment, the number of each lane is 1, 2, 3, 4, respectively, where the number 1 and 3 are overtaking lanes, the number 2 and 4 are slow lanes, and the width d of each lane in the road1＝3.6，d2＝3.0，d3＝3.6，d43.0 (unit is meter), length h of each lane in the road1＝1，h2＝1，h3＝3，h4Number of vehicles n in lane, 3 (units are kilometers)1＝7，n2＝10，d3＝3，d45, the calculation coefficient k set according to the regional road condition data and the regional characteristics is 1, and the width d of the lane is determinediLength h ofiNumber n of vehicles in laneiCalculating road matching coefficients
Step S07, judging the current lane of the vehicle teamIf the road matching coefficient is smaller than the road matching threshold, selecting a lane with the road matching coefficient larger than the road matching threshold for the motorcade. In this embodiment, the road matching threshold is set to 1 in advance, the current lane of the fleet is the lane with number 2, and the road matching coefficient p is2＝0.3<And 1, selecting a lane (number 3 or 4) with the road matching coefficient larger than the road matching threshold value for the vehicle fleet, wherein the vehicle fleet enters the lane with the number 4 according to the principle of proximity in the embodiment.
In a preferred embodiment as shown in fig. 5, after step S07, the method further includes step S08:
step S081, obtaining the speed of each vehicle in the fleet at the current time, and recording as ujWherein j represents the number of the vehicles in the motorcade, and the reasonable speed of the motorcade is recorded as v;
step S082, according to the speed u of each vehicle at present timejCalculating abnormal coefficient x of vehicle in the motorcade according to reasonable speed v of motorcadej，
Wherein e is a calculation coefficient set in advance;
step S083, judging the abnormal coefficient x of the vehiclejWhether the vehicle speed is greater than a preset abnormal threshold value or not is judged, and if yes, the vehicle in the fleet is judged to be abnormal;
and step S084, controlling abnormal vehicles to exit the fleet queue or adjusting the fleet running speed according to the abnormality.
In this embodiment, the calculation coefficient e set according to the area historical traffic flow data is 1, and the abnormality threshold is 0.5, that is, if the current speed of the vehicle is less than half of the reasonable speed of the fleet, it is determined that the vehicle is abnormal, the abnormal vehicle is controlled to exit from the fleet queue, and when the vehicle speed is recovered, the abnormal vehicle is added to the end of the queue.
The intelligent lamp pole-based fleet driving method provided by the embodiment of the invention is realized according to the following steps:
step S01, acquiring the current position of the fleet and the driving route of the fleet;
step S02, obtaining light pole base station information related to the driving route of the vehicle fleet by taking the current position of the head vehicle of the vehicle fleet as a starting point;
step S03, acquiring the front speed of the head car of the motorcade and the average speed of the traffic flow of the area where the motorcade is located;
step S04, calculating reasonable speed of the fleet according to the speed of the front vehicle and the average speed of the traffic flow;
step S05, recognizing lane information of a road related to a motorcade driving route;
step S06, calculating a road matching coefficient according to the lane information of the relevant road;
and step S07, judging whether the road matching coefficient of the current lane of the fleet is smaller than a road matching threshold, if so, transferring the fleet to the lane of which the road matching coefficient is larger than the road matching threshold.
In a preferred embodiment, the step S03 of obtaining the speed of the head car of the fleet and the average speed of the traffic flow in the area where the fleet is located includes:
step S031, obtain the driving speed of the vehicle in front of the first vehicle of the fleet at the present moment, note as w;
step S032, obtaining lamp post base station information of an area where a motorcade is located;
step S033, obtaining traffic flow speed in the coverage area of each lamp post base station;
and S034, calculating the average value of the traffic flow speed in the coverage area of each lamp post base station, and recording the average value as the traffic flow average speed r of the area where the fleet is located.
In this embodiment, the position of a first vehicle (i.e., a head vehicle of a fleet) in a certain fleet is identified, the driving speed w of a vehicle directly ahead of the head vehicle of the fleet at the current time is 80 (kilometer/hour), 2 lampposts and base stations in an area where the fleet is located are obtained, the traffic speeds in coverage areas of the 2 lampposts and base stations are respectively 58 and 70, and an average value is calculated to be 64, that is, the average speed r of the traffic in the area where the fleet is located is 64 (kilometer/hour).
In a preferred embodiment, the step S04 of calculating the reasonable speed of the fleet according to the speed of the leading vehicle and the average speed of the traffic flow includes:
step S041, recording the front vehicle speed of the head vehicle as w, and recording the average traffic flow speed as r;
step (ii) ofS042, calculating reasonable speed v of the fleet according to the front speed w of the head vehicle and the average speed r of the traffic flow, wherein v is f1·w+f2R, wherein f1And f2Are weighting coefficients set in advance.
In this embodiment, the traveling speed w at the current time ahead of the head vehicle is 80, the traffic flow average speed r is 64, and a weighting coefficient f set according to the regional traffic flow and the degree of influence of the front vehicle on the speed of the vehicle group is set1＝0.3，f2And (f) calculating the reasonable speed v of the fleet as f according to the speed w of the front vehicle and the average speed r of the traffic flow1·w+f2R is 0.3 × 80+0.7 × 64 is 68.8 (km/hr).
And step S05, identifying the lane information of the road related to the motorcade driving route. In this embodiment, the acquired driving route of the fleet includes 2 roads, each road has 2 lanes, and the width and length of each lane and the number of vehicles on the lane are acquired.
In one preferable mode, the step S06 of calculating the road matching coefficient based on the lane information of the relevant road includes:
step S061, the lane information of the relevant roads includes the width, length and number of vehicles of each lane, which are respectively recorded as di、hiAnd niWherein i is the number of each lane;
step S062, according to the width d of the laneiLength h ofiNumber n of vehicles in laneiCalculating a road matching coefficient pi，
Wherein g is1And g2Are weighting coefficients set in advance.
In the present embodiment, the number of each lane is 1, 2, 3, 4, respectively, where the number 1 and 3 are overtaking lanes, the number 2 and 4 are slow lanes, and the width d of each lane in the road1＝3.6，d2＝3.0，d3＝3.6，d43.0 (unit is meter), length h of each lane in the road1＝1，h2＝1，h3＝3，h4Number of vehicles n in lane, 3 (units are kilometers)1＝7，n2＝10，d3＝3，d4A weighting coefficient g set according to the degree of influence of the road characteristic and the vehicle characteristic as 51＝0.2，g21, according to the width d of the laneiLength h ofiNumber n of vehicles in laneiCalculating road matching coefficients
And step S07, judging whether the road matching coefficient of the current lane of the fleet is smaller than a road matching threshold, if so, selecting the lane of which the road matching coefficient is larger than the road matching threshold for the fleet. In this embodiment, the road matching threshold is set to 1 in advance, the current lane of the fleet is the lane with number 2, and the road matching coefficient p is2＝0.7<And 1, selecting a lane (number 3 or 4) with the road matching coefficient larger than the road matching threshold value for the fleet, and driving into the lane with the number 3 according to the principle of smoothness priority in the embodiment.
In a preferred embodiment as shown in fig. 6, after step S07, the method further includes step S08:
step S081, the distance between a vehicle and the front vehicle in the fleet is obtained according to a certain sampling time interval and is recorded as SjWherein j is the vehicle number;
step S082, comparing the distance S between the vehicle and the front vehiclejWith a preset safe distance threshold S1And following distance threshold S2The size of (d);
step S083, if Sj<S1According to the distance s between the vehicle and the front vehiclejAnd a safe distance threshold S1The front vehicle speed and the rear vehicle speed are improved;
step S084, if Sj>S2According to the distance s between the vehicle and the front vehiclejAnd following distance threshold S2The front vehicle speed and the rear vehicle speed are reduced.
In this embodiment, the sampling time interval is 5 seconds, the distance between each vehicle and the preceding vehicle in the fleet is obtained according to a certain sampling time interval, and the preset safety distance threshold S is set15 m, car following distance threshold S210 m, the distance s between a vehicle and the preceding vehiclej2 m, when sj<S1According to the distance s between the vehicle and the front vehiclejAnd a safe distance threshold S1The front vehicle speed and the rear vehicle speed are improved.
In a preferred mode as shown in fig. 7, in step S083, the distance S between the vehicle and the front vehicle is determined according to the distance between the vehicle and the front vehiclejAnd a safe distance threshold S1Increasing the front and rear vehicle speeds, comprising:
step S0831, recording the speed of the front vehicle as vqThe rear vehicle speed is denoted vc；
Step S0832, according to the distance S between the vehicle and the front vehiclejAnd a safe distance threshold S1Calculating the speed increasing value b of the front vehicle1，
Wherein a is1Is a calculation coefficient set according to any one of the regional historical traffic data or the road characteristics;
step S0833, according to the distance S between the vehicle and the front vehiclejAnd a safe distance threshold S1Calculating the rear vehicle speed increase value b2，
Wherein a is2Is based on historical traffic data or road characteristicsA set calculation coefficient;
step S0834, increasing the value b according to the speed of the front vehicle1And the rear vehicle speed increase value b2The front vehicle speed and the rear vehicle speed are improved.
In the present embodiment, the front velocity v of the vehicleq70 rear speed vcCalculating coefficient a is set according to the speed of the motorcade and the combination of the regional road characteristics 681＝70，a260 according to the distance s between the vehicle and the front vehiclejAnd a safe distance threshold S1Calculating a forward speed increase value
Calculating a rear vehicle speed increase value
The speed of the front vehicle is increased to 73 kilometers per hour, and the speed of the rear vehicle is increased to 70.6 kilometers per hour.
The third embodiment of the invention relates to a motorcade running method based on intelligent lamp poles, which is realized by the following steps:
step S01, acquiring the current position of the fleet and the driving route of the fleet;
step S02, obtaining light pole base station information related to the driving route of the vehicle fleet by taking the current position of the head vehicle of the vehicle fleet as a starting point;
step S03, acquiring the front speed of the head car of the motorcade and the average speed of the traffic flow of the area where the motorcade is located;
step S04, calculating reasonable speed of the fleet according to the speed of the front vehicle and the average speed of the traffic flow;
step S05, recognizing lane information of a road related to a motorcade driving route;
step S06, calculating a road matching coefficient according to the lane information of the relevant road;
and step S07, judging whether the road matching coefficient of the current lane of the fleet is smaller than a road matching threshold, if so, transferring the fleet to the lane of which the road matching coefficient is larger than the road matching threshold.
In a preferred embodiment, the step S03 of obtaining the speed of the head car of the fleet and the average speed of the traffic flow in the area where the fleet is located includes:
step S031, obtain the driving speed of the vehicle in front of the first vehicle of the fleet at the present moment, note as w;
step S032, obtaining lamp post base station information of an area where a motorcade is located;
step S033, obtaining traffic flow speed in the coverage area of each lamp post base station;
and S034, calculating the average value of the traffic flow speed in the coverage area of each lamp post base station, and recording the average value as the traffic flow average speed r of the area where the fleet is located.
In this embodiment, the position of a first vehicle (i.e., a head vehicle of a fleet) in a certain fleet is identified, the driving speed w of a vehicle directly ahead of the head vehicle of the fleet at the current time is 80 (kilometer/hour), 2 lampposts and base stations in an area where the fleet is located are obtained, the traffic speeds in coverage areas of the 2 lampposts and base stations are respectively 58 and 70, and an average value is calculated to be 64, that is, the average speed r of the traffic in the area where the fleet is located is 64 (kilometer/hour).
In a preferred embodiment, the step S04 of calculating the reasonable speed of the fleet according to the speed of the leading vehicle and the average speed of the traffic flow includes:
step S041, recording the front vehicle speed of the head vehicle as w, and recording the average traffic flow speed as r;
step S042, calculating a reasonable speed v of the fleet according to the front speed w of the head vehicle and the average speed r of the traffic flow, wherein v is f1·w+f2R, wherein f1And f2Are weighting coefficients set in advance.
In this embodiment, the traveling speed w at the current time ahead of the head vehicle is 80, the traffic flow average speed r is 64, and a weighting coefficient f set according to the regional traffic flow and the degree of influence of the front vehicle on the speed of the vehicle group is set1＝0.3，f2And (f) calculating the reasonable speed v of the fleet as f according to the speed w of the front vehicle and the average speed r of the traffic flow1·w+f2R is 0.3 × 80+0.7 × 64 is 68.8 (km/hr).
And step S05, identifying the lane information of the road related to the motorcade driving route. In this embodiment, the acquired driving route of the fleet includes 2 roads, each road has 2 lanes, and the width and length of each lane and the number of vehicles on the lane are acquired.
In one preferable mode, the step S06 of calculating the road matching coefficient based on the lane information of the relevant road includes:
step S061, the lane information of the relevant roads includes the width, length and number of vehicles of each lane, which are respectively recorded as di、hiAnd niWherein i is the number of each lane;
step S062, according to the width d of the laneiLength h ofiNumber n of vehicles in laneiCalculating a road matching coefficient pi，
Wherein g is1And g2Are weighting coefficients set in advance.
In the present embodiment, the number of each lane is 1, 2, 3, 4, respectively, where the number 1 and 3 are overtaking lanes, the number 2 and 4 are slow lanes, and the width d of each lane in the road1＝3.6，d2＝3.0，d3＝3.6，d43.0 (unit is meter), length h of each lane in the road1＝1，h2＝1，h3＝3，h4Number of vehicles n in lane, 3 (units are kilometers)1＝7，n2＝10，d3＝3，d4A weighting coefficient g set according to the degree of influence of the road characteristic and the vehicle characteristic as 51＝0.2，g21, according to the width d of the laneiLength h ofiNumber n of vehicles in laneiCalculating road matching coefficients
And step S07, judging whether the road matching coefficient of the current lane of the fleet is smaller than a road matching threshold, if so, selecting the lane of which the road matching coefficient is larger than the road matching threshold for the fleet. In this embodiment, the road matching threshold is set to 1 in advance, the current lane of the fleet is the lane with number 2, and the road matching coefficient p is2＝0.7<And 1, selecting a lane (number 3 or 4) with the road matching coefficient larger than the road matching threshold value for the fleet, and driving into the lane with the number 3 according to the principle of smoothness priority in the embodiment.
In a preferred embodiment, after step S07, the method further includes step S08:
step S081, the distance between a vehicle and the front vehicle in the fleet is obtained according to a certain sampling time interval and is recorded as SjWherein j is the vehicle number;
step S082, comparing the distance S between the vehicle and the front vehiclejWith a preset safe distance threshold S1And following distance threshold S2The size of (d);
step S083, if Sj<S1According to the distance s between the vehicle and the front vehiclejAnd a safe distance threshold S1The front vehicle speed and the rear vehicle speed are improved;
step S084, if Sj>S2According to the distance s between the vehicle and the front vehiclejAnd following distance threshold S2The front vehicle speed and the rear vehicle speed are reduced.
In this embodiment, the sampling time interval is 5 seconds, the distance between each vehicle and the preceding vehicle in the fleet is obtained according to a certain sampling time interval, and the preset safety distance threshold S is set15 m, car following distance threshold S210 m, the distance s between a vehicle and the preceding vehiclej20 m, when sj>S2Then, thenAccording to the distance s between the vehicle and the front vehiclejAnd following distance threshold S2The front vehicle speed and the rear vehicle speed are reduced.
In a preferred mode as shown in fig. 8, in step S084, the distance S between the vehicle and the preceding vehicle is used as the basisjAnd following distance threshold S2Reducing front and rear vehicle speeds, comprising:
step S0841, recording the speed of the front vehicle as vqThe rear vehicle speed is denoted vc；
Step S0842, according to the distance S between the vehicle and the front vehiclejAnd following distance threshold S2Calculating the speed reduction value o of the front vehicle1，o1＝z1·(sj-S2)·vqWherein z is1Is a calculation coefficient set according to any one or more combination of fleet speed or regional historical traffic data or road characteristics;
step S0843, according to the distance S between the vehicle and the front vehiclejAnd following distance threshold S2Calculating a rear vehicle speed reduction value o2，o2＝z2·(sj-S2)·vcWherein z is2Is a calculation coefficient set according to any one or more combination of fleet speed or regional historical traffic data or road characteristics;
step S0844, reducing the value o according to the speed of the front vehicle1And a rear vehicle speed reduction value o2The front vehicle speed and the rear vehicle speed are reduced.
In the present embodiment, the front velocity v of the vehicleq70 rear speed vcCalculating coefficient z is set according to fleet speed and regional road feature combination 681＝0.01，z20.02, according to the distance s between the vehicle and the front vehiclejAnd following distance threshold S2Calculating the speed reduction value o of the front vehicle1＝z1·(sj-S2)·vq(20-10) · 70 ═ 7, and the calculated vehicle speed reduction value o2＝z2·(sj-S2)·vc0.02 (20-10) 68 (13.6 kilometers per hour), reducing the speed of the front vehicle to 63 kilometers per hour, and reducing the speedThe vehicle speed was 54.4 km/h.
The fourth motorcade driving method based on the intelligent lamp pole is realized according to the following steps:
step S01, acquiring the current position of the fleet and the driving route of the fleet;
step S02, obtaining light pole base station information related to the driving route of the vehicle fleet by taking the current position of the head vehicle of the vehicle fleet as a starting point;
step S03, acquiring the front speed of the head car of the motorcade and the average speed of the traffic flow of the area where the motorcade is located;
step S04, calculating reasonable speed of the fleet according to the speed of the front vehicle and the average speed of the traffic flow;
step S05, recognizing lane information of a road related to a motorcade driving route;
step S06, calculating a road matching coefficient according to the lane information of the relevant road;
and step S07, judging whether the road matching coefficient of the current lane of the fleet is smaller than a road matching threshold, if so, transferring the fleet to the lane of which the road matching coefficient is larger than the road matching threshold.
In a preferred embodiment, the step S03 of obtaining the speed of the head car of the fleet and the average speed of the traffic flow in the area where the fleet is located includes:
step S031, obtain the driving speed of the vehicle in front of the first vehicle of the fleet at the present moment, note as w;
step S032, obtaining lamp post base station information of an area where a motorcade is located;
step S033, obtaining traffic flow speed in the coverage area of each lamp post base station;
and S034, calculating the average value of the traffic flow speed in the coverage area of each lamp post base station, and recording the average value as the traffic flow average speed r of the area where the fleet is located.
In this embodiment, the position of a first vehicle (i.e., a head vehicle of a fleet) in a certain fleet is identified, the driving speed w of a vehicle directly ahead of the head vehicle of the fleet at the current time is 80 (kilometer/hour), 2 lampposts and base stations in an area where the fleet is located are obtained, the traffic speeds in coverage areas of the 2 lampposts and base stations are respectively 58 and 70, and an average value is calculated to be 64, that is, the average speed r of the traffic in the area where the fleet is located is 64 (kilometer/hour).
In a preferred embodiment, the step S04 of calculating the reasonable speed of the fleet according to the speed of the leading vehicle and the average speed of the traffic flow includes:
step S041, recording the front vehicle speed of the head vehicle as w, and recording the average traffic flow speed as r;
step S042, calculating a reasonable speed v of the fleet according to the front speed w of the head vehicle and the average speed r of the traffic flow, wherein v is f1·w+f2R, wherein f1And f2Are weighting coefficients set in advance.
In this embodiment, the traveling speed w at the current time ahead of the head vehicle is 80, the traffic flow average speed r is 64, and a weighting coefficient f set according to the regional traffic flow and the degree of influence of the front vehicle on the speed of the vehicle group is set1＝0.3，f2And (f) calculating the reasonable speed v of the fleet as f according to the speed w of the front vehicle and the average speed r of the traffic flow1·w+f2R is 0.3 × 80+0.7 × 64 is 68.8 (km/hr).
And step S05, identifying the lane information of the road related to the motorcade driving route. In this embodiment, the acquired driving route of the fleet includes 2 roads, each road has 2 lanes, and the width and length of each lane and the number of vehicles on the lane are acquired.
In one preferable mode, the step S06 of calculating the road matching coefficient based on the lane information of the relevant road includes:
step S061, the lane information of the relevant roads includes the width, length and number of vehicles of each lane, which are respectively recorded as di、hiAnd niWherein i is the number of each lane;
step S062, according to the width d of the laneiLength h ofiNumber n of vehicles in laneiCalculating a road matching coefficient pi，
Wherein g is1And g2Are weighting coefficients set in advance.
In the present embodiment, each laneAre numbered 1, 2, 3, 4, respectively, where numbers 1 and 3 are passing lanes, numbers 2 and 4 are slow lanes, and the width d of each lane in the road1＝3.6，d2＝3.0，d3＝3.6，d43.0 (unit is meter), length h of each lane in the road1＝1，h2＝1，h3＝3，h4Number of vehicles n in lane, 3 (units are kilometers)1＝7，n2＝10，d3＝3，d4A weighting coefficient g set according to the degree of influence of the road characteristic and the vehicle characteristic as 51＝0.2，g21, according to the width d of the laneiLength h ofiNumber n of vehicles in laneiCalculating road matching coefficients
And step S07, judging whether the road matching coefficient of the current lane of the fleet is smaller than a road matching threshold, if so, selecting the lane of which the road matching coefficient is larger than the road matching threshold for the fleet. In this embodiment, the road matching threshold is set to 1 in advance, the current lane of the fleet is the lane with number 2, and the road matching coefficient p is2＝0.7<And 1, selecting a lane (number 3 or 4) with the road matching coefficient larger than the road matching threshold value for the fleet, and driving into the lane with the number 3 according to the principle of smoothness priority in the embodiment.
In a preferred embodiment, after step S07, the method further includes step S08:
step S081, obtaining the speed of each vehicle in the fleet at the current time, and recording as ujWherein j represents the number of the vehicles in the motorcade, and the reasonable speed of the motorcade is recorded as v;
step S082, according to the speed u of each vehicle at present timejCalculating abnormal coefficient x of vehicle in the motorcade according to reasonable speed v of motorcadej，
Wherein e is a calculation coefficient set in advance;
step S083, judging the abnormal coefficient x of the vehiclejWhether the vehicle speed is greater than a preset abnormal threshold value or not is judged, and if yes, the vehicle in the fleet is judged to be abnormal;
and step S084, controlling abnormal vehicles to exit the fleet queue or adjusting the fleet running speed according to the abnormality.
In this embodiment, the calculation coefficient e set according to the area historical traffic flow data is 1, and the abnormality threshold is 0.5, that is, if the current speed of the vehicle is less than half of the reasonable speed of the fleet, it is determined that the vehicle is abnormal; in this embodiment, the current traveling speed of a certain vehicle in the fleet is 20 (kilometers per hour), and the abnormality coefficient is calculated
And judging that the vehicle is abnormal, and adjusting the running speed of the motorcade according to the abnormality.
In a preferred embodiment, adjusting the speed of the abnormal vehicle in accordance with the abnormal vehicle group driving speed includes:
step S0841, acquiring the distance between a certain vehicle and a front vehicle in the fleet according to a certain sampling time interval, and recording the distance as SjWherein j is the vehicle number;
step S0842, comparing the distance S between the vehicle and the front vehiclejWith a preset safe distance threshold S1And following distance threshold S2The size of (d);
step S0843, if Sj<S1According to the distance s between the vehicle and the front vehiclejAnd a safe distance threshold S1The front vehicle speed and the rear vehicle speed are improved;
step S0844, if Sj>S2According to the distance s between the vehicle and the front vehiclejAnd following distance threshold S2The front vehicle speed and the rear vehicle speed are reduced.
In this embodiment, the sampling time interval is 5 seconds, and the preset safety distance threshold S is set15 m, car following distance threshold S2Obtaining the distance s between the abnormal vehicle and the vehicle in front of the abnormal vehicle at the current moment when the distance s is 10 metersj20 m, when sj>S2According to the distance s between the vehicle and the front vehiclejAnd following distance threshold S2The front vehicle speed and the rear vehicle speed are reduced.
In a preferred mode, in step S0844, the distance S between the vehicle and the front vehicle is used as the basisjAnd following distance threshold S2Reducing front and rear vehicle speeds, comprising:
step S08441, the speed of the vehicle ahead is recorded as vqThe rear vehicle speed is denoted vc；
Step S08442, according to the distance S between the vehicle and the front vehiclejAnd following distance threshold S2Calculating the speed reduction value o of the front vehicle1，o1＝z1·(sj-S2)·vqWherein z is1Is a calculation coefficient set according to any one or more combination of fleet speed or regional historical traffic data or road characteristics;
step S08443, according to the distance S between the vehicle and the front vehiclejAnd following distance threshold S2Calculating a rear vehicle speed reduction value o2，o2＝z2·(sj-S2)·vcWherein z is2Is a calculation coefficient set according to any one or more combination of fleet speed or regional historical traffic data or road characteristics;
step S08444, according to the front vehicle speed reduction value o1And rear vehicle speed reductionValue o2The front vehicle speed and the rear vehicle speed are reduced.
In the present embodiment, the front speed v of the abnormal vehicleq70 rear speed vcCalculating coefficient z is set according to fleet speed and regional road feature combination 681＝0.01，z20.02, according to the distance s between the abnormal vehicle and the preceding vehiclejAnd following distance threshold S2Calculating the speed reduction value o of the front vehicle1＝z1·(sj-S2)·vq(20-10) · 70 ═ 7, and the calculated vehicle speed reduction value o2＝z2·(sj-S2)·vcAnd (20-10) 68 is 13.6 (kilometer/hour), the front vehicle speed of the abnormal vehicle is reduced to 63 (kilometer/hour), the rear vehicle speed of the abnormal vehicle is reduced to 54.4 (kilometer/hour), and the step S08 is repeated until the vehicle abnormal coefficient returns to normal.
A computer-readable storage medium storing a computer program for electronic data exchange, wherein the computer program causes a computer to perform the method of any of the above embodiments.
A fifth example of the present invention provides a fleet driving system based on smart light poles, which is shown in fig. 9, and includes:
a lamp post;
a fleet of vehicles;
a base station controller;
a processor;
a memory;
and
one or more programs, wherein the one or more programs are stored in the memory and configured to be executed by the processor, the programs causing the computer to perform the method of any of the embodiments described above.
Of course, those skilled in the art should realize that the above embodiments are only used for illustrating the present invention, and not as a limitation to the present invention, and that the changes and modifications of the above embodiments will fall within the protection scope of the present invention as long as they are within the scope of the present invention.
Claims (7)
1. A motorcade running method based on a smart lamp pole is characterized by comprising the following steps:
acquiring the current position and the driving route of a motorcade;
obtaining light pole base station information related to a driving route of a motorcade by taking the current position of the motorcade as a starting point;
acquiring the front speed of the head vehicle of the motorcade and the average speed of the traffic flow of the area where the motorcade is located: acquiring the running speed of a vehicle right in front of a head vehicle of a fleet at the current moment, and recording the running speed as the front vehicle speed w of the head vehicle; obtaining lamp post base station information of an area where a motorcade is located; acquiring traffic flow speed in the coverage area of each lamp post base station; calculating the average value of the traffic flow speed in the coverage area of each lamp post base station, and recording as the average traffic flow speed r of the area where the fleet is located;
calculating the reasonable speed of the fleet according to the front speed of the head vehicle and the average speed of the traffic flow: calculating reasonable speed v of the fleet according to the front speed w of the head vehicle and the average speed r of the traffic flow, wherein v is f1·w+f2R, wherein f1And f2The weighting coefficients are set according to the influence degree of the regional traffic flow and the front vehicle on the speed of the fleet;
identifying lane information of a road related to a motorcade driving route;
calculating a road matching coefficient according to the lane information of the relevant road: the lane information of the relevant road comprises the width, the length and the number of vehicles of each lane, which are respectively marked as di、hiAnd niWhere i is the number of the respective lane, according to the width d of the laneiLength h ofiNumber n of vehicles in laneiCalculating a road matching coefficient pi，
Or
Where k is a calculation coefficient set according to any one or a combination of plural items of regional road condition data or regional characteristics or accident data, g1And g2Is a weighting coefficient set according to the degree of influence of the road characteristics and the vehicle characteristics;
and judging whether the road matching coefficient of the current lane of the fleet is smaller than a road matching threshold value, if so, selecting the lane of which the road matching coefficient is larger than the road matching threshold value for the fleet.
2. The smart light pole based fleet driving method according to claim 1, further comprising the steps of, after selecting a lane for the fleet having a road matching coefficient greater than a road matching threshold:
acquiring the current time speed of each vehicle in the fleet and recording the speed as ujWherein j represents the number of the vehicles in the motorcade, and the reasonable speed of the motorcade is recorded as v;
according to the current speed u of each vehiclejCalculating abnormal coefficient x of vehicle in the motorcade according to reasonable speed v of motorcadej，
Wherein e is a calculation coefficient set according to any one of the regional historical traffic data or the road characteristics;
judging the abnormal coefficient x of the vehiclejWhether the vehicle speed is greater than a preset abnormal threshold value or not is judged, and if yes, the vehicle in the fleet is judged to be abnormal;
and controlling abnormal vehicles to exit the fleet queue or adjusting the speed of the fleet according to the abnormality.
3. The smart light pole based fleet driving method according to claim 1, further comprising the steps of, after selecting a lane for the fleet having a road matching coefficient greater than a road matching threshold:
obtaining the distance between each vehicle and the vehicle ahead in the fleet according to a certain sampling time interval, and recording the distance as sjWherein j is the vehicle number;
comparing the distance s between the vehicle and the preceding vehiclejWith a preset safe distance threshold S1And following distance threshold S2The size of (d);
if sj<S1According to the distance s between the vehicle and the front vehiclejAnd a safe distance threshold S1The front vehicle speed and the rear vehicle speed are improved;
if sj>S2According to the distance s between the vehicle and the front vehiclejAnd following distance threshold S2The front vehicle speed and the rear vehicle speed are reduced.
4. The smart light pole based fleet driving method according to claim 3, wherein said distance s between said vehicle and said front vehicle is determined according to said distance sjAnd a safe distance threshold S1Increasing the front and rear vehicle speeds, comprising:
the speed of the front vehicle is denoted vqThe rear vehicle speed is denoted vc；
According to the distance s between the vehicle and the front vehiclejAnd a safe distance threshold S1Calculating the speed increasing value b of the front vehicle1，
Wherein a is1Is a calculation coefficient set according to any one or more combination of fleet speed or regional historical traffic data or road characteristics;
according to the distance s between the vehicle and the front vehiclejAnd a safe distance threshold S1Calculating the rear vehicle speed increase value b2，
Wherein a is2Is a calculation coefficient set according to any one or more combination of fleet speed or regional historical traffic data or road characteristics;
according to the speed increasing value b of the front vehicle1And the rear vehicle speed increase value b2The front vehicle speed and the rear vehicle speed are improved.
5. The smart light pole based fleet driving method according to claim 3, wherein said distance s between said vehicle and said front vehicle is determined according to said distance sjAnd following distance threshold S2Before loweringVehicle speed and rear vehicle speed, including:
the speed of the front vehicle is denoted vqThe rear vehicle speed is denoted vc；
According to the distance s between the vehicle and the front vehiclejAnd following distance threshold S2Calculating the speed reduction value o of the front vehicle1，o1＝z1·(sj-S2)·vqWherein z is1Is a calculation coefficient set according to any one or more combination of fleet speed or regional historical traffic data or road characteristics;
according to the distance s between the vehicle and the front vehiclejAnd following distance threshold S2Calculating a rear vehicle speed reduction value o2，o2＝z2·(sj-S2)·vcWherein z is2Is a calculation coefficient set according to any one or more combination of fleet speed or regional historical traffic data or road characteristics;
according to the speed reduction value o of the front vehicle1And a rear vehicle speed reduction value o2The front vehicle speed and the rear vehicle speed are reduced.
6. A computer-readable storage medium storing a computer program for electronic data exchange, wherein the computer program causes a computer to perform the method according to any one of claims 1-5.
7. The utility model provides a motorcade traveling system based on wisdom lamp pole which characterized in that includes:
a lamp post;
a fleet of vehicles;
a base station controller;
a processor;
a memory;
and
one or more programs, wherein the one or more programs are stored in the memory and configured to be executed by the processor, the programs causing the computer to perform the method of any of claims 1-5.
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