CN116311984A - Self-adaptive collaborative driving method and device for vehicle without signalized intersection and road side equipment - Google Patents
Self-adaptive collaborative driving method and device for vehicle without signalized intersection and road side equipment Download PDFInfo
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Abstract
The application discloses a no-signalized intersection vehicle self-adaptive collaborative driving method and device and road side equipment, which adaptively determine the priority of each lane according to the queuing length and the traffic flow condition of lanes in each direction of an intersection, improve the performance of a single intersection in space dimension and time dimension, and improve the fairness and efficiency of vehicle travel, thereby improving the efficiency of the whole road network traffic system.
Description
Technical Field
The present disclosure relates to, but not limited to, vehicle-road cooperative driving technologies, and in particular, to a method and apparatus for adaptive cooperative driving of a vehicle without a signalized intersection, and a road side device.
Background
The intelligent vehicle-road cooperative system adopts advanced wireless communication, rapid edge calculation and other technologies, and the information sharing among vehicles and road side equipment is realized in an omnibearing manner. The vehicle-road cooperative driving technology is based on the acquired real-time traffic information and vehicle information, and adopts an advanced decision and control method, so that the traffic safety in the vehicle driving process can be ensured, the efficiency of a traffic system can be obviously improved, and the vehicle-road cooperative driving technology is a brand-new technology for realizing automatic driving.
The networked automatic driving vehicles (CAVs, connected and Automated Vehicles) are important components of the intelligent vehicle-road cooperative system, and are expected to become key components of the next-generation intelligent transportation system. The networked autonomous vehicle may share real-time vehicle states (e.g., position, speed, acceleration, etc.) and driving intentions (e.g., driving behavior, vehicle route, etc.) with the roadside equipment, surrounding vehicles, while also receiving and executing safe and efficient decision and control instructions from the roadside equipment.
At the signalless intersection, the core of the vehicle co-driving decision problem is the road right allocation problem, which determines the time consumption of the vehicle to travel through the signalless intersection and directly influences the traffic efficiency of the signalless intersection. In the related art, only traffic information in a local area of an intersection is considered, so that a plurality of vehicles can wait in a long time outside an intersection control area, and the travel time of the vehicles is seriously increased.
Disclosure of Invention
The application provides a self-adaptive collaborative driving method and device for vehicles at a signalless intersection and road side equipment, which can improve fairness and efficiency of vehicle travel, thereby improving efficiency of a whole road network traffic system.
The embodiment of the invention provides a self-adaptive collaborative driving method for a vehicle without a signalized intersection, which comprises the following steps:
determining the space domain priority of the lanes according to the number of vehicles in a preset observing area of the intersection, and determining the time domain priority of the lanes according to the traffic on the lanes of the intersection;
acquiring the priority of the lane according to the determined spatial domain priority and time domain priority;
and determining the lane with the acquired road right according to the priority of the lane, and enabling the vehicle of the lane to pass through the intersection.
In one illustrative example, the preset observation area is larger than a control area of the intersection.
In one illustrative example, the priority Pr of the lane is obtained as follows i ：
Pr i ＝w pr *Pr i space +(1-w pr )*Pr i time ；
wherein ,wPr As the weight coefficient, pr i space Representing the priority of the spatial domain,
representing the time domain priority.
In one illustrative example, the spatial domain priority Pr of the lane is determined according to the following equation i space ：
wherein ,
indicating the number, max, of vehicles on the lane i in the preset observation area j />
And representing the number of vehicles on the lane with the largest number of vehicles in the lanes in the preset observing area.
In one illustrative example, the time domain priority of the lane is determined as follows
wherein ,fi Indicating the flow rate, max, in lane i of said intersection j f j And the flow rate on the lane with the largest flow rate in the lanes of the intersection is represented.
The method for determining the lane with the road right according to the priority of the lane to enable the vehicle of the lane to pass through the intersection comprises the following steps:
and sequencing the obtained priority of the lanes, wherein the vehicles on the lanes with the highest priority can obtain road weights to pass through the intersection first, then the vehicles on the lanes with the priority of the lanes pass through the intersection, and so on.
Embodiments of the present application also provide a computer readable storage medium storing computer executable instructions for performing the signalless intersection vehicle adaptive collaborative driving method described in any one of the above.
The embodiment of the application further provides a device for realizing the self-adaptive cooperative driving of the signalless intersection vehicle, which comprises a memory and a processor, wherein the memory stores the following instructions executable by the processor: a step for performing the method of achieving signalless intersection vehicle adaptive co-driving of any of the above.
The embodiment of the application also provides a self-adaptive cooperative driving device for a signalless intersection vehicle, which comprises the following components: the device comprises a first acquisition module, a second acquisition module, a calculation module and a processing module; wherein,
the first acquisition module is used for determining the space domain priority of the lane according to the number of vehicles in a preset observation area of the intersection;
the second acquisition module is used for determining the time domain priority of the lane according to the traffic on the lane of the intersection;
the calculation module is used for acquiring the priority of the lane according to the determined spatial domain priority and the time domain priority;
and the processing module is used for determining the lane with the road right according to the priority of the lane so that the vehicle of the lane passes through the intersection.
The embodiment of the application also provides road side equipment, which comprises the signal-crossing-free vehicle self-adaptive cooperative driving device.
According to the self-adaptive co-driving method for the signalless intersection vehicles, the priority of each lane is self-adaptively determined according to the queuing length and the traffic flow conditions of the lanes in each direction of the intersection, the performance of a single intersection is improved in the space dimension and the time dimension, and the fairness and the efficiency of vehicle travel are improved, so that the efficiency of the whole road network traffic system is improved.
Additional features and advantages of the invention will be set forth in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. The objectives and other advantages of the invention will be realized and attained by the structure particularly pointed out in the written description and claims hereof as well as the appended drawings.
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The accompanying drawings are included to provide a further understanding of the technical aspects of the present application, and are incorporated in and constitute a part of this specification, illustrate the technical aspects of the present application and together with the examples of the present application, and not constitute a limitation of the technical aspects of the present application.
Fig. 1 is a schematic diagram of a scene of a signalless intersection in an embodiment of the present application;
FIG. 2 is a schematic flow chart of a method for adaptive collaborative driving of a signalless intersection vehicle in an embodiment of the present application;
FIG. 3 is a schematic diagram of adaptive collaborative driving road priority assessment in an embodiment of the present application;
fig. 4 is a schematic diagram of a composition structure of adaptive cooperative driving of a vehicle without a signalized intersection in an embodiment of the present application.
Detailed Description
For the purposes of making the objects, technical solutions and advantages of the present application more apparent, embodiments of the present application will be described in detail hereinafter with reference to the accompanying drawings. It should be noted that, in the case of no conflict, the embodiments and features in the embodiments may be arbitrarily combined with each other.
In one typical configuration of the present application, a computing device includes one or more processors (CPUs), input/output interfaces, network interfaces, and memory.
The memory may include volatile memory in a computer-readable medium, random Access Memory (RAM) and/or nonvolatile memory, such as Read Only Memory (ROM) or flash memory (flash RAM). Memory is an example of computer-readable media.
Computer readable media, including both non-transitory and non-transitory, removable and non-removable media, may implement information storage by any method or technology. The information may be computer readable instructions, data structures, modules of a program, or other data. Examples of storage media for a computer include, but are not limited to, phase change memory (PRAM), static Random Access Memory (SRAM), dynamic Random Access Memory (DRAM), other types of Random Access Memory (RAM), read Only Memory (ROM), electrically Erasable Programmable Read Only Memory (EEPROM), flash memory or other memory technology, compact disc read only memory (CD-ROM), digital Versatile Discs (DVD) or other optical storage, magnetic cassettes, magnetic tape disk storage or other magnetic storage devices, or any other non-transmission medium, which can be used to store information that can be accessed by a computing device. Computer readable media, as defined herein, does not include non-transitory computer readable media (transmission media), such as modulated data signals and carrier waves.
The steps illustrated in the flowchart of the figures may be performed in a computer system, such as a set of computer-executable instructions. Also, while a logical order is depicted in the flowchart, in some cases, the steps depicted or described may be performed in a different order than presented herein.
In the related art, aiming at the problem of co-driving of a signalless intersection, only traffic information in a local range of the isolated intersection is considered, and traffic information in a wider road network range is not considered, so that part of vehicles can wait in a queue for a long time outside the control range of the intersection, further the travel time of the vehicles is seriously increased, and the traffic efficiency of the whole road network is weakened. Aiming at the problem of no-signalized intersection collaborative driving road right allocation, only traffic information of an isolated intersection at the current moment is considered, and future traffic states and information of an intersection system are not considered, so that the intersection system is fragile, the traffic performance cannot be effectively ensured, and traffic jam is easy to occur.
Fig. 1 is a schematic diagram of a no-signalized intersection scene in the embodiment of the present application, where, as shown in fig. 1, the annular area is a control area, and the shadow area is a collision area. As shown in fig. 1, the co-driving at the single intersection without signal lamps means that the automatic driving vehicles in the control area of the intersection are co-driven through centralized road right dispatching, so that the automatic driving vehicles in the control area of the intersection can improve the efficiency of the intersection and reduce the delay of passing through the intersection on the premise of ensuring the safety. The road right scheduling of the intersection refers to determining the priority of vehicles passing through the intersection, and can be visually indicated by a character string formed by vehicle indexes, which is called a passing sequence. Taking the signalless intersection shown in fig. 1 as an example, it can be represented by a character string "DECAB" consisting of a vehicle index: vehicle D has the highest priority, vehicle E has the highest priority, … …, and so on, vehicle B has the lowest priority. When two vehicles encounter a collision, such as vehicle a and vehicle D, then the vehicle with the higher priority, i.e., vehicle D, will acquire road rights, while vehicle a needs to slow down or even stop and wait until vehicle D passes through the collision area.
It follows that a better traffic sequence will significantly improve the efficiency of a single intersection. A method for solving the passing sequence of various single intersections is proposed in the related art. However, the single intersection co-pass sequential solving method in the related art has a plurality of defects, and particularly when the solving methods are directly deployed in a road network, problems occur: first, the single intersection collaborative driving method in the related art considers only information of vehicles in a control area in view of a spatial range, and aims to make the vehicles in the control area pass through an intersection more efficiently. However, in a road network, merely considering vehicles within a control area can result in a large number of vehicles waiting in line outside the control area. Secondly, from the time scale, the collaborative driving algorithm in the related art is independent between each programming, and only current real-time information is considered, and the continuity of the traffic system is not considered, particularly the next predictable evolution of the single intersection system is not considered. Furthermore, a better traffic sequence, while reducing the sum of delays of the vehicles, can result in significant delays of individual vehicles. Finally, the co-driving algorithm in the related art does not consider the fairness problem of vehicles, and when deployed directly into the road network layer, it can result in long travel time of some vehicles.
In order to solve the defects in the related art, the embodiment of the application provides a self-adaptive collaborative driving method for vehicles without signalized intersections, which aims to enable collaborative driving on road network layers to be seen widely in space dimension, consider future conditions of intersection systems in time dimension and promote fairness of vehicles. The basic ideas of the adaptive collaborative driving according to the embodiment of the application comprise: the traffic sequence of the vehicle layer is adaptively adjusted by defining the priority of the lane layer, so that the traffic efficiency of the road network layer is higher and the performance stability of the road network system is better. In one embodiment, higher priority is given to lane adaptation with longer queuing length and higher flow through an adaptive collaborative driving algorithm; then, when solving the traffic sequence, giving the vehicles of the lane with higher priority more priority the right of way, in this way, while optimizing the traffic efficiency of the vehicles in the control area, let the vehicles on the lane with higher priority self-adaptively arrange to the position more forward in the traffic sequence, namely more preferentially pass through the intersection.
Fig. 2 is a schematic flow chart of a method for adaptive collaborative driving of a signalless intersection vehicle according to an embodiment of the present application, as shown in fig. 2, including:
step 200: and determining the space domain priority of the lanes according to the number of vehicles in a preset observation area of the intersection, and determining the time domain priority of the lanes according to the traffic on the lanes of the intersection.
In an exemplary embodiment, the preset observation area is larger than the control area of the intersection, and the range of the observation area can reflect the situation that the vehicles on the corresponding lanes are queued for a long time outside the control area.
In one illustrative example, spatial domain priority Pr of lane i i space Can be shown as formula (1):
in the formula (1),
indicating the number, max, of vehicles on lane i in the observation area j />
Indicating the number of vehicles on the lane where the vehicles are most among the lanes within the observation area. As can be seen from the formula (1), among the lanes in the observation area, the lane with the largest number of vehicles on the lane has the highest spatial-domain priority, and the lane with the largest number of vehicles on the lane has the higher spatial-domain priority, so that the vehicles on the lane with the largest number of vehicles pass through the intersection more quickly in the spatial range, and the vehicles on the corresponding lane are effectively prevented from being queued outside the control area for a long time.
In one illustrative example, time domain priority of lane i
Can be shown as formula (2):
in the formula (2), f i Indicating the traffic flow in lane i at the intersection, max j f j Indicating the flow rate in the lane with the largest flow rate among the lanes of the intersection. As can be seen from the formula (2), among the lanes of the intersection, the lane with the highest traffic on the lane has the highest time domain priority, and the more traffic on the lane isThe vehicle has higher time domain priority, so that vehicles on a lane with larger vehicle flow can pass through an intersection faster in a time range, road weights are reserved in advance for the vehicle flow of the lane which arrives later, and long-time queuing of the vehicles outside a control area is avoided.
In one illustrative example, the flow f on lane i i May be obtained from the respective adjacent intersections by means of wireless communication between the roadside devices. Since traffic arriving at the intersection from adjacent intersections will arrive after a period of time, the real-time flow value upstream of the lane contains the traffic conditions downstream of the corresponding lane in the future. In the embodiment of the application, the real-time flow f is considered i The determined time domain priority considers the future state information of the current intersection. By means of the time domain priority in the embodiment of the application, vehicles on lanes with large flow can pass earlier, so that road rights are reserved for subsequently arriving traffic in advance, and long-time queuing of the vehicles outside a control area is avoided. Meanwhile, fairness of vehicle travel in the road network can be improved.
Step 201: and acquiring the priority of the lane according to the determined spatial domain priority and the determined time domain priority.
In one illustrative example, priority Pr of lane i i Can be shown as formula (3):
Pr i ＝w pr *Pr i space +(1-w pr )*Pr i time (3)
in the formula (3), w Pr Is a weight coefficient. w (w) Pr The value of (2) may be determined based on the size of the observation area of the intersection, or the distance between the location of the measured traffic flow and the current intersection. In one embodiment, the larger the observation area of the intersection, w Pr The larger; the smaller the observation area of the intersection, w Pr The smaller. The greater the distance between the position measuring the traffic flow and the current intersection, w Pr The smaller; the smaller the distance between the position measuring the traffic flow and the current intersection, w Pr The larger. It should be noted that due to the randomness of the traffic systemSex and uncertainty, w Pr The specific value of (2) needs to be debugged according to the actual situation so as to find the optimal w Pr Setting values.
Step 202: and determining the lane with the acquired road right according to the priority of the lane, and enabling the vehicle of the lane to pass through the intersection.
In one illustrative example, the priority of the obtained lanes is ordered, vehicles on the lanes with the highest priority will obtain road weights to pass through the intersection first, then vehicles on the lanes with the priority of the lanes are passed through the intersection, and so on.
According to the self-adaptive co-driving method for the signalless intersection vehicles, the priority of each lane is self-adaptively determined according to the queuing length and the traffic flow conditions of the lanes in each direction of the intersection, the performance of a single intersection is improved in the space dimension and the time dimension, and the fairness and the efficiency of vehicle travel are improved, so that the efficiency of the whole road network traffic system is improved. The self-adaptive co-driving method for the signalless intersection vehicle effectively solves the problems of shortsightedness and traffic jam of a single intersection system in the related technology, truly improves the performance stability and continuity of the single intersection system, and has important application potential and value for tidal phenomena in a real traffic system.
The self-adaptive collaborative driving method for the signalless intersection vehicles can also be applied to improving collaborative operation efficiency of group robot systems, such as scenes of unmanned parking lots, unmanned wharfs, intelligent unmanned warehouses and the like, and has important application value and potential so as to improve the operation efficiency of the group robot systems.
In an exemplary embodiment, in a cooperative Vehicle-road environment, a Vehicle and a road side device at an intersection are both equipped with a Vehicle-to-internet (V2X) communication device and a computing unit, the Vehicle may send real-time status information to the road side device, and the road side device may perform centralized cooperative driving right allocation and send an allocation result to the Vehicle. At the same time, road side equipment of adjacent intersections can also be set by V2XThe devices send the collected traffic information to each other. According to the method for self-adaptive collaborative driving of signalless intersection vehicles, as shown in fig. 3, the queuing length of vehicles in the observation area of each lane (i.e. the number of vehicles queued on each lane) can be obtained by the road side equipment of the current intersection through statistics of related sensing equipment; the traffic information of each lane can be measured and obtained by the road side equipment of the adjacent intersection and is sent to the road side equipment of the current intersection through the V2X communication equipment; the computing unit in the road side equipment of the current intersection computes the priority Pr of each lane according to the perceived information according to the steps 200 and 201 i . According to the priority Pr of each lane i Solving the traffic sequence of the vehicles in the control area, such as: in the road right distribution process, the road side equipment of the current intersection is prioritized with priority Pr i Vehicles on larger lanes pass through the intersection. In one embodiment, the communication order may be used for subsequent time allocation and trajectory planning. In one embodiment, the above steps may be driven by time, such as setting a timer to solve once every δ seconds, where δ is related to perceived speed of the roadside device and communication evaluation frequency.
According to the self-adaptive collaborative driving method for the vehicles without the signalized intersections, on one hand, the traffic information with a wider range is integrated into the collaborative driving process of the vehicles automatically driven by the intersections on the spatial scale, and meanwhile, the efficiency of an intersection system and the efficiency of the whole road network traffic system are improved; on the other hand, the intersection control system considers not only the current traffic state information but also the future traffic state information of the intersection system on the time scale, thereby avoiding the intersection system from being jammed, and maintaining the stability and continuity of the operation performance of the traffic system. That is, the self-adaptive collaborative driving method for vehicles without signalized intersections provided by the embodiment of the application makes substantial improvements and improvements on spatial scale and time scale in the collaborative driving method for intersections, so that the traffic efficiency of a single intersection system is improved, and the traffic efficiency of the whole road network traffic system is improved.
The application also provides a computer readable storage medium storing computer executable instructions for performing the signalless intersection vehicle adaptive collaborative driving method of any one of the claims.
The application further provides a device for realizing adaptive co-driving of vehicles without signalized intersections, which comprises a memory and a processor, wherein the memory stores the following instructions executable by the processor: a step for performing the method of achieving signalless intersection vehicle adaptive co-driving of any of the above.
Fig. 4 is a schematic structural diagram of adaptive cooperative driving of a signalless intersection vehicle according to an embodiment of the present application, as shown in fig. 4, including: the device comprises a first acquisition module, a second acquisition module, a calculation module and a processing module; wherein,
the first acquisition module is used for determining the space domain priority of the lane according to the number of vehicles in a preset observation area of the intersection;
the second acquisition module is used for determining the time domain priority of the lane according to the traffic on the lane of the intersection;
the calculation module is used for acquiring the priority of the lane according to the determined spatial domain priority and the time domain priority;
and the processing module is used for determining the lane with the road right according to the priority of the lane so that the vehicle of the lane passes through the intersection.
In an exemplary embodiment, the first obtaining module may specifically be configured to:
among the lanes within the observation area, the lane with the largest number of vehicles on the lane has the highest spatial-domain priority, and the more vehicles on the lane have the higher spatial-domain priority. In this way, vehicles on lanes with more vehicles can pass through the intersection faster in the space range, and the vehicles on the corresponding lanes can be effectively prevented from being queued for a long time outside the control area.
In an exemplary embodiment, the second obtaining module may specifically be configured to:
among the lanes of the intersection, the lane with the highest traffic on the lane has the highest time domain priority, and the lane with the higher traffic on the lane has the higher time domain priority. In this way, vehicles on the lane with larger traffic flow can pass through the intersection faster in the time range, the road right is reserved in advance for the traffic flow of the lane which arrives later, and the vehicles are prevented from queuing outside the control area for a long time.
According to the self-adaptive co-driving device for the signalless intersection vehicles, the priority of each lane is determined in a self-adaptive manner according to the queuing length and the traffic flow conditions of the lanes of each direction of the intersection, the performance of a single intersection is improved in the space dimension and the time dimension, and the fairness and the efficiency of vehicle travel are improved, so that the efficiency of the whole road network traffic system is improved.
The embodiment of the application also provides road side equipment, which comprises the signal-free intersection vehicle self-adaptive cooperative driving device.
Although the embodiments disclosed in the present application are described above, the embodiments are only used for facilitating understanding of the present application, and are not intended to limit the present application. Any person skilled in the art to which this application pertains will be able to make any modifications and variations in form and detail of implementation without departing from the spirit and scope of the disclosure, but the scope of the application is still subject to the scope of the claims appended hereto.
Claims (10)
1. A signalless intersection vehicle adaptive co-driving method, comprising:
determining the space domain priority of the lanes according to the number of vehicles in a preset observing area of the intersection, and determining the time domain priority of the lanes according to the traffic on the lanes of the intersection;
acquiring the priority of the lane according to the determined spatial domain priority and time domain priority;
and determining the lane with the acquired road right according to the priority of the lane, and enabling the vehicle of the lane to pass through the intersection.
2. The signalless intersection vehicle adaptive collaborative driving method according to claim 1, wherein the preset observation area is greater than a control area of the intersection.
3. The signalless intersection vehicle adaptive collaborative driving method according to claim 1, wherein the priority Pr of the lane is obtained according to the following equation i ：
Pr i ＝w pr *Pr i space +(1-w pr )*Pr i time ；
wherein ,wPr As the weight coefficient, pr i space Representing the spatial domain priority, pr i time Representing the time domain priority.
4. A signalless intersection vehicle adaptive co-driving method according to claim 1 or 3, wherein the spatial domain priority Pr of the lane is determined according to the following equation i space ：
wherein ,
representing the number of vehicles on lane i in said preset viewing area, < >>
And representing the number of vehicles on the lane with the largest number of vehicles in the lanes in the preset observing area.
5. A signalless intersection vehicle adaptive collaborative driving method according to claim 1 or 3, wherein a time domain priority Pr of the lane is determined according to i time ：
wherein ,fi Indicating the flow rate, max, in lane i of said intersection j f j And the flow rate on the lane with the largest flow rate in the lanes of the intersection is represented.
6. The signalless intersection vehicle adaptive collaborative driving method according to claim 1, wherein the determining a lane that obtains road rights based on the priority of the lane causes the vehicle of the lane to pass through the intersection includes:
and sequencing the obtained priority of the lanes, wherein the vehicles on the lanes with the highest priority obtain the road right and pass through the intersection first, then the vehicles on the lanes with the priority of the lanes pass through the intersection, and so on.
7. A computer-readable storage medium storing computer-executable instructions for performing the signalless intersection vehicle adaptive collaborative driving method of any one of claims 1-6.
8. An apparatus for achieving adaptive co-driving of signalless vehicles, comprising a memory and a processor, wherein the memory stores instructions executable by the processor to: a step for performing the method of achieving signalless intersection vehicle adaptive co-driving of any one of claims 1 to 6.
9. A signalless intersection vehicle adaptive ride-through device, comprising: the device comprises a first acquisition module, a second acquisition module, a calculation module and a processing module; wherein,
the first acquisition module is used for determining the space domain priority of the lane according to the number of vehicles in a preset observation area of the intersection;
the second acquisition module is used for determining the time domain priority of the lane according to the traffic on the lane of the intersection;
the calculation module is used for acquiring the priority of the lane according to the determined spatial domain priority and the time domain priority;
and the processing module is used for determining the lane with the road right according to the priority of the lane so that the vehicle of the lane passes through the intersection.
10. A roadside apparatus comprising the signalless intersection vehicle adaptive co-operating means of claim 9.
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