CN118038682A - Driving guiding method, device, equipment and medium based on digital projection lamp - Google Patents
Driving guiding method, device, equipment and medium based on digital projection lamp Download PDFInfo
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Abstract
The invention relates to the field of intelligent scheduling, and discloses a driving guiding method, device, equipment and medium based on a digital projection lamp, which solve the technical problems of lack of dynamic and flexible display content and single transmission information in traffic indication in the prior art and acquire traffic flow information; inputting the acquired traffic flow information in a preset time range into a tunnel traffic flow state prediction model of a cloud server, performing multi-objective optimization on the condition that the total travel time in a tunnel is shortest and the total collision risk is the same, generating a traffic flow control strategy and issuing the traffic flow control strategy; generating a digital projection lamp control instruction sequence according to the issued traffic flow control strategy; the digital projection lamp projects the guiding mark on the ground according to the control instruction sequence so as to guide the driver to adjust the running state of the vehicle. The invention combines advanced computer model and digital projection lamp application, realizes the individuation function of the traffic indicator lamp, improves the refinement degree of traffic scheduling, and is applied to a traffic scheduling system of multiple road sections.
Description
Technical Field
The invention relates to the field of intelligent scheduling, in particular to a traveling guiding method, device, equipment and medium based on a digital projection lamp.
Background
The digital projection lamp is applied to public facilities and can project various representing marks to provide indication information for people and equipment, while in the traffic control of the prior art, the digital projection lamp is mainly realized by a static traffic warning sign, and the traffic warning sign transmits specific information by using graphic symbols and characters to manage traffic and indicate driving directions so as to ensure the clear road and the driving safety. The traffic warning sign is suitable for roads, urban roads and all special roads, has the property of laws, vehicles and pedestrians have to obey, and the traffic warning sign in the prior art lacks dynamic and flexible display content and has single transmitted information. In addition, in the prior art, the prediction model of the traffic flow is lacked in computer modeling or the prediction precision of the traffic flow model is low, so that the corresponding traffic flow scheduling strategy cannot be refined.
Disclosure of Invention
In view of the above, the application provides a driving guiding method based on a digital projection lamp, which solves the technical problems of lack of dynamic and flexible display content and single transmission information of traffic warning signs in the prior art.
According to a first aspect of the present application, there is provided a traffic guiding method based on a digital projection lamp, comprising:
Acquiring traffic flow information in a preset time range through a sensor;
Inputting the acquired traffic flow information in a preset time range into a tunnel traffic flow state prediction model of a cloud server, performing multi-objective optimization on the condition that the total travel time in a tunnel is shortest and the total collision risk is the same, generating a traffic flow control strategy and issuing the traffic flow control strategy;
Generating a digital projection lamp control instruction sequence according to a traffic flow control strategy issued by the cloud server;
The digital projection lamp projects the guiding mark on the ground according to the control instruction sequence of the digital projection lamp so as to guide a driver to adjust the running state of the vehicle.
According to a second aspect of the present application, there is provided a traffic guiding device based on a digital projection lamp, comprising:
The acquisition module is used for acquiring traffic flow information in a preset time range;
The analysis module is used for inputting the acquired traffic flow information in the preset time range into a tunnel traffic flow state prediction model of the cloud server, performing multi-objective optimization on the condition that the total travel time in the tunnel is shortest and the total collision risk is the same, generating a traffic flow control strategy and issuing the traffic flow control strategy;
the conversion module is used for generating a digital projection lamp control instruction sequence according to the issued traffic flow control strategy;
And the execution module is used for projecting the guide mark on the ground according to the control instruction sequence of the digital projection lamp so as to guide the driver to adjust the running state of the vehicle.
According to a third aspect of the present application, there is provided a computer device comprising a memory, a processor and a computer program stored in the memory and executable on the processor, the processor implementing the steps of the above-described digital projection lamp based traffic guiding method when executing the computer program.
According to a fourth aspect of the present application, there is provided a computer readable storage medium storing a computer program which, when executed by a processor, implements the steps of the above-described digital projection lamp-based traffic guiding method.
By means of the technical scheme, the driving guiding method, the driving guiding device, the driving guiding equipment and the driving guiding medium based on the digital projection lamp acquire the traffic flow information in the preset time range through the sensor; inputting the acquired traffic flow information in a preset time range into a tunnel traffic flow state prediction model of a cloud server, performing multi-objective optimization on the condition that the total travel time in a tunnel is shortest and the total collision risk is the same, generating a traffic flow control strategy and issuing the traffic flow control strategy; generating a digital projection lamp control instruction sequence according to a traffic flow control strategy issued by the cloud server; the digital projection lamp is used for carrying out guide mark projection on the ground according to the control instruction sequence of the digital projection lamp so as to guide a driver to adjust the running state of a vehicle, so that the individuation function of the traffic indication lamp is realized.
The foregoing description is only an overview of the present application, and is intended to provide a better understanding of the technical means of the present application, and is to be construed as being a complete description of the present application, as well as the following detailed description of the present application, in order to provide further understanding of the present application with the aid of the appended claims.
Drawings
The accompanying drawings, which are included to provide a further understanding of the application and are incorporated in and constitute a part of this specification, illustrate embodiments of the application and together with the description serve to explain the application and do not constitute a limitation on the application. In the drawings:
Fig. 1 shows an application scenario schematic diagram of a driving guiding method based on a digital projection lamp provided in an embodiment of the present application;
Fig. 2 is a schematic cross-sectional view of an application scenario of a driving guiding method based on a digital projection lamp according to an embodiment of the present application;
Fig. 3 shows a schematic diagram of cooperative control of a driving guiding method based on a digital projection lamp according to an embodiment of the present application;
fig. 4 is a schematic flow chart of a driving guiding method based on a digital projection lamp according to an embodiment of the present application;
FIG. 5 is a schematic diagram of cell division in a tunnel according to an embodiment of the present application;
Fig. 6 shows a schematic structural diagram of a driving guiding device based on a digital projection lamp according to an embodiment of the present application.
Detailed Description
Hereinafter, a specific embodiment of the present application will be described in detail with reference to the accompanying drawings in combination with examples. It should be noted that, without conflict, the embodiments of the present application and features of the embodiments may be combined with each other.
The driving guiding method based on the digital projection lamp provided by the embodiment of the invention can be applied to the tunnel scene shown in fig. 1 and 2, fig. 1 shows a section view along the driving direction, fig. 2 is a section schematic view along the driving direction, as shown in fig. 1, a plurality of digital projection lamps are arranged above the tunnel along the driving direction, the installation positions of the digital projection lamps are not particularly limited, and fig. 2 shows a plurality of possible positions for installing the digital projection lamps, for example: the position 1 is right above the top of the tunnel, the corresponding projected pattern can be projected onto the road surface below, and for the bidirectional multilane, a corresponding digital projection lamp is arranged right above each lane; position 2 is the tunnel roof side, and the corresponding projected pattern can be projected onto the floor or the tunnel side walls (digital projection lamps, such as mounted on the tunnel roof side can be projected onto the side wall of the side where the tunnel is mounted or onto the opposite side wall). The light projection angle of the digital projection lamp can be adjusted through universal adjustment, the digital projection lamp is used for projecting various images or patterns (such as attention vehicle distance reminding, forward creep reminding, overspeed reminding, forward accident reminding, forward road maintenance reminding, forward road section reminding, rainy day road sliding reminding and the like) on the ground of a tunnel road, the projectable position of the digital projection lamp can be flexibly set, for example, the digital projection lamp can be projected on the ground, projected on a wall on the side surface of the tunnel and the like, and the digital projection lamp is used for guiding and indicating through personalized patterns to convey rich road information to a vehicle driver. Fig. 3 is a network connection topology diagram, and the plurality of digital projection lamps in fig. 1 and 2 can realize collaborative networking control, on one hand, the real-time position information of the vehicle is obtained through a sensor or a camera, on the other hand, communication interaction is carried out between the sensor and a server of a tunnel local chassis and a remote server of a cloud, and the sensor and the camera can be integrated with the digital projection lamps. The sensor can respectively position the vehicle position through ultrasonic ranging, and the camera can position the vehicle position through image recognition. The communication between digital projection lamps may be based on wired or wireless communication, wireless communication may be by using NB ⁃ IoT, zigBee, or by using DSRC (DEDICATED SHORT-Range Communications, a special wireless communication technology, mainly used for information transfer between vehicles and traffic infrastructure) wireless communication networking, the invention is described in detail below by means of specific embodiments.
Embodiment one: as shown in fig. 4, a driving guiding method based on a digital projection lamp according to an embodiment of the present invention includes:
Step 401, acquiring traffic flow information in a preset time range through a sensor;
The sensor can be a camera, a ground induction coil detector, a magnetic induction detector and the like, and the vehicle flow information is acquired through the camera and the sensor. The historical data of the traffic flow, such as traffic flow data of the last month, is needed to be stored, for example, a smaller value, such as 1 hour, can be correspondingly set as a section according to the time range of the traffic flow change in consideration of the traffic flow change in peak time, can be respectively stored in two directions and in lanes in the actual storage process, meanwhile, traffic accidents, types and duration, traffic construction types and duration and the like are needed to be recorded, and in addition, the information of the average speed, acceleration and the like of the vehicles can be calculated in an auxiliary mode according to the traffic flow sampling of 3-5 vehicles to serve as auxiliary information of the traffic flow.
Step 402, inputting the acquired traffic flow information in a preset time range into a tunnel traffic flow state prediction model of a cloud server, performing multi-objective optimization on the condition that the total travel time in a tunnel is shortest and the total collision risk is the same, generating a traffic flow control strategy and issuing the traffic flow control strategy;
Step 403, generating a digital projection lamp control instruction sequence according to a traffic flow control strategy issued by the cloud server;
the road local server (a local server is arranged in a tunnel or a fixed road section, or the road local server and a server host of equipment such as ETC (electronic toll collection) can share hardware resources) and receive a traffic control strategy issued by a cloud server, and can generate and send a control instruction of a digital projection lamp carrying a digital projection lamp identifier according to the traffic control strategy and a digital projection lamp packet (corresponding to cell division in a tunnel traffic state prediction model), for example, JSON data can be generated, a key of the JSON is an IP (Internet protocol) or MAC (media access control) address of the digital projection lamp, a value part is a specific control strategy, and a value can be a suggested speed limit value, an indication mark, a guiding indication mode, switching time and the like.
And 404, the digital projection lamp projects a guide mark on the ground according to the control instruction sequence of the digital projection lamp so as to guide a driver to adjust the running state of the vehicle.
After the digital projection lamps distributed in the tunnel acquire a control instruction sequence in a wireless or wired mode, the digital projection lamps start to control the ground to conduct guiding mark projection so as to guide a driver to adjust the running state of the vehicle, for example, the speed value of the speed limit is projected to the ground, and the front accident or the construction mark can be projected when the traffic accident or the road construction happens in front, for example, different colors, flickering, voice and other prompting modes can be adopted for special traffic accidents, for example, the front congestion of the driver can be reminded by flickering, and the vehicle can run slowly or in a lane change mode.
According to the driving guiding method based on the digital projection lamp, the sensor is used for acquiring the traffic flow information in the preset time range; inputting the acquired traffic flow information in a preset time range into a tunnel traffic flow state prediction model of a cloud server, performing multi-objective optimization on the condition that the total travel time in a tunnel is shortest and the total collision risk is the same, generating a traffic flow control strategy and issuing the traffic flow control strategy; generating a digital projection lamp control instruction sequence according to a traffic flow control strategy issued by the cloud server; the digital projection lamp is used for carrying out guide mark projection on the ground according to the control instruction sequence of the digital projection lamp so as to guide a driver to adjust the running state of a vehicle, realize the personalized function of the traffic indication lamp, realize the refined dispatching of traffic, simultaneously project personalized guide marks on the ground, facilitate viewing and have strong designability in the driving process, and effectively improve the diversity of traffic dispatching modes.
Embodiment two: in order to achieve control of a single digital projection lamp, to avoid blocking the driver's view or unnecessarily wasting the power of the digital projection lamp due to improper projection time or position, the digital projection lamp needs to be controlled locally, for example, to avoid the digital projection lamp projecting directly onto the vehicle body, to reduce the number of projection lamps actually operated when no vehicle or a night vehicle is small, and to separately control the projection lamps, step 404 further includes:
404-1, judging the relative position relation between the vehicle and the digital projection lamp according to the acquired real-time position information of the vehicle;
Step 404-2, adjusting the starting state or the projection angle of the digital projection lamp according to the relative position relation between the vehicle and the digital projection lamp.
Embodiment III: to accommodate driving in low light environments, in heavy fog weather, step 404 further includes:
Step 404-1, judging the relative position between vehicles according to the acquired real-time position information of the vehicles;
Step 404-2, adjusting the indication of the digital projection lamp according to the relative position between the vehicles.
When the relative position between vehicles and the running speed of the vehicles are larger than a preset threshold, a driver is reminded of paying attention to the distance between the vehicles and the speed of the vehicles, and the vehicles can flash to remind, so that the occurrence probability of traffic accidents can be effectively reduced in a low-illumination environment and in a foggy weather.
In addition, the digital projection lamp in front can be lighted to carry out projection indication according to the running speed and track of the vehicle, so that on one hand, the running path of the vehicle in a low-illumination environment and in a large-fog day can be guided, and on the other hand, the electric power can be saved (when the vehicle flow is sparse, the digital projection lamp needs to be lighted to a digital projection lamp with a preset distance in front of the running, and the digital projection lamp behind the running can enter a dormant state after the running for a preset time).
Embodiment four: in order to realize refined traffic scheduling in a way of integrally linking with traffic scheduling, the problem of traffic jam in a tunnel is solved, and an optimized control strategy is realized by introducing a cell transmission model CTM and matching with the division of digital projection lamps, so that a tunnel traffic flow state prediction model needs to be constructed before step 402.
In this embodiment, a cell transfer model (CTM, cell Transmission Model) is introduced, which can better simulate some traffic flow mechanical properties such as shock, queuing, and dissipation. In this embodiment, considering the situation that multiple lanes exist in the tunnel, the tunnel with length L is equally divided into N cells (the number of the digital projection lamps is N-1, N is a positive integer) by using the digital projection lamps as the marks, and the length of each cell is L/N, as shown in fig. 5, which is a schematic diagram of a part of cells in the tunnel, in which the length of one cell is equal to the equidistant length of 3 digital projection lamps, in the figureRepresenting the number of vehicles in road section i at time step k,/>Representing the traffic flow of road segment i-1 to road segment i at time step k. Interval time/>For vehicles at speed/>By the time of the cells, let/>For the t-th interval period, the maximum number of vehicles (cell traffic flow) that cell i can flow into cell i+1 is denoted as the cell i's transmitting capability,/>The maximum number of vehicles (cell traffic flow) that cell i can allow cell i-1 to flow in during the t-th interval is denoted as the acceptability of cell i. The sending capability and the receiving capability of the cell i can be calculated through a traffic flow basic diagram, and the calculation formula is as follows:
Wherein, 、/>Traffic density and speed in cell i in interval t, respectively, the traffic density multiplied by speed is the traffic flow,/>For blocking density,/>For the number of lanes in cell i,/>Is the single-lane traffic capacity,/>Is the wave velocity. Traffic flow transferred in intercellular t period is/>Wherein/>Representing single lane traffic capacity, then/>Representing the maximum traffic capacity of a single lane, wave speed/>The definition in the CTM model is the speed of traffic flow information propagation between two adjacent cells, which reflects the speed of traffic disturbances propagating upstream of the road, in m/s. Wave velocity can affect the propagation of traffic conditions between adjacent cells. For example, at high traffic densities, wave velocities may be slowed down due to the reduced vehicle-to-vehicle spacing, and traffic congestion conditions may be slowed down upstream. The wave speed is not the same as the actual vehicle running speed, but only represents the propagation speed of traffic flow information on the road. The wave speed parameter is regulated to calibrate the tunnel traffic flow state prediction model, so that the simulation result can reflect the actual traffic condition more accurately, the wave speed is an important parameter in the embodiment, the simulation effect of the model can be improved by reasonably setting the wave speed, the propagation condition of traffic flow can be predicted more accurately, and the method is used for researching the propagation of traffic jam.
Based on the description of the CTM model, due to the existing fixed cell length mode (for example, each cell length is L/N, and is a fixed length), the fixed cell length cannot truly simulate and reflect traffic conditions, and in this embodiment, the variability of the congestion point length in the tunnel is considered to perform corresponding optimization, and accordingly, the cell i supplies traffic to the cell i+1I.e. the maximum number of vehicles flowing in (cell traffic flow) is the number of vehicles stored in the length d of the second half of cell i (d is the distance the vehicle travels at free flow speed in a single simulation step), and likewise the traffic demand/>For the number of vehicles remaining receivable in the length d of the first half of cell i, both are limited by the road traffic capacity, the transmitting capacity/>And acceptance/>The traffic flow basic map can be used for calculation, and the optimized calculation formula is as follows:
，
，
Wherein, Is a variable cell length that is an integer multiple of the digital projection lamp spacing, and d is the distance the vehicle travels at free flow velocity within a single simulation step.
Traffic flow transferred in intercellular t periodWherein/>For variable cell length, which is an integer multiple of the distance between digital projection lamps, d is the distance that the vehicle travels at free flow velocity in a single simulation step, the vehicle flow density/> in the cell i at time t+1 can be solved by solving the formula for an LWR model (LIGHTHILL, WHITHAM AND RICHARDS model, LWR model expression satisfying traffic flow conservation law, called LWR traffic flow partial differential equation)Wherein/>For time period,/>For the flow of traffic flowing in by time period cell i in time t/>Traffic flowing out in the t-th time for the time period cell i.
In addition, the embodiment introduces the influence factors of traffic jam in the tunnel caused by road traffic accident, reflects the probability of traffic accident in the tunnel through the vehicle collision risk function,For cell i at/>Within a period of time (i.e./>)The simulation period), the vehicle collision risk function is a speed-related function, and the collision risk function of the tunnel, such as/>, can be obtained through linear regression model training fittingOr (b)Wherein/> For/>The traffic speed in the cell i in each interval period can have various forms, depending on the modeling method, the coefficients 1.82 and 0.058 can change differently due to different training history data, generally model coefficients of different tunnels are different, and the tunnels are in a relatively closed environment, are less influenced by factors such as weather, light and the like, and are mainly related to the traffic speed.
In the embodiment of the invention, the multi-objective optimization of the segmented speed limit control strategy is realized by taking the shortest total travel time and the smallest total collision risk in the tunnel as targets, and the objective function is as follows
，
In this embodiment, the number of cells (according to the number of road segments of the digital projection lamp) and the control period of different speed limit control units can be adjusted according to the optimization result, so as to implement variable speed limit strategy, T and T in the tunnelFor the number of simulation cycles, N is the number of cells,/>For variable cell length,/>For the density of cell i in the t-th simulation cycle,/>For the length of the simulation period,/>For cell i at/>A vehicle collision risk function over a period of time. The objective function is solved by adopting NSGA-II algorithm (), and the shortest total travel time and the smallest total collision risk in the tunnel are considered. The solved speed limiting strategy can realize a speed limiting strategy based on digital projection lamp distance segmentation (cytoclasis), for example: 30 digital projection lamps are arranged on a unidirectional lane in the tunnel, the speed limit indication of the digital projection lamps 1-8 is 10km/h, the speed limit indication of the digital projection lamps 9-15 is 8km/h, the speed limit indication of the digital projection lamps 16-22 is 13km/h, the speed limit indication of the digital projection lamps 23-30 is 18km/h, the optimized tunnel internal traffic strategy is realized, meanwhile, the accident occurrence rate of rear-end collision, collision and the like is reduced, and the speed limit indication in the embodiment can be a rule forced by traffic or a recommended running speed without specific limitation.
In this embodiment, in order to make the proposed speed limit difference between adjacent cells within a reasonable range, the driver is prevented from being misled to operate due to the too fast change of the proposed speed, and the rear-end collision is easy to be caused, so that the given traffic control strategy requires additional conditions to increase the proposed speed limit difference between adjacent cells to be smaller than the preset thresholdFor example/>。
When the traffic speed in the tunnel is changed due to the reasons of climate, traffic control, traffic accident and the like, which belongs to the traffic speed limitation caused by the external reasons, the traffic department can display the speed limit standard at the entrance of the tunnel through broadcasting or an LED screen under the condition that the traffic speed in the free flow state of the cell i is(The traffic flow speeds of different cells i in the tunnel are consistent in the free flow state), and the traffic variation density of the cells i is/>In order to increase the accuracy of model simulation prediction in this embodiment, the throughput under the condition of cell i speed limit is/>Wherein/>，/>Accordingly, traffic flow transferred in the inter-cell t period/>。
Further, as a specific implementation of the method of fig. 4, in an embodiment of the present invention, there is provided a traffic guiding device based on a digital projection lamp, as shown in fig. 6, where the device includes:
An obtaining module 610, configured to obtain traffic flow information within a preset time range;
The analysis module 620 is configured to input the acquired traffic flow information within the preset time range into a tunnel traffic flow state prediction model of the cloud server, perform multi-objective optimization on the condition that the total travel time in the tunnel is shortest and the total collision risk is the same, generate a traffic flow control strategy, and issue the traffic flow control strategy;
the conversion module 630 is configured to generate a digital projection lamp control instruction sequence according to the issued traffic flow control policy;
And the execution module 640 is used for projecting the guiding mark on the ground according to the digital projection lamp control instruction sequence so as to guide the driver to adjust the running state of the vehicle.
The embodiment of the invention provides a computer device, which comprises a memory, a processor and a computer program stored in the memory and capable of running on the processor, wherein the processor executes the computer program to realize the running guiding method based on the digital projection lamp, and the method comprises the following steps:
Acquiring traffic flow information in a preset time range through a sensor;
Inputting the acquired traffic flow information in a preset time range into a tunnel traffic flow state prediction model of a cloud server, performing multi-objective optimization on the condition that the total travel time in a tunnel is shortest and the total collision risk is the same, generating a traffic flow control strategy and issuing the traffic flow control strategy;
Generating a digital projection lamp control instruction sequence according to a traffic flow control strategy issued by the cloud server;
The digital projection lamp projects the guiding mark on the ground according to the control instruction sequence of the digital projection lamp so as to guide a driver to adjust the running state of the vehicle.
In an embodiment of the present invention, there is provided a computer-readable storage medium having stored thereon a computer program which, when executed by a processor, performs the steps of:
Acquiring traffic flow information in a preset time range through a sensor;
Inputting the acquired traffic flow information in a preset time range into a tunnel traffic flow state prediction model of a cloud server, performing multi-objective optimization on the condition that the total travel time in a tunnel is shortest and the total collision risk is the same, generating a traffic flow control strategy and issuing the traffic flow control strategy;
Generating a digital projection lamp control instruction sequence according to a traffic flow control strategy issued by the cloud server;
The digital projection lamp projects the guiding mark on the ground according to the control instruction sequence of the digital projection lamp so as to guide a driver to adjust the running state of the vehicle.
It should be noted that, in the foregoing embodiments, the principle and implementation steps of the embodiments of the present invention are only described by using the tunnel distance, and the actual traffic application scenario is not limited in particular, for example, the technical solution of the present invention may also be applied to a common channel, a bridge, etc., and with respect to functions or steps that can be implemented by a computer readable storage medium or a computer device, reference may be correspondingly made to the foregoing method embodiments, and the description on the server side and the client side will not be described one by one for avoiding repetition.
Those skilled in the art will appreciate that implementing all or part of the above described methods may be accomplished by way of a computer program stored on a non-transitory computer readable storage medium, which when executed, may comprise the steps of the embodiments of the methods described above. Any reference to memory, storage, database, or other medium used in embodiments provided herein may include non-volatile and/or volatile memory. The nonvolatile memory can include Read Only Memory (ROM), programmable ROM (PROM), electrically Programmable ROM (EPROM), electrically Erasable Programmable ROM (EEPROM), or flash memory. Volatile memory can include Random Access Memory (RAM) or external cache memory. By way of illustration and not limitation, RAM is available in a variety of forms such as Static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), double Data Rate SDRAM (DDRSDRAM), enhanced SDRAM (ESDRAM), synchronous link (SYNCHLINK) DRAM (SLDRAM), memory bus (Rambus) direct RAM (RDRAM), direct memory bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM), among others.
It will be apparent to those skilled in the art that, for convenience and brevity of description, only the above-described division of the functional units and modules is illustrated, and in practical application, the above-described functional distribution may be performed by different functional units and modules according to needs, i.e. the internal structure of the apparatus is divided into different functional units or modules to perform all or part of the above-described functions.
The above embodiments are only for illustrating the technical solution of the present invention, and not for limiting the same; although the invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit and scope of the technical solutions of the embodiments of the present invention, and are intended to be included in the scope of the present invention.
Claims (10)
1. A driving guiding method based on a digital projection lamp is characterized by comprising the following steps:
Acquiring traffic flow information in a preset time range through a sensor;
Inputting the traffic flow information in the preset time range into a tunnel traffic flow state prediction model of a cloud server, performing multi-objective optimization on the condition that the total travel time in a tunnel is shortest and the total collision risk is the same, generating a traffic flow control strategy and issuing the traffic flow control strategy;
Generating a digital projection lamp control instruction sequence according to the traffic flow control strategy issued by the cloud server;
and the digital projection lamp projects the guiding mark on the ground according to the control instruction sequence of the digital projection lamp so as to guide a driver to adjust the running state of the vehicle.
2. The method for guiding traffic based on digital projection lamp according to claim 1, wherein the step of inputting traffic information within the preset time range into a tunnel traffic state prediction model of a cloud server, performing multi-objective optimization on the condition of shortest total travel time and total collision risk in a tunnel, and generating and issuing traffic control strategies comprises:
constructing a tunnel traffic flow state prediction model based on a CTM cell transmission model, wherein the tunnel traffic flow state prediction model is as follows:
，
，
，
Wherein, Vehicle outflow rate for the ith cell in the t time step,/>Vehicle inflow rate for the ith cell in the t-th time step,/>For traffic delivered in the intercellular t period,/>、/>Traffic density and speed in cell i in interval t, respectively, the traffic density multiplied by speed is the traffic flow,/>For blocking density,/>For the number of lanes in cell i,/>Is the single-lane traffic capacity,/>For wave speed,/>Is a variable cell length that is an integer multiple of the digital projection lamp spacing, and d is the distance the vehicle travels at free flow velocity within a single simulation step.
3. The traffic guiding method based on the digital projection lamp according to claim 2, wherein the traffic density in the cell i at the time t+1 is obtained by solving a cell state conservation equation for the tunnel traffic state prediction modelWherein/>For time period,/>For the flow of traffic flowing in by time period cell i in time t/>Traffic flowing out in the t-th time is generated for the time period cell i.
4. The traffic guiding method based on the digital projection lamp according to claim 2, wherein the tunnel traffic flow state prediction model further comprises a vehicle collision risk function, the vehicle collision risk function is a speed-related function, and the vehicle collision risk function is obtained by fitting after performing linear regression model training on historical data of traffic accidents in a tunnel.
5. The method for guiding traffic based on digital projection lamp according to claim 1, wherein the traffic history data is input into a tunnel traffic state prediction model, and multi-objective optimization is performed on the condition that total travel time in a tunnel is shortest and total collision risk is included, so as to generate a traffic control strategy:
Inputting the traffic history data into a tunnel traffic state prediction model, and calculating to obtain model parameters;
the multi-objective optimization function is constructed on the condition that the total travel time in the tunnel is shortest and the total collision risk is as follows:
Wherein T and/> For the number of simulation cycles, N is the number of cells,/>For variable cell length,/>For the density of cell i in the t-th simulation cycle,/>For the length of the simulation period,/>For cell iA vehicle collision risk function over a period of time;
And solving the multi-objective optimization function by adopting an NSGA-II algorithm to obtain an optimal traffic flow control strategy.
6. The method of claim 5, wherein the constraint of the multi-objective optimization function further comprises that a proposed speed limit difference between adjacent cells is less than a preset thresholdWherein, the method comprises the steps of, wherein,Is a preset speed difference threshold.
7. The method of claim 1, wherein the step of generating a digital projection lamp control command sequence according to the traffic control strategy comprises:
And generating and transmitting a control instruction of the digital projection lamp carrying the digital projection lamp identification according to the traffic flow control strategy and the digital projection lamp group, wherein the digital projection lamp group corresponds to the cell division in the tunnel traffic flow state prediction model.
8. A traffic guiding device based on a digital projection lamp, comprising:
The acquisition module is used for acquiring traffic flow information in a preset time range;
The analysis module is used for inputting the acquired traffic flow information in the preset time range into a tunnel traffic flow state prediction model of the cloud server, performing multi-objective optimization on the condition that the total travel time in the tunnel is shortest and the total collision risk is the same, generating a traffic flow control strategy and issuing the traffic flow control strategy;
the conversion module is used for generating a digital projection lamp control instruction sequence according to the issued traffic flow control strategy;
And the execution module is used for projecting the guide mark on the ground according to the digital projection lamp control instruction sequence so as to guide a driver to adjust the running state of the vehicle.
9. Computer device comprising a memory, a processor and a computer program stored in the memory and executable on the processor, characterized in that the processor implements the steps of the digital projection lamp based traffic guiding method according to any of claims 1 to 7 when the computer program is executed.
10. A computer-readable storage medium storing a computer program, characterized in that the computer program when executed by a processor implements the steps of the digital projection lamp-based traffic guiding method according to any one of claims 1 to 7.
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