CN112735152A - Multi-agent cooperative internet vehicle intersection mixed traffic control system and method - Google Patents
Multi-agent cooperative internet vehicle intersection mixed traffic control system and method Download PDFInfo
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- CN112735152A CN112735152A CN202110016260.8A CN202110016260A CN112735152A CN 112735152 A CN112735152 A CN 112735152A CN 202110016260 A CN202110016260 A CN 202110016260A CN 112735152 A CN112735152 A CN 112735152A
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/07—Controlling traffic signals
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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
- G08G1/0133—Traffic data processing for classifying traffic situation
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/07—Controlling traffic signals
- G08G1/08—Controlling traffic signals according to detected number or speed of vehicles
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/09—Arrangements for giving variable traffic instructions
- G08G1/095—Traffic lights
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/09—Arrangements for giving variable traffic instructions
- G08G1/0962—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages
- G08G1/0968—Systems involving transmission of navigation instructions to the vehicle
- G08G1/096805—Systems involving transmission of navigation instructions to the vehicle where the transmitted instructions are used to compute a route
- G08G1/096811—Systems involving transmission of navigation instructions to the vehicle where the transmitted instructions are used to compute a route where the route is computed offboard
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Abstract
The multi-agent cooperative internet vehicle intersection mixed traffic control system comprises a virtual traffic light dispatching server, a virtual traffic light jam mediating client and a high-precision electronic map. The virtual traffic light scheduling server is used for planning a driving route of a field automobile in a crossing area passing through the intersection; and if the automobile in the intersection crossing area has a drivable path in the intersection crossing area, guiding the automobile in the intersection crossing area to drive out according to the drivable path. The virtual traffic light blockage mediation client side is divided into a network connection client side and an artificial client side; the Internet connection vehicle client is installed on an Internet connection vehicle plug-in, after receiving the instruction of the virtual traffic light dispatching server, the Internet connection vehicle checks whether danger exists, and if not, execution is carried out; the manual client is a map plug-in unit downloaded to the virtual traffic light jam mediation client of the mobile phone, and the car owner runs according to the instruction under the safe condition after receiving the instruction of the virtual traffic light dispatching server. The high-precision map is used for providing navigation information at a lane level, and POI point information.
Description
Technical Field
The invention relates to the technical field of multi-agent cooperation, vehicle networking, intelligent internet vehicle connection, traffic signal control, intersection congestion reduction and environment protection, in particular to a multi-agent cooperation internet vehicle intersection mixed traffic control system and method.
Background
The traffic jam is caused by long-time traffic jam due to the fact that a road is narrow or too many vehicles are jammed, and the vehicles cannot pass smoothly. Traffic congestion has become a common problem in modern society, particularly developing countries, and the working efficiency and social development of people are seriously influenced. And a traffic jam culture and the attention and research of people are also extended from traffic jam. Many times, traffic congestion is caused by vehicles not passing by each other. Originally only two cars do not let each other, along with the car is more and more, finally the root fault knot brews big traffic congestion. The traffic regulation stipulates that the turning motor vehicles lead straight vehicles and the right-turning motor vehicles running in the opposite direction lead left-turning vehicles, but the practical situation is difficult to summarize. The yielding rule is set for traffic dispersion. Due to the variable traffic conditions, the yielding rules are also infinite. If the user only needs to pay great attention during driving, the user does not blindly see the contact pins, but the user can not pass through the intersection for a long time.
In 2015, the lemna hirsuta et al explores the critical occupancy of floating cars capable of accurately predicting road traffic flow parameters under different road environments, and draw a conclusion that the road traffic flow parameters can be accurately predicted when the occupancy of the floating cars reaches 0.03 in a crowded state, and the accurate prediction of the traffic state parameters in a free flow state can be realized when the occupancy of the floating cars reaches 0.3.
In some developed countries, the density of automobiles is far higher than that of the cities in China, and the traffic order or flow is better than that of the cities in China. One concept holds that in developed countries, in addition to better transportation facilities, the driver's quality plays the same key role. If everyone can master better driving technique, the vehicle has more qualified psychological quality, and the traffic can be better and better. This is a misunderstanding, and the main reason is that Chinese drivers do not know each other and do not trust the rule of giving way. At present, the downloading time of the APP is reduced to be ignored by the speed of the 5G network, and the APP can be used immediately after being downloaded, so that a foundation is provided for Chinese drivers to quickly know the yielding rule.
Therefore, there is a need for an intelligent passing rule that allows car owners at the road junctions with traffic lights to know each other and believe the passing rule to allow the car owners to pass faster when the traffic jam of the road junctions without traffic lights is knotted.
The intelligent internet vehicle is an intelligent vehicle under the internet environment, is called the internet vehicle for short, integrates and combines a sensor sensing technology, a sensor fusion algorithm, a V2X technology and a traffic optimization algorithm, and can realize information transmission among pedestrians, non-motor vehicles, traffic lights and the intelligent internet vehicle at an intersection; through information interaction and decision making, the safety problem that the intelligent network connection automobile passes through the intersection and pedestrians and non-motor vehicles pass through the intersection is solved, the change of traffic lights can be optimized and controlled according to the detected real-time traffic flow of the intersection, and the intersection congestion is reduced. The internet of vehicles is the main direction of future vehicle development, and 12 months and 27 days in 2018, the Ministry of industry and correspondence proposes 'development action plan of internet of vehicles (intelligent internet of vehicles) industry', and aims to promote the development of the intelligent internet of vehicles and enable the application of the intelligent internet of vehicles to be industrialized. In the stage of transition from non-network connected vehicles to network connected vehicles, the problem of mixed operation of network connected vehicles and non-network connected vehicles inevitably exists.
Therefore, a method for solving the problem of congestion regulation in a mixed running state of the intelligent internet vehicle and the non-internet vehicle is needed at present.
The networked vehicle is referred to as the vehicle driving automation classification, the L2 level driving automation, and the driving automation system continuously executes the vehicle transverse and longitudinal motion control in the dynamic driving task within the designed operating condition and has the capability of detecting and responding partial targets and events corresponding to the executed vehicle transverse and longitudinal motion control. The operation of acceleration and deceleration and steering can be automatically performed at the same time, which means that the adaptive cruise function and the lane keeping assist system can be simultaneously operated.
In 1997, Almut verified that the adaptive cruise system had a significant effect on alleviating traffic congestion, as evidenced by a significant reduction in congestion duration. In 2006, Schonoho analyzes the adaptive cruise system in the expressway environment, and research results show that when the occupancy of the vehicle loaded with the adaptive cruise system in the expressway road system reaches 10%, the probability of congestion can be reduced to 40%.
The score value of road traffic safety illegal behavior stipulates that: the motor vehicle can not back up at a railway crossing, an intersection, a one-way road, a bridge, a sharp bend, a steep slope or a tunnel. If backing up is violated, an alarm can be given or a fine with more than twenty yuan and less than two hundred yuan can be processed. When the crossing is blocked and knotted, the user needs to retreat to give a gift out of the channel and needs to hit 122 to request traffic police guidance.
The road traffic signal lamp setting and installation standard stipulates a traffic light setting method, and traffic signal control is determined by two parts: determining a phase; determining signal control parameters. The phase is the right of a group of traffic flows, and is colloquially called a green light. The signal control parameters mainly comprise cycle duration, green signal ratio, time difference and the like.
The China automobile three-packet network under the national quality control administration can download the automobile type information of domestic vehicles to obtain the external dimensions of the vehicles.
Disclosure of Invention
The embodiment of the invention provides a multi-agent cooperative internet vehicle intersection mixed traffic control system and method to solve the problem of intersection congestion.
One of the purposes of the invention is to provide a method for solving the problem of jam mediation of an intelligent internet vehicle and a non-internet vehicle in a mixed running state.
One of the objectives of the present invention is to provide an intelligent passing rule, which allows the owners in the field to know each other and believe the passing rule to make the owners pass faster when there is no traffic light or traffic light but traffic jam at the intersection.
One of the purposes of the invention is that the traditional traffic control adopts a fixed time gap control method, which can cause relatively low efficiency, the invention can replace physical traffic lights when necessary, and provides a multi-agent cooperation method to realize intelligent control of traffic flow, thereby better controlling the time slot of the green lights and reducing traffic pollution, accidents and energy consumption.
The invention achieves the above object through the following technical scheme.
The multi-agent cooperative internet vehicle intersection mixed traffic control system is characterized by comprising a virtual traffic light dispatching server, a virtual traffic light jam mediation client and a high-precision electronic map.
The virtual traffic light dispatching server is used for receiving vehicle positioning information, destination routes, vehicle type information, license plate information and guide times of noncompliance with congestion sent by the virtual traffic light congestion mediation client; the vehicle exterior size inquiry device is used for inquiring the exterior size of the vehicle according to the vehicle type information; the system is used for downloading the external dimension of the vehicle and performing coordinate system replacement on the position of the virtual traffic light blockage mediation client; the system comprises a vehicle-networking client, a vehicle-networking server and a vehicle-networking server, wherein the vehicle-networking client is used for receiving a field image sent by the vehicle-networking client, identifying a license plate in the field image and pairing the license plate according to positioning information; the system is used for marking a virtual stop line and an intersection crossing area by an artificial intelligent image processing algorithm, planning a driving route of a field automobile passing through the intersection crossing area, and reminding an automobile owner to dial 122 to request traffic police guidance by a virtual traffic light blockage mediation client if the automobile is completely blocked and knotted; if the automobile in the intersection crossing area has a drivable path in the intersection crossing area, guiding the automobile in the intersection crossing area to drive out according to the drivable path; after clearing intersection crossing areas, adding virtual traffic lights on a high-precision electronic map of a virtual traffic light blockage mediation client, and controlling and guiding traffic flow by using traffic signals of the virtual traffic lights according to road traffic conditions by using a fuzzy control algorithm; for guiding the vehicle through the intersection crossing area by a following algorithm; the virtual traffic light scheduling server comprises virtual traffic lights, and the virtual traffic lights are displayed on a high-precision electronic map of the virtual traffic light congestion mediation client.
The virtual traffic light blockage mediation client side is connected with the vehicle client side and the manual client side in a network-dividing mode; the Internet connection vehicle client is a virtual traffic light jam mediation client plug-in unit of an automatic driving assistance system of the Internet connection vehicle arranged above L2, the Internet connection vehicle checks whether danger exists after receiving an instruction of a virtual traffic light dispatching server, and if the danger does not exist, the Internet connection vehicle executes the operation; the manual client is a map plug-in unit which is downloaded by a vehicle owner of a common vehicle to a virtual traffic light jam mediation client or a virtual traffic light jam mediation client of a mobile phone or an intelligent automobile data recorder, and the vehicle owner runs according to an instruction under a safe condition after receiving the instruction of the virtual traffic light dispatching server; the intelligent automobile data recorder can watch recorded images on the mobile phone and share the images to the virtual traffic light jam mediation client.
The high-precision map is used for providing lane-level navigation information and POI point information; the POI point information is used for checking the vehicle position by an owner of the vehicle at the manual client.
The POI point information is described by a central point and a plurality of outer envelope points, namely a traffic sign board, a ground sign, a lamp post, a traffic light and a toll station; curbs, guardrails, tunnels, gantries and bridges described by chain information consisting of a series of continuous points.
3. The use method of the multi-agent cooperative internet vehicle intersection mixed traffic control system comprises the following steps.
A. Downloading a manual client by a mobile phone of an owner of a common automobile, inputting a license plate automobile type, purchasing a vehicle-mounted mobile phone support, determining the placement position of the mobile phone, clicking the placement position of the mobile phone in the automobile on the manual client, and replacing a mobile phone coordinate system with an Apollo own automobile coordinate system; the car owner of the internet connected car downloads the internet connected car client, and the automatic driving auxiliary system of the internet connected car adds the virtual traffic light function.
B. At the intersection A without the traffic lights, the vehicles are blocked mutually, and the vehicle with the internet also has a common vehicle; in order to leave more quickly, a vehicle owner of a common vehicle opens a manual client from a navigation map by voice to request jam guidance; the main Internet vehicle owner starts the Internet vehicle client by voice to request blocking guidance.
C. The virtual traffic light jam mediation client calls a high-precision map display lane and sends positioning information, a route to a destination, vehicle type information, license plate information and guide times of non-obedience jam of a vehicle to the virtual traffic light scheduling server; the method comprises the steps that an internet connection client of the internet connection vehicle sends a scene image; the virtual traffic light dispatching server identifies license plates in the on-site images and matches the license plates according to the positioning information, displays license plate numbers of vehicles at corresponding positions of the high-precision map, clicks after the vehicle owners check to confirm the right and wrong, receives the wrong again, and requests the vehicle owners of the non-vehicle-mounted unit motor vehicles to download the virtual traffic light jam mediation client so as to solve the jam problem fairly and quickly.
D. The virtual traffic light dispatching server inquires whether to accept the jam guidance from a virtual traffic light jam mediation client in the area of the intersection A, displays motor vehicles of the accepted vehicle-mounted unit, the unaccepted vehicle-mounted unit and the unaccepted vehicle-mounted unit in different colors on a map interface in real time, and lists the percentage of the three vehicle-mounted units, the possibility of not complying with the jam guidance and the time saved by accepting the jam guidance by using numbers; when the occupation ratio of the on-site automobile exceeds a preset value, the vehicle-mounted unit receiving the congestion guidance announces that the congestion guidance is started by the virtual traffic light dispatching server; the non-compliance congestion guide possibility is calculated by the proportion of the non-compliance congestion guide times of all the virtual traffic light congestion mediation clients on site.
E. The virtual traffic light dispatching server marks a virtual stop line and an intersection crossing area by using an artificial intelligent image processing algorithm, plans a lane-level driving route of a field automobile passing through the intersection crossing area, and asks an automobile owner to dial 122 to request traffic police guidance if the field automobile is completely blocked and knotted; and if the vehicles in the intersection crossing area have the drivable path in the intersection crossing area, guiding the vehicles in the intersection crossing area to drive out according to the drivable path, and emptying the intersection crossing area.
F. Displaying a virtual traffic light in an intersection crossing area on a virtual traffic light blockage mediation client, guiding the internet connected vehicle to use a full-speed self-adaptive cruise system, and guiding a vehicle owner of a common vehicle to pass through the intersection crossing area according to the virtual traffic light by using a following algorithm; and the virtual traffic light dispatching server adjusts the state of the virtual traffic light by using a fuzzy control algorithm according to the road passing condition.
G. And E, judging whether the intersection area is blocked or not by the virtual traffic light scheduling server according to the vehicle positioning information and the field image, recording that the vehicle owner does not obey the blocking guide once if the vehicle owner violates the virtual traffic light indication to cause secondary blocking, and repeating the step E.
H. And when the occupation ratio of the vehicle-mounted unit receiving the congestion guidance is less than the cancellation threshold value in the intersection crossing area, the virtual traffic light dispatching server cancels the congestion guidance.
4. The other using method of the multi-agent cooperative internet vehicle intersection mixed traffic control system comprises the following steps.
A. Vehicles at the intersection are blocked, and in order to leave more quickly, the vehicle owner of the existing virtual traffic light jam mediation client requests other vehicle owners to download and install the virtual traffic light jam mediation client and upload vehicle type and license plate information.
B. The virtual traffic light dispatching server draws a vehicle layout according to the on-site image, the positioning information and the vehicle exterior size uploaded by the virtual traffic light jam mediation client, and corrects an error part after a vehicle owner of the virtual traffic light jam mediation client checks and finds an error.
C. The virtual traffic light dispatching server is used for numbering vehicles according to the starting road of the vehicles, the vehicles are respectively replaced by ABCDs in the south, the east and the north, and the vehicles at the forefront of the road are numbered in sequence as 1.
AB1 at the foremost from east to south, AC1 at the foremost from east to west, and AD1 at east to north;
the foremost part from north to east is DA1, the foremost part from north to south is DB1, and the foremost part from north to west is DC 1;
from the west to the north, the foremost is CD1, from the west to the east, is CA1, and from the west to the south, is CB 1;
the foremost from south to east is BA1, the foremost from south to north is BD1, and the foremost from south to west is BC 1.
D. The virtual traffic light dispatching server plans a driving lane of the vehicle according to the vehicle layout chart, finds that a lane of a driving crossing area exists in CA1, instructs CA1 to drive the crossing area along the planned lane, and instructs CA2-8 to start following synchronously; after vehicles in the crossing area from west to east are emptied, the AB1 is found to have a lane running out of the crossing area, the vehicles running out of the crossing area from east to south are instructed to run out of the crossing area through AB1, and AB2-4 is instructed to synchronously start following; after the intersection crossing area is emptied by the vehicles from east to south, the DA1 is found to have a lane for driving out of the intersection crossing area, and the vehicles from north to east are instructed to drive out of the intersection crossing area.
E. And after clearing each train in the intersection crossing area, replanning the driving lane of the train according to the updated vehicle layout diagram, searching the lane with the intersection crossing area, and instructing the vehicle in which the lane is located to drive the intersection crossing area until the intersection crossing area is completely cleared, wherein the vehicle is required to drive according to the virtual traffic light.
F. And when the occupation ratio of the vehicle-mounted unit receiving the congestion guidance is less than the cancellation threshold value in the intersection crossing area, the virtual traffic light dispatching server cancels the congestion guidance.
The method has the beneficial effects that: the traditional traffic control method adopts a fixed time gap control method, so that the efficiency is relatively low, and the invention can replace physical traffic lights when necessary and utilize the intelligent calculation, thereby better controlling the time slot of the green lights and reducing traffic pollution, accidents and energy consumption.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to these drawings without inventive exercise.
FIG. 1: a multi-agent cooperative internet vehicle intersection mixed traffic control system.
FIG. 2 a: a use method of a multi-agent cooperative internet vehicle intersection mixed traffic control system; wherein, fig. 2 a: the use schematic diagram of the multi-agent cooperative internet vehicle intersection mixed traffic control system; FIG. 2 b: the method comprises the use steps of a multi-agent cooperative internet vehicle intersection mixed traffic control system.
FIG. 3 a: another use method of the multi-agent cooperative internet vehicle intersection mixed traffic control system; wherein, fig. 3 a: the method comprises the following steps that a multi-agent cooperative internet vehicle intersection mixed traffic control system uses a live-action map; FIG. 3 b: and another use step of the multi-agent cooperative internet vehicle intersection mixed traffic control system.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Embodiment 1 multi-agent cooperative internet vehicle intersection mixed traffic control system.
As shown in fig. 1, the internet vehicle intersection mixed traffic control system with multi-agent cooperation in the embodiment of the invention comprises a virtual traffic light scheduling server, a virtual traffic light congestion adjusting client and a high-precision electronic map.
The virtual traffic light dispatching server is used for receiving vehicle positioning information, destination route, vehicle type information and license plate information sent by the virtual traffic light jam mediation client, and does not comply with jam guide times; the vehicle exterior size inquiry device is used for inquiring the exterior size of the vehicle according to the vehicle type information; the system is used for downloading the external dimension of the vehicle and performing coordinate system replacement on the position of the virtual traffic light blockage mediation client; the system comprises a vehicle-networking client, a vehicle-networking server and a vehicle-networking server, wherein the vehicle-networking client is used for receiving a field image sent by the vehicle-networking client, identifying a license plate in the field image and pairing the license plate according to positioning information; the system is used for marking a virtual stop line and an intersection crossing area by an artificial intelligent image processing algorithm, planning a driving route of a field automobile passing through the intersection crossing area, and reminding an automobile owner to dial 122 to request traffic police guidance by a virtual traffic light blockage mediation client if the automobile is completely blocked and knotted; if the automobile in the intersection crossing area has a drivable path in the intersection crossing area, guiding the automobile in the intersection crossing area to drive out according to the drivable path; after clearing intersection crossing areas, adding virtual traffic lights on a high-precision electronic map of a virtual traffic light blockage mediation client, and controlling and guiding traffic flow by using traffic signals of the virtual traffic lights according to road traffic conditions by using a fuzzy control algorithm; for guiding the vehicle through the intersection crossing area by a following algorithm; the virtual traffic light scheduling server comprises virtual traffic lights, and the virtual traffic lights are displayed on a high-precision electronic map of the virtual traffic light congestion mediation client.
The virtual traffic light blockage mediation client side is connected with the vehicle client side and the manual client side in a network-dividing mode; the Internet connection vehicle client is a virtual traffic light jam mediation client plug-in unit of an automatic driving assistance system of the Internet connection vehicle arranged above L2, the Internet connection vehicle checks whether danger exists after receiving an instruction of a virtual traffic light dispatching server, and if the danger does not exist, the Internet connection vehicle executes the operation; the manual client is a map plug-in unit which is downloaded by a vehicle owner of a common vehicle to a virtual traffic light jam mediation client or a virtual traffic light jam mediation client of a mobile phone or an intelligent automobile data recorder, and the vehicle owner runs according to an instruction under a safe condition after receiving the instruction of the virtual traffic light dispatching server; the intelligent automobile data recorder can watch recorded images on the mobile phone and share the images to the virtual traffic light jam mediation client.
The high-precision map is used for providing lane-level navigation information and POI point information; the POI point information is used for checking the vehicle position by an owner of the vehicle at the manual client.
The multi-agent cooperative internet vehicle intersection mixed traffic control system is characterized in that the POI point information is a traffic sign board, a ground sign, a lamp post, a traffic light and a toll station which are described by a central point and a plurality of outer envelope points; curbs, guardrails, tunnels, gantries and bridges described by chain information consisting of a series of continuous points.
Embodiment 2 is a use method of a multi-agent cooperative internet vehicle intersection mixed traffic control system.
As shown in fig. 2a of fig. 2, in the embodiment of the present invention, a schematic diagram of a use of a mixed traffic control system at an intersection of a networked vehicle with multi-agent cooperation is shown, where white represents a vehicle-mounted unit receiving congestion guidance, gray represents a vehicle-mounted unit not receiving congestion guidance, and black represents an off-vehicle unit vehicle, and a vehicle in the intersection is white, because a vehicle owner is more urgent to solve congestion, the vehicle owner completely receives the congestion guidance, and a vehicle owner on the rear or side is ready to receive congestion guidance, and the off-vehicle unit vehicle owner can download the off-vehicle unit vehicle by using a 5G mobile phone only for several seconds, and can also use a virtual traffic light to block and mediate a client.
As shown in fig. 2b of fig. 2, the usage steps of the multi-agent cooperative internet protocol vehicle intersection mixed traffic control system according to the embodiment of the present invention are as follows.
A. Downloading a manual client by a mobile phone of an owner of a common automobile, inputting a license plate automobile type, purchasing a vehicle-mounted mobile phone support, determining the placement position of the mobile phone, clicking the placement position of the mobile phone in the automobile on the manual client, and replacing a mobile phone coordinate system with an Apollo own automobile coordinate system; the car owner of the internet connected car downloads the internet connected car client, and the automatic driving auxiliary system of the internet connected car adds the virtual traffic light function.
B. At the intersection A without the traffic lights, the vehicles are blocked mutually, and the vehicle with the internet also has a common vehicle; in order to leave more quickly, a vehicle owner of a common vehicle opens a manual client from a navigation map by voice to request jam guidance; the main Internet vehicle owner starts the Internet vehicle client by voice to request blocking guidance.
C. The virtual traffic light jam mediation client calls a high-precision map display lane and sends positioning information, a route to a destination, vehicle type information, license plate information and guide times of non-obedience jam of a vehicle to the virtual traffic light scheduling server; the method comprises the steps that an internet connection client of the internet connection vehicle sends a scene image; the virtual traffic light dispatching server identifies license plates in the on-site images and matches the license plates according to the positioning information, displays license plate numbers of vehicles at corresponding positions of the high-precision map, clicks after the vehicle owners check to confirm the right and wrong, receives the wrong again, and requests the vehicle owners of the non-vehicle-mounted unit motor vehicles to download the virtual traffic light jam mediation client so as to solve the jam problem fairly and quickly.
D. The virtual traffic light dispatching server inquires whether to accept the jam guidance from a virtual traffic light jam mediation client in the area of the intersection A, displays motor vehicles of the accepted vehicle-mounted unit, the unaccepted vehicle-mounted unit and the unaccepted vehicle-mounted unit in different colors on a map interface in real time, and lists the percentage of the three vehicle-mounted units, the possibility of not complying with the jam guidance and the time saved by accepting the jam guidance by using numbers; when the occupation ratio of the on-site automobile exceeds a preset value, the vehicle-mounted unit receiving the congestion guidance announces that the congestion guidance is started by the virtual traffic light dispatching server; the non-compliance congestion guide possibility is calculated by the proportion of the non-compliance congestion guide times of all the virtual traffic light congestion mediation clients on site.
E. The virtual traffic light dispatching server marks a virtual stop line and an intersection crossing area by using an artificial intelligent image processing algorithm, plans a lane-level driving route of a field automobile passing through the intersection crossing area, and asks an automobile owner to dial 122 to request traffic police guidance if the field automobile is completely blocked and knotted; and if the vehicles in the intersection crossing area have the drivable path in the intersection crossing area, guiding the vehicles in the intersection crossing area to drive out according to the drivable path, and emptying the intersection crossing area.
F. Displaying a virtual traffic light in an intersection crossing area on a virtual traffic light blockage mediation client, guiding the internet connected vehicle to use a full-speed self-adaptive cruise system, and guiding a vehicle owner of a common vehicle to pass through the intersection crossing area according to the virtual traffic light by using a following algorithm; and the virtual traffic light dispatching server adjusts the state of the virtual traffic light by using a fuzzy control algorithm according to the road passing condition.
G. And E, judging whether the intersection area is blocked or not by the virtual traffic light scheduling server according to the vehicle positioning information and the field image, recording that the vehicle owner does not obey the blocking guide once if the vehicle owner violates the virtual traffic light indication to cause secondary blocking, and repeating the step E.
H. And when the occupation ratio of the vehicle-mounted unit receiving the congestion guidance is less than the cancellation threshold value in the intersection crossing area, the virtual traffic light dispatching server cancels the congestion guidance.
Embodiment 3 another method for using a multi-agent cooperative internet vehicle intersection mixed traffic control system.
As shown in fig. 3a of fig. 3, in the embodiment of the invention, a real-scene diagram of the use of the internet-connected vehicle intersection mixed traffic control system with multi-agent cooperation is shown, it is found that the CA1 has lanes in the intersection area of the driving intersection, and if a knot is blocked and the driving lane cannot be found, the BD4 retreats to give way under the command of a traffic police; after the CA1-9 drives out along the channel, other vehicles drive out along the vacated channel, and after the vehicles in the crossing area are emptied, the vehicles drive according to the traffic lights, so that the blockage can be avoided.
As shown in fig. 3b of fig. 3, another method for using the multi-agent cooperative internet protocol vehicle intersection hybrid traffic control system according to the embodiment of the present invention includes the following steps.
A. Vehicles at the intersection are blocked, and in order to leave more quickly, the vehicle owner of the existing virtual traffic light jam mediation client requests other vehicle owners to download and install the virtual traffic light jam mediation client and upload vehicle type and license plate information.
B. The virtual traffic light dispatching server draws a vehicle layout according to the on-site image, the positioning information and the vehicle exterior size uploaded by the virtual traffic light jam mediation client, and corrects an error part after a vehicle owner of the virtual traffic light jam mediation client checks and finds an error.
C. The virtual traffic light dispatching server is used for numbering vehicles according to the departure road of the vehicles, replacing the vehicles with ABCD respectively in the south, the east and the north, numbering the vehicles in the front of the road with the number of 1, and numbering the vehicles in sequence;
AB1 at the foremost from east to south, AC1 at the foremost from east to west, and AD1 at east to north;
the foremost part from north to east is DA1, the foremost part from north to south is DB1, and the foremost part from north to west is DC 1;
from the west to the north, the foremost is CD1, from the west to the east, is CA1, and from the west to the south, is CB 1;
the foremost from south to east is BA1, the foremost from south to north is BD1, and the foremost from south to west is BC 1.
D. The virtual traffic light dispatching server plans a driving lane of the vehicle according to the vehicle layout chart, finds that a lane of a driving crossing area exists in CA1, instructs CA1 to drive the crossing area along the planned lane, and instructs CA2-9 to start following synchronously; after vehicles in the crossing area from west to east are emptied, the AB1 is found to have a lane running out of the crossing area, the vehicles running out of the crossing area from east to south are instructed to run out of the crossing area through AB1, and AB2-4 is instructed to synchronously start following; after the intersection crossing area is emptied by the vehicles from east to south, the DA1 is found to have a lane for driving out of the intersection crossing area, and the vehicles from north to east are instructed to drive out of the intersection crossing area.
E. And after clearing each train in the intersection crossing area, replanning the driving lane of the train according to the updated vehicle layout diagram, searching the lane with the intersection crossing area, and instructing the vehicle where the lane is located to drive the intersection crossing area until the intersection crossing area is completely cleared, wherein the vehicle is required to drive according to the virtual traffic lights.
F. And when the occupation ratio of the vehicle-mounted unit receiving the congestion guidance is less than the cancellation threshold value in the intersection crossing area, the virtual traffic light dispatching server cancels the congestion guidance.
The principle and the implementation mode of the invention are explained by applying specific embodiments in the invention, and the description of the embodiments is only used for helping to understand the method and the core idea of the invention; meanwhile, for a person skilled in the art, according to the idea of the present invention, there may be variations in the specific embodiments and the application scope, and in summary, the content of the present specification should not be construed as a limitation to the present invention.
Claims (4)
1. The multi-agent cooperative internet vehicle intersection mixed traffic control system is characterized by comprising a virtual traffic light dispatching server, a virtual traffic light jam mediation client and a high-precision electronic map;
the virtual traffic light dispatching server is used for receiving vehicle positioning information, destination routes, vehicle type information, license plate information and guide times of noncompliance with congestion sent by the virtual traffic light congestion mediation client; the vehicle exterior size inquiry device is used for inquiring the exterior size of the vehicle according to the vehicle type information; the system is used for downloading the external dimension of the vehicle and performing coordinate system replacement on the position of the virtual traffic light blockage mediation client; the system comprises a vehicle-networking client, a vehicle-networking server and a vehicle-networking server, wherein the vehicle-networking client is used for receiving a field image sent by the vehicle-networking client, identifying a license plate in the field image and pairing the license plate according to positioning information; the system is used for marking a virtual stop line and an intersection crossing area by an artificial intelligent image processing algorithm, planning a driving route of a field automobile passing through the intersection crossing area, and reminding an automobile owner to dial 122 to request traffic police guidance by a virtual traffic light blockage mediation client if the automobile is completely blocked and knotted; if the automobile in the intersection crossing area has a drivable path in the intersection crossing area, guiding the automobile in the intersection crossing area to drive out according to the drivable path; after clearing intersection crossing areas, adding virtual traffic lights on a high-precision electronic map of a virtual traffic light blockage mediation client, and controlling and guiding traffic flow by using traffic signals of the virtual traffic lights according to road traffic conditions by using a fuzzy control algorithm; for guiding the vehicle through the intersection crossing area by a following algorithm; the virtual traffic light scheduling server comprises virtual traffic lights, and the virtual traffic lights are displayed on a high-precision electronic map of the virtual traffic light congestion mediation client;
the virtual traffic light blockage mediation client side is connected with the vehicle client side and the manual client side in a network-dividing mode; the Internet connection vehicle client is a virtual traffic light jam mediation client plug-in unit of an automatic driving assistance system of the Internet connection vehicle arranged above L2, the Internet connection vehicle checks whether danger exists after receiving an instruction of a virtual traffic light dispatching server, and if the danger does not exist, the Internet connection vehicle executes the operation; the manual client is a map plug-in unit which is downloaded by a vehicle owner of a common vehicle to a virtual traffic light jam mediation client or a virtual traffic light jam mediation client of a mobile phone or an intelligent automobile data recorder, and the vehicle owner runs according to an instruction under a safe condition after receiving the instruction of the virtual traffic light dispatching server; the intelligent automobile data recorder has the functions of watching recorded images on a mobile phone and sharing the images to the virtual traffic light jam mediation client;
the high-precision map is used for providing lane-level navigation information and POI point information; the POI point information is used for checking the vehicle position by an owner of the vehicle at the manual client.
2. The multi-agent collaborative networked car intersection mixed traffic control system according to claim 1, wherein the POI spot information is a traffic sign, a ground sign, a lamp post, a traffic light, and a toll station described by a central point and a plurality of outer envelope points; curbs, guardrails, tunnels, gantries and bridges described by chain information consisting of a series of continuous points.
3. The use method of the multi-agent cooperative internet vehicle intersection mixed traffic control system is characterized by comprising the following steps:
A. downloading a manual client by a mobile phone of an owner of a common automobile, inputting a license plate automobile type, purchasing a vehicle-mounted mobile phone support, determining the placement position of the mobile phone, clicking the placement position of the mobile phone in the automobile on the manual client, and replacing a mobile phone coordinate system with an Apollo own automobile coordinate system; the vehicle owner of the internet vehicle downloads the internet vehicle client, and the automatic driving auxiliary system of the internet vehicle increases the function of the virtual traffic light;
B. at the intersection A without the traffic lights, the vehicles are blocked mutually, and the vehicle with the internet also has a common vehicle; in order to leave more quickly, a vehicle owner of a common vehicle opens a manual client from a navigation map by voice to request jam guidance; the main Internet vehicle owner voice opens the Internet vehicle client to request the blocking guidance;
C. the virtual traffic light jam mediation client calls a high-precision map display lane and sends positioning information, a route to a destination, vehicle type information, license plate information and guide times of non-obedience jam of a vehicle to the virtual traffic light scheduling server; the method comprises the steps that an internet connection client of the internet connection vehicle sends a scene image; the virtual traffic light dispatching server identifies license plates in the live images and matches the license plates according to the positioning information, displays license plate numbers of vehicles at corresponding positions of the high-precision map, clicks to confirm a right error after the vehicle owners check, mistakenly recollects, requests the vehicle owners of the non-vehicle-mounted unit motor vehicles to download virtual traffic light jam mediation clients so as to fairly and quickly solve the jam problem;
D. the virtual traffic light dispatching server inquires whether to accept the jam guidance from a virtual traffic light jam mediation client in the area of the intersection A, displays motor vehicles of the accepted vehicle-mounted unit, the unaccepted vehicle-mounted unit and the unaccepted vehicle-mounted unit in different colors on a map interface in real time, and lists the percentage of the three vehicle-mounted units, the possibility of not complying with the jam guidance and the time saved by accepting the jam guidance by using numbers; when the occupation ratio of the on-site automobile exceeds a preset value, the vehicle-mounted unit receiving the congestion guidance announces that the congestion guidance is started by the virtual traffic light dispatching server; the non-adherence guiding possibility is obtained by weighted calculation of the ratio of the non-adherence guiding times of all the virtual traffic light blocking mediation clients on site;
E. the virtual traffic light dispatching server marks a virtual stop line and an intersection crossing area by using an artificial intelligent image processing algorithm, plans a lane-level driving route of a field automobile passing through the intersection crossing area, and if the field automobile is completely blocked and tied, asks an automobile owner to dial 122 to request traffic police guidance; if the automobile in the intersection crossing area has a drivable route in the intersection crossing area, guiding the automobile in the intersection crossing area to drive out according to the drivable route, and emptying the intersection crossing area;
F. displaying a virtual traffic light in an intersection crossing area on a virtual traffic light blockage mediation client, guiding the internet connected vehicle to use a full-speed self-adaptive cruise system, and guiding a vehicle owner of a common vehicle to pass through the intersection crossing area according to the virtual traffic light by using a following algorithm; the virtual traffic light dispatching server adjusts the state of the virtual traffic light by using a fuzzy control algorithm according to the road passing condition;
G. the virtual traffic light dispatching server judges whether a crossing area is blocked or not according to the vehicle positioning information and the on-site image, if a vehicle owner violates the virtual traffic light indication to cause secondary blocking, the virtual traffic light dispatching server records that the vehicle owner does not obey the blocking guidance once, and the step E is repeated;
H. and when the occupation ratio of the vehicle-mounted unit receiving the congestion guidance is less than the cancellation threshold value in the intersection crossing area, the virtual traffic light dispatching server cancels the congestion guidance.
4. The other using method of the multi-agent cooperative internet vehicle intersection mixed traffic control system is characterized by comprising the following steps of:
A. vehicles at the intersection are blocked, in order to leave more quickly, a vehicle owner of an existing virtual traffic light jam mediation client requests other vehicle owners to download and install the virtual traffic light jam mediation client and upload vehicle type and license plate information;
B. the virtual traffic light dispatching server draws a vehicle layout according to the on-site image, the positioning information and the vehicle exterior size uploaded by the virtual traffic light jam mediation client, and corrects an error part after a vehicle owner of the virtual traffic light jam mediation client checks and finds an error;
C. the virtual traffic light dispatching server is used for numbering vehicles according to the departure road of the vehicles, replacing the vehicles with ABCD respectively in the south, the east and the north, numbering the vehicles in the front of the road with the number of 1, and numbering the vehicles in sequence;
AB1 at the foremost from east to south, AC1 at the foremost from east to west, and AD1 at east to north;
the foremost part from north to east is DA1, the foremost part from north to south is DB1, and the foremost part from north to west is DC 1;
from the west to the north, the foremost is CD1, from the west to the east, is CA1, and from the west to the south, is CB 1;
BA1 is arranged at the forefront of the south-east, BD1 is arranged at the forefront of the south-north, and BC1 is arranged at the southwest;
D. the virtual traffic light dispatching server plans a driving lane of the vehicle according to the vehicle layout chart, finds that a lane of a driving crossing area exists in CA1, instructs CA1 to drive the crossing area along the planned lane, and instructs CA2-8 to start following synchronously; after vehicles in the crossing area from west to east are emptied, the AB1 is found to have a lane running out of the crossing area, the vehicles running out of the crossing area from east to south are instructed to run out of the crossing area through AB1, and AB2-4 is instructed to synchronously start following; after the intersection crossing area is emptied by the vehicles from east to south, the DA1 is found to have a lane for driving out of the intersection crossing area, and the vehicles from north to east are instructed to drive out of the intersection crossing area;
E. after clearing each train in the intersection crossing area, replanning the driving lane of the train according to the updated vehicle layout diagram, searching the lane with the intersection crossing area, and instructing the vehicle where the lane is located to drive the intersection crossing area until the intersection crossing area is completely cleared, and requiring the vehicle to drive according to the virtual traffic lights;
F. and when the occupation ratio of the vehicle-mounted unit receiving the congestion guidance is less than the cancellation threshold value in the intersection crossing area, the virtual traffic light dispatching server cancels the congestion guidance.
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