CN114999160A - Vehicle safety confluence control method and system based on vehicle-road cooperative road - Google Patents
Vehicle safety confluence control method and system based on vehicle-road cooperative road Download PDFInfo
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Abstract
The invention relates to the field of vehicle-road cooperation, in particular to a vehicle safety confluence control method and system based on a vehicle-road cooperation road. According to the invention, whether the vehicle can be driven in is judged before the vehicle to be converged drives in, the vehicle speed is scheduled in real time after the vehicle enters the converging branch, and whether the vehicle is accelerated is judged after the vehicle enters the converging road section, so that the safe converging of the vehicle can be realized on the premise of ensuring the traffic safety by supporting the cooperation of the vehicle and the road. The traffic capacity of the road is furthest exerted, the key problem of the road traffic process of safe vehicle confluence is solved, and the vehicle-road cooperation technology is promoted to be practical.
Description
Technical Field
The invention relates to the field of vehicle-road cooperation, in particular to a vehicle safety confluence control method and system based on a vehicle-road cooperation road.
Background
Safe confluence of vehicles is a critical issue in road traffic. When road vehicles merge, vehicles from different branches must be adjusted to form a new driving order in a short time under the condition of limited space, and the driving operation in the process is complex.
When the existing vehicle-road cooperative automatic driving system solves the problem of vehicle confluence, an automatic driving automobile is taken as a core, and the driving behavior in the whole confluence process is mainly determined by the automatic driving automobile. The automatic driving automobile autonomously senses and learns the spatial distribution, the driving speed and the direction of other nearby vehicles through vehicle-mounted detection sensing equipment and communication equipment and vehicle-to-vehicle communication, continuously coordinates with the nearby vehicles, autonomously adjusts the driving action, the advancing direction and the speed of the vehicles and avoids the occurrence of a collision accident. In order to ensure safety, the driving speed often has to be reduced, which causes the traffic capacity of the road to be reduced. The junction of vehicles on the highway is often the point of traffic accident, and when the traffic volume is large, congestion is easy to occur, even under the good road conditions of the expressway.
Therefore, a vehicle safe joining control method and system capable of improving joining efficiency is required.
Disclosure of Invention
The invention aims to overcome the defects in the prior art and provide a vehicle safety confluence control method and system based on a vehicle-road cooperative road.
In order to achieve the above purpose, the invention provides the following technical scheme:
a vehicle safety confluence control method based on a vehicle-road cooperative road comprises the following steps:
s1: before a vehicle to be converged enters a converging branch, judging whether the converging branch is allowed to drive in or not;
s2: after the vehicles to be merged enter the merging branch, the speed of the vehicles to be merged is scheduled;
s3: after the vehicle to be merged enters a merging road section, judging whether the vehicle to be merged accelerates or not;
and the distance between different vehicles to be merged is not less than the preset safety time interval. According to the invention, whether the vehicle can be driven in is judged before the vehicle to be converged drives in, the vehicle speed is scheduled in real time after the vehicle enters the converging branch, and whether the vehicle is accelerated is judged after the vehicle enters the converging road section, so that the safe converging of the vehicle can be realized on the premise of ensuring the traffic safety by supporting the cooperation of the vehicle and the road. The traffic capacity of the road is furthest exerted, the key problem of the road traffic process of safe vehicle confluence is solved, and the vehicle-road cooperation technology is promoted to be practical.
As a preferable embodiment of the present invention, the step S1 includes the steps of:
s11: determining the traffic flow capacity Ch of the confluence road section in the preset cycle time, wherein the operational expression is as follows:
Ch=vh/Kh(lp+Sh)；
wherein lp is a preset vehicle rated length, Sh is a vehicle safety distance corresponding to a preset confluence speed vh, Kh is a redundancy safety coefficient, and Kh is greater than 1;
s12: acquiring the number of vehicles to be merged and the real-time speed of each merging branch in real time;
s13: and checking and judging each vehicle to be converged, and judging whether the vehicle to be converged is allowed to enter the corresponding converging branch or not.
As a preferable embodiment of the present invention, the verifying and judging in step S13 includes the following steps:
s131: calculating the rated driving time of each converging branch, wherein the operation formula is as follows:
ET(i)= Z(i)/ vt(i)；
wherein Z (i) is the length of the ith entry branch; vt (i) is the real-time speed of the last vehicle to be converged on the converging branch;
s132: acquiring the number C (j) of vehicles which need to pass through a converging branch j and pass through a converging point in ET (i) time from the current moment, wherein j is more than or equal to 1 and less than or equal to N, and N is the number of converging branches;
s133: judging whether the following formula is satisfied:
if so, allowing the vehicles to be merged to enter the corresponding merging branch;
if the vehicle to be merged does not work, the vehicle to be merged is not allowed to enter the corresponding merging branch, and the vehicle needs to be scheduled to the rest of paths for running.
As a preferable embodiment of the present invention, the step S2 includes the steps of:
s21: acquiring vehicle data of each vehicle to be confluent and vehicle data of vehicles which are closest to a confluent point and complete confluent;
the vehicle data comprises the vehicle length l (x) of the vehicle to be confluent, the distance h (x) between the vehicle head and the confluent point and the real-time vehicle speed v (x), wherein x is more than or equal to 0 and less than or equal to M, M is the total number of all vehicles with the vehicle head on the confluent branch, and x =0 is the vehicle data of the vehicle completing the confluent flow;
s22: calculating the time distance t (x) between each vehicle to be merged and the merging point, wherein the operation formula is as follows;
s23: sequencing the vehicles to be merged from small to large according to the numerical value of the time distance t (x) to generate a queue D (y), wherein y is more than or equal to 1 and less than or equal to M;
s24: sequentially calculating the time distance W (y) between the head of each vehicle y to be merged and the tail of the previous vehicle y-1 to be merged;
s25: verifying whether W (y) meets a preset safety time interval requirement;
if so, not adjusting the speed of the corresponding vehicle to be merged in the control period;
if not, adjusting the vehicle speed of the vehicles to be merged according to the vehicle length l (y-1), the distance h (y-1) and the set vehicle speed of the previous vehicle.
As a preferable scheme of the present invention, the safe time interval is a preset vehicle safe interval divided by a real-time vehicle speed of the corresponding vehicle.
As a preferable aspect of the present invention, the vehicle speed adjusting method in step S25 includes:
when y =1, adjusting the speed of the vehicle to be merged to be a preset merging speed vh;
when y is more than or equal to 2 and less than or equal to M, acquiring the time T '(y-1) required by the vehicle y-1 to reach the confluence point according to the set speed v' (y-1) of the vehicle y-1 to be confluent and the distance h (y-1) between the vehicle y-1 to be confluent and the confluence point; and acquiring the speed required by the vehicle y to be merged for keeping a safe distance with the vehicle y-1 to be merged after the time T '(y-1) according to the distance h (y) between the vehicle y to be merged and the merging point as the set speed v' (y) of the vehicle y to be merged.
As a preferable aspect of the present invention, the determining whether to accelerate includes:
judging whether the expected running speed of the merging road section is higher than the current speed of a merging vehicle which newly enters the merging road section and finishes merging;
if the current speed is higher than the expected running speed of the current confluence road section, the newly entered confluence finishing vehicle starts to accelerate after the vehicle head passes through the confluence point until the vehicle speed of the confluence finishing vehicle reaches the expected running speed of the current confluence road section.
As a preferable aspect of the present invention, the acceleration arithmetic expression of the merging vehicle that needs to be accelerated is:
acceleration of the vehicle completing confluence = (desired running speed-current vehicle speed) ÷ preset cycle time.
A vehicle safety confluence control system based on a vehicle-road cooperative road comprises a vehicle-mounted vehicle-road cooperative terminal arranged on a vehicle to be confluent and a roadside vehicle-road cooperative terminal in communication connection with the vehicle-road cooperative terminal, wherein the roadside vehicle-road cooperative terminal comprises a server and a plurality of roadside nodes uniformly arranged on two sides of the road, and the server comprises at least one processor and a memory in communication connection with the at least one processor; the memory stores instructions executable by the at least one processor to enable the at least one processor to perform any of the methods described above.
Compared with the prior art, the invention has the beneficial effects that:
the invention can realize the safe confluence of the vehicles by judging whether the vehicles to be confluent can be driven in before driving, scheduling the vehicle speed in real time after entering the confluent branch and judging whether the vehicles are accelerated after entering the confluent road section, thereby supporting the cooperation of the vehicle and the road on the premise of ensuring the traffic safety. The traffic capacity of roads is exerted to the maximum extent, the key problem of the safe confluence of vehicles in the traffic process of the roads is solved, and the practical trend of the vehicle-road cooperation technology is promoted.
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Fig. 1 is a schematic flow chart of a vehicle safety confluence control method based on a vehicle-road cooperative road according to embodiment 1 of the present invention;
fig. 2 is a schematic structural diagram of a server in a vehicle safety confluence control system based on a vehicle-road-cooperative road according to embodiment 3 of the present invention, which utilizes the vehicle safety confluence control method based on a vehicle-road-cooperative road according to embodiment 1.
Detailed Description
The present invention will be described in further detail with reference to test examples and specific embodiments. It should be understood that the scope of the above-described subject matter is not limited to the following examples, and any techniques implemented based on the disclosure of the present invention are within the scope of the present invention.
Example 1
As shown in fig. 1, a vehicle safety confluence control method based on a vehicle road and a road comprises the following steps:
s1: before a vehicle to be converged enters a converging branch, judging whether the converging branch is allowed to drive in or not; namely, judging whether each afflux branch drives a new vehicle in the period.
S2: after the vehicles to be merged enter the merging branch, the speed of the vehicles to be merged is scheduled;
s3: after the vehicle to be merged enters a merging road section, judging whether the vehicle to be merged accelerates or not;
and the distance between different vehicles to be merged is not less than the preset safety time interval.
Example 2
This example is a specific implementation procedure of the scheme described in example 1:
s1: before the vehicles to be merged enter the merging branch, whether the corresponding merging branch allows driving is judged.
S11: determining the traffic flow capacity Ch of the confluence road section in the preset cycle time, wherein the operational expression is as follows:
Ch=vh/Kh(lp+Sh)；
wherein lp is a preset vehicle rated length, Sh is a vehicle safety distance corresponding to a preset confluence speed vh (unit: m/s), Kh is a redundancy safety coefficient, and Kh is greater than 1;
s12: acquiring the number of vehicles to be merged and the real-time speed of each merging branch in real time;
s13: and checking and judging each vehicle to be converged, and judging whether the vehicle to be converged is allowed to drive into the corresponding converging branch or not.
S131: calculating the rated driving time of each converging branch, wherein the operation formula is as follows:
ET(i)= Z(i)/ vt(i)；
wherein Z (i) is the length of the ith entry branch; vt (i) is the real-time speed of the last vehicle to be converged on the converging branch;
s132: acquiring the number C (j) of vehicles which need to pass through a converging branch j and pass through a converging point in ET (i) time from the current moment, wherein j is more than or equal to 1 and less than or equal to N, and N is the number of converging branches;
s133: determining whether the following equation holds:
if the time is up, the vehicle capacity of the confluence point is enough, and the former can be supported to safely pass in the ET (i) time. In this case, a new vehicle may be admitted into the merge branch. Namely, the vehicles to be merged are allowed to enter the corresponding merging branch.
If the vehicle to be merged does not exist, the vehicle to be merged is not allowed to enter the corresponding merging branch, and the vehicle needs to be dispatched to the rest of paths for running.
S2: and after the vehicles to be merged enter the merging branch, scheduling the speed of the vehicles to be merged.
S21: acquiring vehicle data of each vehicle to be merged and vehicle data of vehicles completing merging which are nearest to a merging point at present;
the vehicle data comprises the length l (x) of the vehicles to be merged, the distance h (x) between the vehicle head and the merging point and the real-time vehicle speed v (x), wherein x is more than or equal to 0 and less than or equal to M, M is the total number of all vehicles with the vehicle head positioned on the merging branch, and x =0 is the vehicle data of the vehicles completing the merging;
s22: calculating the time distance t (x) between each vehicle to be merged and the merging point, wherein the operation formula is as follows;
s23: sequencing the vehicles to be merged from small to large according to the numerical value of the time distance t (x) to generate a queue D (y), wherein y is more than or equal to 1 and less than or equal to M; the smaller the time distance between the vehicle and the confluence point, the smaller its number in the queue.
S24: sequentially calculating time distances W (y) between the head of each vehicle y to be confluent and the tail of the previous vehicle y-1 to be confluent;
s25: verifying whether W (y) meets the preset safety time interval requirement; and the safe time interval is the preset safe vehicle interval divided by the real-time speed of the corresponding vehicle.
If so, not adjusting the speed of the corresponding vehicle to be merged in the control period;
if not, adjusting the vehicle speed of the vehicles to be merged according to the vehicle length l (y-1), the distance h (y-1) and the set vehicle speed of the previous vehicle. Specifically, the vehicle speed adjusting method comprises the following steps:
when y =1, adjusting the vehicle speed of the vehicles to be merged to be a preset merging speed vh;
when y is more than or equal to 2 and less than or equal to M, acquiring the time T '(y-1) required by the vehicle y-1 to reach the confluence point according to the set speed v' (y-1) of the vehicle y-1 to be confluent and the distance h (y-1) between the vehicle y-1 to be confluent and the confluence point:
T’(y-1)=h(y-1)÷v’(y-1)。
and acquiring the speed required by the vehicle y to be merged for keeping a safe distance with the vehicle y-1 to be merged after the time T '(y-1) according to the distance h (y) between the vehicle y to be merged and the merging point, wherein the speed is used as the set speed v' (y) of the vehicle y to be merged:
v '(y) = (h (y) -safe distance) ÷ T' (y-1).
S3: and after the vehicle to be merged enters the merging road section, judging whether the vehicle to be merged accelerates or not.
Wherein the judgment of whether to accelerate comprises:
judging whether the expected running speed of the merging road section is higher than the current speed of a merging vehicle which newly enters the merging road section and finishes merging;
if the current speed is higher than the expected running speed of the current confluence road section, the newly entered confluence finishing vehicle starts to accelerate after the vehicle head passes through the confluence point until the vehicle speed of the confluence finishing vehicle reaches the expected running speed of the current confluence road section.
The acceleration arithmetic expression of the merging vehicle requiring acceleration is:
acceleration of the merging vehicle = (expected running speed-current vehicle speed) ÷ preset cycle time.
Example 3
A vehicle safety confluence control system based on vehicle-road cooperative roads comprises vehicle-mounted vehicle-road cooperative terminals arranged on vehicles to be confluent and roadside vehicle-road cooperative terminals in communication connection with the vehicle-mounted vehicle-road cooperative terminals, wherein the roadside vehicle-road cooperative terminals comprise a server and a plurality of roadside nodes uniformly arranged on two sides of a road; as shown in fig. 2, the server includes at least one processor, and a memory communicatively coupled to the at least one processor; the memory stores instructions executable by the at least one processor, and the instructions are executed by the at least one processor to enable the at least one processor to execute a vehicle safety confluence control method based on vehicle and road cooperation roads according to the foregoing embodiments. The input and output interface can comprise a display, a keyboard, a mouse and a USB interface and is used for inputting and outputting data; the power supply is used for providing electric energy for the vehicle safety confluence control system based on the vehicle and road cooperation.
Those skilled in the art will understand that: all or part of the steps for realizing the method embodiments can be completed by hardware related to program instructions, the program can be stored in a computer readable storage medium, and the program executes the steps comprising the method embodiments when executed; and the aforementioned storage medium includes: various media that can store program codes, such as a removable Memory device, a Read Only Memory (ROM), a magnetic disk, or an optical disk.
When the integrated unit of the present invention is implemented in the form of a software functional unit and sold or used as a separate product, it may also be stored in a computer-readable storage medium. Based on such understanding, the technical solutions of the embodiments of the present invention may be essentially implemented or a part contributing to the prior art may be embodied in the form of a software product, which is stored in a storage medium and includes several instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the methods described in the embodiments of the present invention. And the aforementioned storage medium includes: a removable storage device, a ROM, a magnetic or optical disk, or other various media that can store program code.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents and improvements made within the spirit and principle of the present invention are intended to be included within the scope of the present invention.
Claims (9)
1. A vehicle safety confluence control method based on a vehicle-road cooperative road is characterized by comprising the following steps:
s1: before a vehicle to be converged enters a converging branch, judging whether the converging branch is allowed to drive in or not;
s2: after the vehicles to be merged enter the merging branch, the speed of the vehicles to be merged is scheduled;
s3: after the vehicle to be merged enters a merging road section, judging whether the vehicle to be merged needs to be accelerated or not;
and the distance between different vehicles to be merged is not less than the preset safety time interval.
2. The vehicle safety confluence control method according to claim 1, wherein the step S1 comprises the steps of:
s11: determining the traffic flow capacity Ch of the confluence road section in the preset cycle time, wherein the operational expression is as follows:
Ch=vh/Kh(lp+Sh)；
wherein lp is a preset vehicle rated length, Sh is a vehicle safety distance corresponding to a preset confluence speed vh, Kh is a redundancy safety coefficient, and Kh is greater than 1;
s12: acquiring the number of vehicles to be merged and the real-time speed of each merging branch in real time;
s13: and checking and judging each vehicle to be converged, and judging whether the vehicle to be converged is allowed to drive into the corresponding converging branch or not.
3. The vehicle safety confluence control method according to claim 2, wherein the checking and judging at step S13 comprises the following steps:
s131: calculating the rated driving time of each converging branch, wherein the operation formula is as follows:
ET(i)= Z(i)/ vt(i)；
wherein Z (i) is the length of the ith entry branch; vt (i) is the real-time speed of the last vehicle to be converged on the converging branch;
s132: acquiring the number C (j) of vehicles which need to pass through a converging branch j and pass through a converging point in ET (i) time from the current moment, wherein j is more than or equal to 1 and less than or equal to N, N is the number of converging branches, and N is more than or equal to 2;
s133: judging whether the following formula is satisfied:
if so, allowing the vehicles to be merged to enter the corresponding merging branch;
if the vehicle to be merged does not exist, the vehicle to be merged is not allowed to enter the corresponding merging branch, and the vehicle needs to be dispatched to the rest of paths for running.
4. The vehicle safety confluence control method according to claim 1, wherein the step S2 comprises the steps of:
s21: acquiring vehicle data of each vehicle to be confluent and vehicle data of vehicles which are closest to a confluent point and complete confluent;
the vehicle data comprises the length l (x) of the vehicles to be merged, the distance h (x) between the vehicle head and the merging point and the real-time vehicle speed v (x), wherein x is more than or equal to 0 and less than or equal to M, M is the total number of all vehicles with the vehicle head positioned on the merging branch, and x =0 is the vehicle data of the vehicles completing the merging;
s22: calculating the time distance t (x) between each vehicle to be merged and the merging point, wherein the operation formula is as follows;
s23: sequencing the vehicles to be merged from small to large according to the numerical value of the time distance t (x) to generate a queue D (y), wherein y is more than or equal to 1 and less than or equal to M;
s24: sequentially calculating time distances W (y) between the head of each vehicle y to be confluent and the tail of the previous vehicle y-1 to be confluent;
s25: verifying whether W (y) meets the preset safety time interval requirement;
if so, not adjusting the speed of the corresponding vehicle to be merged in the control period;
if not, adjusting the vehicle speed of the vehicles to be merged according to the vehicle length l (y-1), the distance h (y-1) and the set vehicle speed of the previous vehicle.
5. The vehicle safety confluence control method based on the vehicle-road cooperative road as claimed in claim 4, wherein the safety time interval is a preset vehicle safety interval divided by a real-time vehicle speed of the corresponding vehicle.
6. The vehicle safety confluence control method according to claim 5, wherein the vehicle speed adjusting method in step S25 is as follows:
when y =1, adjusting the speed of the vehicle to be merged to be a preset merging speed vh;
when y is more than or equal to 2 and less than or equal to M, acquiring the time T '(y-1) required by the vehicle y-1 to reach the confluence point according to the set speed v' (y-1) of the vehicle y-1 to be confluent and the distance h (y-1) between the vehicle y-1 to be confluent and the confluence point; and acquiring the speed required by the vehicle y to be merged for keeping a safe distance with the vehicle y-1 to be merged after the time T '(y-1) according to the distance h (y) between the vehicle y to be merged and the merging point as the set speed v' (y) of the vehicle y to be merged.
7. The vehicle safety confluence control method according to claim 1, wherein the judgment of whether to accelerate comprises:
judging whether the expected running speed of the merging road section is higher than the current speed of a merging vehicle which newly enters the merging road section and finishes merging;
if the current speed is higher than the preset speed, the newly entered complete merging vehicle starts to accelerate after the vehicle head passes through the merging point until the vehicle speed of the complete merging vehicle reaches the expected running speed of the current merging section.
8. The vehicle safety confluence control method according to claim 7, wherein the acceleration of the merging vehicles that need to be accelerated is calculated by the following equation:
acceleration of the merging vehicle = (expected running speed-current vehicle speed) ÷ preset cycle time.
9. A vehicle safety confluence control system based on vehicle-road collaboration roads comprises vehicle-mounted vehicle-road collaboration terminals arranged on vehicles to be confluent and roadside vehicle-road collaboration terminals in communication connection with the vehicle-mounted vehicle-road collaboration terminals, wherein the roadside vehicle-road collaboration terminals comprise a server and a plurality of roadside nodes uniformly arranged on two sides of a road, and the vehicle safety confluence control system is characterized in that the server comprises at least one processor and a memory in communication connection with the at least one processor; the memory stores instructions executable by the at least one processor to enable the at least one processor to perform the method of any one of claims 1 to 8.
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