CN112530201B - Method and device for selecting right switching lane gap of intelligent vehicle intersection - Google Patents

Abstract

The invention discloses a method and a device for selecting a right-change lane clearance at an intersection of an intelligent vehicle, comprising the steps of: acquiring the lane-changing microscopic information of the target vehicle; calculating the pressure coefficient of the target vehicle's lane-changing; calculating the critical safety factor for allowing the target vehicle to change into the target lane Lane change clearance; calculate the actual lane change clearance in the target lane; determine the lane change timing; the target vehicle decelerates according to the recommended acceleration to wait for the lane change timing that meets the safe lane change conditions; repeat the above steps until the target vehicle meets the safe lane change conditions , switch to the target lane. The present invention comprehensively considers the effect of the vehicle in front of and behind the lane-changing vehicle, the front and rear vehicles in the target lane, and the geometric characteristics of the intersection on the lane-changing behavior of the vehicle, determines a more accurate lane-changing timing point, and provides a suggested acceleration, thereby providing intelligent The right-changing lane behavior of vehicles at the intersection provides a reasonable basis for judgment and decision-making, and guarantees the safe and efficient operation of vehicles in the intersection.

Description

A method and device for selecting the clearance of the right transfer lane at the intersection of an intelligent vehicle

technical field

The invention relates to the field of intelligent traffic control, in particular to a method and a device for selecting a gap of a right transfer lane at an intelligent vehicle intersection.

Background technique

With the leap in computer computing power and the amazing launch of 5G technology, with the help of many accurate on-board sensors, vehicles can already obtain accurate driving status data during driving, and can achieve interconnection with other vehicles. hierarchical data. Therefore, fully, correctly and reasonably mining and using these data can greatly improve the traffic capacity of the traffic system and ensure that vehicles can operate in a stable and safe environment.

The driving behavior of the vehicle can be divided into longitudinal following behavior and lateral lane changing behavior. The car following behavior mainly considers the behavior of the preceding vehicle in the lane to control the acceleration of the vehicle, and the lane changing behavior mainly considers the driving state of the vehicle in the adjacent lane to find gaps and interspersed. In the existing research, Chinese patent CN201910333606.X uses the vehicle as the coordinate origin to establish a coordinate system to divide grid cells, proposes a lane-changing trajectory prediction model for the target vehicle, and divides the risk level of lane-changing based on kinetic energy loss; Chinese patent CN201911119091.X The distance determines whether there is a lane-changing motive and the target lane, and constructs a logistic vehicle lane-changing model based on the head-to-head distance; Chinese patent CN201810561731.1 uses the distance between the front and rear vehicles as the basis for the safety judgment of speed-following and speed control, and considers the vehicle-following state under different vehicle distances. The calculation method of critical safety headway under different traffic flow conditions is proposed. Generally speaking, the existing researches tend to study the driving behavior of vehicles in the road section, and there are few studies on the vehicle following and lane changing behaviors at intersections, and most of the existing studies focus on the car following or lane changing behaviors. At a certain point in the two, few studies can combine the two in one scenario.

SUMMARY OF THE INVENTION

The technical problem to be solved by the present invention is aimed at the deficiencies of the above-mentioned prior art, and provides a method and device for selecting the clearance of the right change lane at an intelligent vehicle intersection. The speed and position of the vehicles before and after the target vehicle, the following and leading vehicles in the target lane, and the geometric characteristics of the intersection are the basic information. It can further calculate the critical safety gap of the target vehicle and the following vehicle in the target lane, and the recommended acceleration adopted by the target vehicle during the waiting lane change process, which provides a scientific basis for the driver or smart car's right-changing lane behavior at the intersection. decision-making basis to improve the operating efficiency of vehicles at intersections.

In order to solve the above-mentioned technical problems, the technical scheme adopted in the present invention is:

A method for selecting a right transition lane clearance at an intersection of an intelligent vehicle includes the following steps.

Step 1. Obtain the lane-changing micro-information of the target vehicle: obtain the lane-changing micro-information of the target vehicle by perceiving the operating state of the entire traffic system; the lane-changing micro-information of the target vehicle includes the position and speed data of the target vehicle, the position, Speed data, the position data and speed data of the leading vehicle in the target lane and the following vehicle in the target lane, the queue length of the vehicles behind the target vehicle, the distance between the target vehicle and the rear of the queue of vehicles in front of the target vehicle, and the prohibition of changing lanes between the target vehicle and the entrance of the intersection. The distance from the starting point of the line.

Step 2. Calculate the lane-changing pressure coefficient k ₁ of the target vehicle: use the following formula to calculate the lane-changing pressure coefficient of the target vehicle;

L ₁ '=max(L ₁ ,e) (2)

L ₄ '=max(L ₄ ,e) (3)

L ₄ =min(L ₂ ,L ₃ ) (4)

Among them, L ₁ represents the queuing length of the vehicle behind the lane where the target vehicle is located; L ₂ represents the distance between the target vehicle and the tail of the vehicle in front of the queue; L ₃ represents the distance between the target vehicle and the starting point of the solid line where the lane change is prohibited at the entrance of the intersection; L ₄ is the minimum value of L ₂ and L ₃ ; α ₁ represents the weight coefficient of the influence of the following vehicle on the target vehicle pressure; α ₂ represents the weight coefficient of the influence of the preceding vehicle on the target vehicle pressure; e is a natural constant.

Step 3. Calculate the critical safe lane-changing gap L _g that allows the target vehicle to change into the target lane: Substitute the target vehicle's lane-changing pressure coefficient k ₁ calculated in step 2 into the following formula (5), and calculate to allow the target vehicle to change into the target lane. The critical safe lane-changing gap L _g ; where, the expression of formula (5) is:

L _g =k ₁ ·[10+(v _f -v _l )·Δt]+L _veh (5)

Among them, v _f is the speed of the following vehicle in the target lane; v _l is the speed of the leading vehicle in the target lane; Δt is the unit time step related to the road environment at the intersection and the driving characteristics of the driver; L _veh is the length of the target vehicle .

Step 4. Calculate the actual lane-changing gap L _s in the target lane: According to the position data of the leading vehicle in the target lane and the position data of the following vehicle in the target lane obtained in step 1, calculate the actual lane-changing gap L _s in the target lane ; wherein, the actual lane-changing gap L _s in the target lane is the distance difference along the traveling direction between the leading vehicle in the target lane and the following vehicle in the target lane.

Step 5. Judging the timing of changing lanes: compare the critical safe lane-changing gap L _g calculated in step 3 with the actual lane-changing gap L _s in the target lane calculated in step 4; when L _s ≥ L _g , the target vehicle safety is satisfied. In the lane changing condition, the target vehicle switches to the right target lane; when L _s < L _g , the safe lane changing condition for the target vehicle is not satisfied, and the process goes to step 6 .

Step 6. Decelerate and wait for the safe lane-changing opportunity: the target vehicle decelerates according to the recommended acceleration a to wait for the lane-changing opportunity that satisfies the safe lane-changing conditions; among them, the calculation method of the suggested acceleration a includes the following steps:

Step 61: Calculate the following acceleration a ₀ of the target vehicle. The specific calculation formula is as follows:

a ₀ =0.2·(△xv _s · _th )+0.6·△v (6)

△x=x _ls -x _s -L _veh (7)

△v=v _ls -v _s (8)

Among them, △ _x is the vehicle-to-vehicle distance between the target car and the leading car; _xls is the position of the front of the target car; xs is the position of the front of the target car; L _veh is the length of the leading car of the target car; △v is the position of the front of the target car; The speed difference between the target car and the leading car, v _ls is the instantaneous speed of the leading car of the target car; v _s is the instantaneous speed of the target car; v _max is the speed limit at the entrance of the road intersection; th _h is the starting time of the target vehicle.

Step 62: Calculate the following pressure coefficient k ₂ of the target vehicle: According to the following acceleration a ₀ of the target vehicle calculated in step 61, calculate the following pressure coefficient k ₂ of the target vehicle. The specific calculation formula is as follows:

L ₁ '=max(L ₁ ,e)

L ₄ '=max(L ₄ ,e)

Step 63: Calculate the recommended acceleration a, and the specific calculation formula is as follows:

a=k ₂ ·a ₀ (11)

Step 7: Repeat steps 1 to 6 until the target vehicle satisfies the safe lane changing conditions, and the target vehicle switches into the target lane on the right.

In step 2, α ₁ and α ₂ are respectively 0.5 and 0.6; in step 3, Δt is 1 second.

A device for selecting a right-change lane clearance at a smart vehicle intersection, comprising a smart vehicle state perception module, a data storage module, a lane-change pressure coefficient calculation module, a critical safe lane-change clearance calculation module, a target vehicle following acceleration calculation module, and a target vehicle tracking module. The galloping pressure coefficient and suggested acceleration calculation module and the target vehicle right-change lane timing confirmation module. in,

The intelligent vehicle state perception module is used to perceive the running state of the entire traffic system and obtain the micro-information about the lane change of the target vehicle.

Data storage module for storing historical and real-time lane change data.

The lane change pressure coefficient calculation module is used to calculate the lane change pressure coefficient of the target vehicle.

The critical safe lane change clearance calculation module is used to calculate the critical safe lane change clearance that allows the target vehicle to change into the target lane.

The target vehicle car following acceleration calculation module is used to calculate the car following acceleration of the target vehicle.

The target vehicle following pressure coefficient and suggested acceleration calculation module is used to calculate the target vehicle following pressure coefficient and the suggested acceleration adopted by the target vehicle during the waiting lane change process.

The timing confirmation module for the right lane change of the target vehicle is used to monitor whether the gap between the leading vehicle and the following vehicle on the target lane exceeds the critical safe lane change clearance, and to determine the safe lane change timing.

The intelligent vehicle state perception module includes a target vehicle state self-perception unit, a front and rear vehicle state perception unit of the target vehicle, a perception unit of a leading vehicle and a following vehicle in the target lane, and a perception unit of the geometrical position information of the intersection. in,

The target vehicle state self-perception unit is used to acquire the speed and position data of the target vehicle.

The vehicle state perception unit before and after the target vehicle is used to obtain the speed and position data of the vehicles before and after the target vehicle.

The perception units of the leading vehicle and the following vehicle in the target lane are used to acquire speed and position data of the leading vehicle and the following vehicle in the target lane.

The sensing unit of the geometrical position information of the intersection is used to obtain the geometrical feature data of the intersection.

The present invention has the following beneficial effects:

1. The present invention is based on the information database stored in the intelligent transportation system and the real-time perception system of the vehicle. According to the speed and position information of the target vehicle, the vehicles before and after the target vehicle, the leading vehicle and the following vehicle in the target lane, and the geometric feature information of the intersection, consider The distance game relationship between the vehicle behind the target vehicle and the latest lane-changing point ahead is used to calculate the lane-changing pressure coefficient and the car-following pressure coefficient, so as to further calculate the critical safety gap between the target vehicle and the following vehicle in the target lane, and the target vehicle is waiting to change lanes. The recommended acceleration used in the process, based on this, the smart car adopts the recommended acceleration and waits for a suitable lane change gap.

2. The present invention comprehensively considers the pressure generated by the vehicles in front of and behind the lane-changing vehicle on its lane-changing behavior in the intersection environment, the interaction between the lane-changing vehicle and the front and rear vehicles in the target lane, and the driving behavior of the lane-changing vehicle in the process of waiting for a lane change. It is more accurate, and the choice of lane-changing gap is more scientific and accurate, thereby providing a more scientific and reasonable judgment and decision-making basis for the driving behavior of drivers or smart cars at the intersection, and ensuring the safe and efficient operation of vehicles at the intersection.

Description of drawings

FIG. 1 shows a flow chart of a method for selecting a gap of a right transfer lane at an intersection of an intelligent vehicle according to the present invention.

FIG. 2 shows a schematic diagram of calculating the vehicle lane changing pressure coefficient and the vehicle following pressure coefficient according to an embodiment of the present invention.

FIG. 3 shows a schematic diagram of calculating a critical safe lane change clearance for a target vehicle according to an embodiment of the present invention.

FIG. 4 shows a schematic diagram of the initial acceleration calculation of the target vehicle according to the embodiment of the present invention.

FIG. 5 shows a schematic diagram of calculation of the target vehicle following pressure coefficient and suggested acceleration according to an embodiment of the present invention.

FIG. 6 shows a schematic diagram of the structure of a device for selecting a clearance for a right transfer lane at a smart vehicle intersection according to the present invention.

Detailed ways

The present invention will be described in further detail below with reference to the accompanying drawings and specific preferred embodiments.

In the description of the present invention, it should be understood that the orientation or positional relationship indicated by the terms "left side", "right side", "upper", "lower part", etc. are based on the orientation or positional relationship shown in the drawings, only For the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the referred device or element must have a particular orientation, be constructed and operate in a particular orientation, "first", "second", etc. importance, and therefore should not be construed as a limitation to the present invention. The specific dimensions used in this embodiment are only for illustrating the technical solution, and do not limit the protection scope of the present invention.

As shown in Figure 6. A device for selecting a right-change lane clearance at a smart vehicle intersection, comprising a smart vehicle state perception module, a data storage module, a lane-change pressure coefficient calculation module, a critical safe lane-change clearance calculation module, a target vehicle following acceleration calculation module, and a target vehicle tracking module. The galloping pressure coefficient and suggested acceleration calculation module and the target vehicle right-change lane timing confirmation module. in,

The intelligent vehicle state perception module is used to perceive the running state of the entire traffic system and obtain the micro-information about the lane change of the target vehicle.

The above-mentioned intelligent vehicle state sensing module preferably includes a target vehicle state self-sensing unit, a vehicle state sensing unit before and after the target vehicle, a sensing unit for a leading vehicle and a following vehicle in the target lane, and a sensing unit for intersection geometric position information.

The target vehicle state self-perception unit is used to obtain the speed and position data of the target vehicle.

The vehicle state perception unit before and after the target vehicle is used to obtain the speed and position data of the vehicles before and after the target vehicle.

The perception units of the leading vehicle and the following vehicle in the target lane are used to acquire speed and position data of the leading vehicle and the following vehicle in the target lane.

The sensing unit of the geometrical position information of the intersection is used to obtain the geometrical feature data of the intersection.

The data storage module preferably includes a historical data unit and a real-time data unit for storing historical and real-time lane changing data, respectively.

The lane change pressure coefficient calculation module is used to calculate the lane change pressure coefficient of the target vehicle.

The critical safe lane change clearance calculation module is used to calculate the critical safe lane change clearance that allows the target vehicle to change into the target lane.

The target vehicle car following acceleration calculation module is used to calculate the car following acceleration of the target vehicle.

The target vehicle following pressure coefficient and suggested acceleration calculation module is used to calculate the target vehicle following pressure coefficient and the suggested acceleration adopted by the target vehicle during the waiting lane change process.

The timing confirmation module for the right lane change of the target vehicle is used to monitor whether the gap between the leading vehicle and the following vehicle on the target lane exceeds the critical safe lane change clearance, and to determine the safe lane change timing.

As shown in FIG. 1 , a method for selecting a gap of a right transfer lane at an intersection of an intelligent vehicle includes the following steps.

Step 1. Obtain the lane-changing micro-information of the target vehicle: obtain the lane-changing micro-information of the target vehicle by perceiving the running state of the entire traffic system. The lane-changing micro-information of the target vehicle includes the position and speed data of the target vehicle, the position and speed data of the leading vehicle of the target vehicle, the position data and speed data of the leading vehicle in the target lane and the following vehicle in the target lane, the queue length of the vehicles behind the target vehicle, The distance between the target vehicle and the rear of the queue of vehicles in front, and the distance between the target vehicle and the starting point of the solid line where the lane change is prohibited at the entrance of the intersection.

Step 2. Calculate the lane-changing pressure coefficient k ₁ of the target vehicle: use the following formula to calculate the lane-changing pressure coefficient of the target vehicle;

L ₁ '=max(L ₁ ,e) (2)

L ₄ '=max(L ₄ ,e) (3)

L ₄ =min(L ₂ ,L ₃ ) (4)

Among them, L ₁ represents the queue length of vehicles behind the lane where the target vehicle is located. L ₂ represents the distance between the target vehicle and the tail of the vehicle ahead of the queue. L3 represents the distance between the target vehicle and the starting point _of the solid line where the lane change is prohibited at the entrance of the intersection. L4 is the minimum value _{of both} L2 and L3 _. α ₁ represents the weight coefficient of the influence of the rear vehicle on the pressure of the target vehicle, preferably 0.5. α ₂ represents the weight coefficient of the influence of the preceding vehicle on the pressure of the target vehicle, preferably 0.6; e is a natural constant.

Step 3. Calculate the critical safe lane-changing gap L _g that allows the target vehicle to change into the target lane: Substitute the target vehicle's lane-changing pressure coefficient k ₁ calculated in step 2 into the following formula (5), and calculate to allow the target vehicle to change into the target lane. The critical safe lane change clearance L _g . Among them, the expression of formula (5) is:

L _g =k ₁ ·[10+(v _f -v _l )·Δt]+L _veh (5)

Among them, v _f is the speed of the following vehicle in the target lane. v _l is the speed of the leading vehicle in the target lane. Δt is the unit time step related to the road environment of the intersection and the driving characteristics of the driver, preferably 1 second. L _veh is the target vehicle length.

Step 4. Calculate the actual lane-changing gap L _s in the target lane: According to the position data of the leading vehicle in the target lane and the position data of the following vehicle in the target lane obtained in step 1, calculate the actual lane-changing gap L _s in the target lane . Wherein, the actual lane change gap L _s in the target lane is the distance difference along the traveling direction between the leading vehicle in the target lane and the following vehicle in the target lane.

Step 5. Determine the lane-changing timing: compare the critical safe lane-changing gap L _g calculated in step 3 with the actual lane-changing gap L _s in the target lane calculated in step 4 . When L _s ≥ L _g , the condition of the target vehicle for safe lane change is satisfied, and the target vehicle switches to the right target lane. When L _s < L _g , the safe lane change condition of the target vehicle is not satisfied, and the process proceeds to step 6 .

Step 6. Decelerate and wait for a safe lane-changing opportunity: the target vehicle decelerates according to the recommended acceleration a to wait for a lane-changing opportunity that satisfies the safe lane-changing conditions. Among them, the calculation method of the acceleration a is proposed, including the following steps.

Step 61: Calculate the following acceleration a ₀ of the target vehicle. The specific calculation formula is as follows:

a ₀ =0.2·(△xv _s · _th )+0.6·△v (6)

△x=x _ls -x _s -L _veh (7)

△v=v _ls -v _s (8)

Among them, △ _x is the vehicle-to-vehicle distance between the target car and the leading car; _xls is the position of the front of the target car; xs is the position of the front of the target car; L _veh is the length of the leading car of the target car; △v is the position of the front of the target car; The speed difference between the target car and the leading car, v _ls is the instantaneous speed of the leading car of the target car; v _s is the instantaneous speed of the target car; v _max is the speed limit at the entrance of the road intersection; th _h is the starting time of the target vehicle.

Step 62: Calculate the following pressure coefficient k ₂ of the target vehicle: According to the following acceleration a ₀ of the target vehicle calculated in step 61, calculate the following pressure coefficient k ₂ of the target vehicle. The specific calculation formula is as follows:

L ₁ '=max(L ₁ ,e)

L ₄ '=max(L ₄ ,e)

Step 63: Calculate the recommended acceleration a, and the specific calculation formula is as follows:

a=k ₂ ·a ₀ (11)

Step 7: Repeat steps 1 to 6 until the target vehicle satisfies the safe lane changing conditions, and the target vehicle switches into the target lane on the right.

The present invention is further explained below based on a traffic example.

目标车辆在交叉口需要右转，所以需要先向右侧换道，目标车前车编号为⑦，后车编号为⑤，目标车道内前导车辆编号为①，跟随车辆编号为②，交通情况如图5所示，本实施例中，以车辆编号

的中心为原点，沿路面长度方向为x向，路面宽度方向为y向，建立坐标系，则某一时刻所有车辆的信息如下：Traffic example: As shown in Figure 2, a vehicle is driving on a three-lane entrance road at an intersection, and the target vehicle number

The target vehicle needs to turn right at the intersection, so it needs to change lanes to the right first. The number of the vehicle in front of the target vehicle is ⑦, the number of the vehicle behind is ⑤, the number of the leading vehicle in the target lane is ①, and the number of the following vehicle is ②. As shown in Figure 5, in this embodiment, the vehicle number is

The center is the origin, the length direction of the road is the x direction, and the width direction of the road surface is the y direction. To establish a coordinate system, the information of all vehicles at a certain moment is as follows:

Among other parameters, the distance L ₃ between the target vehicle and the starting point of the solid line where the lane change is prohibited at the entrance of the intersection is 18.34 meters, the weight coefficients α ₁ and α ₂ of the pressure influence of the rear vehicle and the preceding vehicle are 0.5 and 0.6 respectively, and the intersection road The unit time step Δt related to the environment and the driver's driving characteristics is 1 second, the vehicle length L _veh is 5 meters, and the speed limit at the entrance of the intersection is 40 km/h.

The following will adopt a method for selecting the right transition lane gap at an intelligent vehicle intersection proposed by the present invention:

Step 1. Extract the micro-data of all vehicles within the research scope from the information database of the target vehicle, as shown in the table above.

Step 2. Calculate the lane-changing pressure coefficient of the target vehicle:

L ₁ =(19.22-11.31)+5=12.91

前方车辆⑦并未处于排队状态，根据排队车辆③和④车头间距预估车辆⑦排队时与车辆③车头间距为33.83-24.76＝9.07米because the target vehicle

The vehicle in front ⑦ is not in a queue, and the distance between the front of the vehicle ⑦ and the front of the vehicle ③ is estimated according to the distance between the queuing vehicles ③ and ④.

L ₂ =24.76-9.07-5=10.69

L ₃ =18.34

L ₄ =min(L ₂ ,L ₃ )=10.69

L ₁ '=max(L ₁ ,e)=12.91

L ₄ '=max(L ₄ ,e)=10.69

Therefore, the lane change pressure coefficient of the target vehicle is 0.45.

Step 3. Calculate the critical safe lane change gap that allows the target vehicle to switch into the target lane:

L _g =k ₁ ·[10+(v _f -v _l )·Δt]+L _veh =0.45×[10+(9.55-7.61)×1]+5=10.37

Step 4. Calculate the actual lane-changing gap L _s in the target lane: From the above table, it can be known that the distance between the vehicle ① and the vehicle ② is 9.66 meters, that is, L _s =9.66.

Step 5. Determine the lane-changing timing: 9.66<10.37, that is, L _s < L _g , which does not satisfy the safe lane-changing condition of the target vehicle, so step 6 is entered.

Step 6. Slow down and wait for a safe lane change opportunity.

First, calculate the calculation method of the proposed acceleration a according to the following method.

Step 61. Calculate the initial acceleration of the target vehicle:

△x= _xls -xs- _Lveh = _7.86-0-5 =2.86

△v=vls-vs= _6.11-8.87 = _-2.76

a ₀ =0.2·(Δxv _s · _th )+0.6·Δv=0.2×(2.86-8.87×0.61)+0.6×(-2.76)=-2.17

Therefore, the initial acceleration is -2.17m/s ² , that is, the target vehicle should take an initial acceleration of 2.17m/s ² to decelerate without considering lane changing (ie, continuing to go straight).

Step 62: Calculate the target vehicle following pressure coefficient.

Because the initial acceleration a ₀ <0, L ₁ '>L ₄ '

Step 63. Calculate the suggested acceleration: a=k ₂ ·a ₀ =0.83×(-2.17)=-1.80

Therefore, considering the pressure game generated by the vehicles in front of and behind the target vehicle, it is recommended that the target vehicle decelerate at an acceleration of 1.80 m/s ² to wait for the lane-changing opportunity that meets the safe lane-changing conditions.

Step 7: Repeat steps 1 to 6 until the target vehicle satisfies the safe lane changing conditions, and the target vehicle switches into the target lane on the right.

等待②车驶离后进行换道，经过计算机计算目标车辆

在减速等待2秒后可以进行换道。In this embodiment, the speed of the ② vehicle is always greater than the speed of the ① vehicle, so the distance between the ① vehicle and the ② vehicle is continuously reduced, and the target vehicle

Change lanes after waiting for the ② vehicle to leave, and calculate the target vehicle through the computer

You can change lanes after slowing down for 2 seconds.

The preferred embodiments of the present invention have been described in detail above. However, the present invention is not limited to the specific details in the above-mentioned embodiments. Within the scope of the technical concept of the present invention, various equivalent transformations can be made to the technical solutions of the present invention. These equivalent transformations All belong to the protection scope of the present invention.

Claims (4)

1. a method for selecting a right transition lane gap at an intelligent vehicle intersection, characterized in that: comprise the steps: Step 1. Obtain the lane-changing micro-information of the target vehicle: obtain the lane-changing micro-information of the target vehicle by perceiving the operating state of the entire traffic system; the lane-changing micro-information of the target vehicle includes the position and speed data of the target vehicle, the position, Speed data, the position data and speed data of the leading vehicle in the target lane and the following vehicle in the target lane, the queue length of the vehicles behind the target vehicle, the distance between the target vehicle and the rear of the queue of vehicles in front of the target vehicle, and the prohibition of changing lanes between the target vehicle and the entrance of the intersection. The distance from the starting point of the line; Step 2. Calculate the lane-changing pressure coefficient k ₁ of the target vehicle: use the following formula to calculate the lane-changing pressure coefficient of the target vehicle;

L ₁ '=max(L ₁ ,e) (2) L ₄ '=max(L ₄ ,e) (3) L ₄ =min(L ₂ ,L ₃ ) (4) Among them, L ₁ represents the queuing length of the vehicle behind the lane where the target vehicle is located; L ₂ represents the distance between the target vehicle and the tail of the vehicle in front of the queue; L ₃ represents the distance between the target vehicle and the starting point of the solid line where the lane change is prohibited at the entrance of the intersection; L ₄ is the minimum value between L ₂ and L ₃ ; α ₁ represents the weight coefficient of the influence of the following vehicle on the pressure of the target vehicle; α ₂ represents the weight coefficient of the influence of the preceding vehicle on the pressure of the target vehicle; e is a natural constant; Step 3. Calculate the critical safe lane-changing gap L _g that allows the target vehicle to change into the target lane: Substitute the target vehicle's lane-changing pressure coefficient k ₁ calculated in step 2 into the following formula (5), and calculate to allow the target vehicle to change into the target lane. The critical safe lane-changing gap L _g ; where, the expression of formula (5) is:

Among them, v _f is the speed of the following vehicle in the target lane; v _l is the speed of the leading vehicle in the target lane; Δt is the unit time step related to the road environment at the intersection and the driving characteristics of the driver; L _veh is the length of the target vehicle ; Step 4. Calculate the actual lane-changing gap L _s in the target lane: According to the position data of the leading vehicle in the target lane and the position data of the following vehicle in the target lane obtained in step 1, calculate the actual lane-changing gap L _s in the target lane ; where, the actual lane-changing gap L _s in the target lane is the distance difference along the travel direction between the leading vehicle in the target lane and the following vehicle in the target lane; Step 5. Judging the timing of changing lanes: compare the critical safe lane-changing gap L _g calculated in step 3 with the actual lane-changing gap L _s in the target lane calculated in step 4; when L _s ≥ L _g , the target vehicle safety is satisfied. Lane changing conditions, the target vehicle switches to the right target lane; when L _s < L _g , the target vehicle safe lane changing conditions are not met, and the process goes to step 6; Step 6. Decelerate and wait for the safe lane-changing opportunity: the target vehicle decelerates according to the recommended acceleration a to wait for the lane-changing opportunity that satisfies the safe lane-changing conditions; among them, the calculation method of the suggested acceleration a includes the following steps: Step 61: Calculate the following acceleration a ₀ of the target vehicle. The specific calculation formula is as follows: a ₀ =0.2·(△xv _s · _th )+0.6·△v (6) △x=x _ls -x _s -L _veh (7) △v=v _ls -v _s (8)

Among them, △ _x is the vehicle-to-vehicle distance between the target car and the leading car; _xls is the position of the front of the target car; xs is the position of the front of the target car; L _veh is the length of the leading car of the target car; △v is the position of the front of the target car; The speed difference between the target car and the leading car, v _ls is the instantaneous speed of the leading car of the target car; v _s is the instantaneous speed of the target car; v _max is the speed limit at the entrance of the road intersection; t _h is the starting time of the target vehicle; Step 62: Calculate the following pressure coefficient k ₂ of the target vehicle: According to the following acceleration a ₀ of the target vehicle calculated in step 61, calculate the following pressure coefficient k ₂ of the target vehicle. The specific calculation formula is as follows:

L ₁ '=max(L ₁ ,e) L ₄ '=max(L ₄ ,e) Step 63: Calculate the recommended acceleration a, and the specific calculation formula is as follows: a=k ₂ ·a ₀ (11) Step 7: Repeat steps 1 to 6 until the target vehicle satisfies the safe lane changing conditions, and the target vehicle switches into the target lane on the right. 2. The method for selecting a right transition lane gap at an intelligent vehicle intersection according to claim 1, wherein in step 2, α ₁ and α ₂ are respectively 0.5 and 0.6; in step 3, Δt is 1 second . 3. A device for selecting a right-change lane clearance at an intelligent vehicle intersection, based on the method for selecting a right-change lane clearance at an intelligent vehicle intersection according to any one of claims 1-2, characterized in that: comprising an intelligent vehicle state perception module, a data storage module, lane change pressure coefficient calculation module, critical safe lane change clearance calculation module, target vehicle following acceleration calculation module, target vehicle following pressure coefficient and suggested acceleration calculation module and target vehicle right lane change timing confirmation module; among them, The intelligent vehicle status perception module is used to perceive the running status of the entire traffic system and obtain the microscopic information of the target vehicle changing lanes; Data storage module for storing historical and real-time lane change data; Lane-change pressure coefficient calculation module, used to calculate the lane-change pressure coefficient of the target vehicle; The critical safe lane change clearance calculation module is used to calculate the critical safe lane change clearance that allows the target vehicle to change into the target lane; The target vehicle following acceleration calculation module is used to calculate the following acceleration of the target vehicle; The target vehicle following pressure coefficient and suggested acceleration calculation module is used to calculate the target vehicle following pressure coefficient and the suggested acceleration adopted by the target vehicle in the process of waiting for a lane change; The timing confirmation module for the right lane change of the target vehicle is used to monitor whether the gap between the leading vehicle and the following vehicle on the target lane exceeds the critical safe lane change clearance, and to determine the safe lane change timing. 4. The device for selecting a right transition lane gap at an intelligent vehicle intersection according to claim 3, wherein the intelligent vehicle state perception module comprises a target vehicle state self-perception unit, a vehicle state perception unit before and after the target vehicle, and a leading vehicle in the target lane. and the perception unit of the following vehicle, and the perception unit of the geometric position information of the intersection; wherein, The target vehicle state self-perception unit is used to obtain the speed and position data of the target vehicle; The vehicle state perception unit before and after the target vehicle is used to obtain the speed and position data of the vehicles before and after the target vehicle; The perception unit of the leading vehicle and the following vehicle in the target lane is used to obtain the speed and position data of the leading vehicle and the following vehicle in the target lane; The sensing unit of the geometrical position information of the intersection is used to obtain the geometrical feature data of the intersection.

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