CN112950996B - Parallel arbitration method based on V2X - Google Patents

Abstract

The invention discloses a parallel arbitration method based on V2X. The method comprises the steps that traffic information data are collected through V2X equipment; processing the traffic information data to obtain data required by vehicle doubling, and determining whether the vehicle and surrounding vehicles have the intention of doubling according to the data required by the vehicle doubling; if the vehicle and the surrounding vehicles have the intention of doubling, triggering doubling arbitration, calculating the doubling values of the vehicle and the surrounding vehicles based on data required by vehicle doubling, and determining an arbitration result according to the doubling values; and sending the arbitration result to the vehicle and the surrounding vehicles with the merging intention for merging. According to the invention, various parameter information is obtained through V2X, the merging intention of the vehicle is determined based on the parameter information, a merging arbitration result is given, and an alarm is given in time, so that the function of preventing traffic accidents is effectively played.

Description

A V2X-based Parallel Arbitration Method

technical field

The invention belongs to the technical field of automobiles, and in particular relates to a parallel arbitration method based on V2X.

Background technique

At present, many users often take the method of merging when driving vehicles. However, due to the existence of blind spots and the inability to accurately judge the driving intention of the relevant vehicle (such as whether to accelerate or decelerate), when the user does not turn on the turn signal or other When the user does not notice the turn signal, direct merging may lead to vehicle traffic accidents. The existing arbitration system generally arbitrates the right to merge by comprehensively analyzing the road condition information and the user's driving habits. This arbitration method does not consider the subjective wishes of the user, nor does it consider the risk of returning to the original lane if the merging fails. Therefore, the user experience is not good and the security is not high.

CN104925057A discloses an auto adaptive cruise system with a multi-mode switching system and a control method thereof. In the merging mode, the merging intention is predicted according to the lateral displacement and lateral speed of the vehicle in the side lane relative to the center line of the own vehicle lane. , and switch the following target in time. CN104925057A predicts its merging intention according to the observation of the next car. The predicted merging intention is uncertain, and it is not given that both cars have merging intentions. When a merging competition is required, how to arbitrate.

CN102310856A discloses a control method for a hybrid electric vehicle powertrain controlled by an accelerator pedal, which estimates a driver's long-term driving preference through an adaptive algorithm, and maintains vehicle performance according to the driver's driving style. Although CN102310856A discloses how to obtain the driving characteristics of the driver, it does not involve how to perform parallel arbitration according to the driving characteristics of the driver, and its purpose is to improve the driver's behavior and driving style to achieve the improvement of fuel economy, and does not consider driving safety.

SUMMARY OF THE INVENTION

The purpose of the present invention is to provide a parallel arbitration method based on V2X in order to solve the shortcomings of the above background technology.

The technical scheme adopted in the present invention is: a V2X-based merging arbitration method, collecting traffic information data through V2X equipment; processing the traffic information data to obtain data required for vehicle merging, and determining according to the data required for vehicle merging Whether the vehicle and surrounding vehicles have the intention of merging; if both the vehicle and surrounding vehicles have the intention of merging, the merging arbitration will be triggered, and the merging value of the vehicle and surrounding vehicles will be calculated based on the data required for vehicle merging. The merging value determines the arbitration result; the arbitration result is sent to the own vehicle and the surrounding vehicles with the intention of merging for merging.

Further, the V2X device collects traffic information data from any one or more devices of RSU, GNSS, camera, APP, HMI, ID system, and adjacent V2X.

Further, when the following conditions are met at the same time, it is determined that the vehicle and surrounding vehicles have the intention of merging:

1) The distance between the vehicle equipped with V2X equipment and the left/right line of the lane where it is located gradually decreases;

2) When the vehicle equipped with V2X equipment approaches or presses on the left/right line, the change rate of the angle θ between the straight line where the steering wheel is pointing and the tangent to the lane line is f'(θ) ≥ 0.

Further, the parallel value G is calculated by the following formula:

G=Aλ _con D(λ _B f(X _B )+λ _a f(X _a )+λ _P f(X _P ))

Among them, A is the probability of whether the returnable area of the original lane is occupied by other vehicles; λ _con is the credibility of the driver's tendency to change lanes under different speed conditions; D is a self-defined parameter; f(X _B ) is The time required for the vehicle body to reach the center line of the expected lane; f(X _a ) is the time for the vehicle body to reach the expected merging area; f(X _P ) is the driver's driving intensity; λ _B , λ _a , λ _P are the weights of f(X _B ), f(X _a ), and f(X _P ), respectively.

Further, the f(X _B ) is calculated according to the acute angle formed by the heading angle and the tangential direction of the lane line, the closest distance between the vehicle body and the target lane line, vehicle speed and acceleration.

Further, the f(X _a ) is calculated according to the derivative of acceleration, torque and horsepower.

Further, the merging value of the own vehicle and surrounding vehicles is compared with the merging threshold B,

If the merging value of the vehicle > the merging value of the surrounding vehicles > the merging threshold B, or the merging value of the vehicle > the merging threshold B > the merging value of the surrounding vehicles, the vehicle obtains the merging right;

If the merging value of the surrounding vehicles > the merging value of the own vehicle > the merging threshold B, or the merging value of the surrounding vehicles > the merging threshold B > the merging value of the own vehicle, the surrounding vehicles obtain the merging right.

Further, after the arbitration result is determined, the arbitration result and the merging prompt will be broadcast by voice, and the vehicle or HUD or AR HUD will display the vehicle merging path and the position to be occupied, and dynamically update in real time until the merging ends, the vehicle reaches the predetermined area, and the heading The angle between the angle and the tangential direction of the lane line is less than 10° and swings slightly around 0°.

Further, after the merging is completed, the evaluation results of the driver on this merging arbitration are collected, and the evaluation results are stored in the V2X device.

Further, the V2X device determines the priority of the vehicle merging according to the type of the vehicle and whether it is performing official duties. When a high-priority vehicle needs to be merged, it has the priority of merging, and does not need to go through the merging arbitration. High-priority vehicles include public security department vehicles, ambulances, and fire-fighting vehicles performing official duties.

The present invention obtains various parameter information through V2X, including body information, driver's driving characteristics, driver's subjective willingness, and the risk of returning to the original lane after merging failure, etc. The results of the line arbitration and timely warnings have effectively played a role in preventing traffic accidents.

In the present invention, the reliability obtained by the user's choice of lane changing under different speed conditions is used as one of the arbitration criteria, so that more accurate arbitration results can be obtained for different conditions; The risk is improved, the safety of both sides of the merging competition is improved, and it is avoided that the merging fails to return to the original lane and collide with other cars. In the process of determining the arbitration result, user-defined parameters are also set, and the user's subjective wishes are fully considered, and the user experience is better.

Description of drawings

Figure 1 is a schematic diagram of two vehicles expected to change to the same lane.

FIG. 2 is a flow chart of the parallel line arbitration method of the present invention.

FIG. 3 is a schematic diagram of the V2X device of the present invention connecting to surrounding devices to obtain information.

FIG. 4 is a schematic diagram of the angle between the straight line where the steering wheel points and the tangent line to the lane line according to the present invention.

FIG. 5 is a schematic diagram of the minimum distance between the preceding vehicle and the adjacent vehicle required for line merging according to the present invention.

Detailed ways

The specific embodiments of the present invention will be further described below with reference to the accompanying drawings. It should be noted here that the descriptions of these embodiments are used to help the understanding of the present invention, but do not constitute a limitation of the present invention. In addition, the technical features involved in the various embodiments of the present invention described below can be combined with each other as long as there is no conflict with each other.

V2X: Vehicle to Everything, a vehicle connected to everything. V2X is a communication system dedicated to connecting the vehicle with the surrounding environment. The connected objects are mainly divided into four categories: V2V (Vehicle to Vehicle), V2I (Vehicle to Infrastructure), V2P (Vehicle to People), and V2N (Vehicle to Network) .

RSU: Road Side Unit, roadside equipment. In the ETC system, it is installed on the roadside, adopts DSRC technology, communicates with the vehicle-mounted unit, realizes vehicle identification, and electronically deducts points.

BSM: Basic Safety Message, basic safety message, including speed, steering, braking, double flash, position, etc., is mostly used in V2V scenarios, namely lane change warning, blind spot warning, intersection collision warning, etc.

RSI: Road Side Information, which is mostly used in V2I scenarios such as road construction, speed limit signs, overspeed warning, bus lane warning, etc.

RSM: Road Safety Message, roadside safety message, is also V2I, mainly connected to the edge devices on the roadside, used for event identification, such as vehicle accident, vehicle abnormality, foreign object intrusion, etc.

SPAT: Signal phase timing message, traffic light phase and timing message, is also V2I, roadside RSU integrated signal machine, used for speed guidance, green wave push scenarios, etc.

MAP: Map message. Map message and SPAT message are used together. MAP message can describe an intersection, and there is also a corresponding relationship with the traffic lights at the intersection.

In the scenario where vehicles in two of the three lanes in the same direction compete for the other lane at the same time, the existing merging arbitration method does not consider the subjective will of the user, nor does it consider the risk of returning to the original lane if the merging fails. It brings security problems, and the user experience is not good.

As shown in Figure 1, depending on the left car as the main car HV, the main car and the other car RV1 are in the first and third lanes in the same direction (the first, second and third lanes from left to right), and the two cars have the same speed ( The difference is within 10km/h), at this time, there is another car RV2 in front of the main car HV at a speed lower than the expected speed of the main car HV, and the other car RV3 in front of the other car RV1 is driving at a speed lower than the expected speed of RV1, and the other car The RV1 and the host vehicle HV are in blind spots of each other's sight. When the host car HV and the other car RV1 are preparing to change lanes to the second lane at the same time (because the other car RV1 and the host car HV are in the blind spot of each other, so the host car and the other car cannot see each other's turn signal signals), an arbitration will occur. The problem is to determine which vehicle has the right to merge.

Aiming at the above problem of how to determine which vehicle obtains the right to merge, the present invention provides a V2X-based merging arbitration method, as shown in the flowchart shown in FIG. 2, including the following steps:

1) V2X equipment collects traffic information data;

2) Clean and fuse the data to obtain the data required for vehicle merging;

3) According to the data obtained in step 2), determine whether the vehicle and surrounding vehicles have the intention of merging;

4) If both the vehicle and surrounding vehicles have the intention of merging, the parallel arbitration will be triggered, and the merging value of the vehicle and surrounding vehicles will be calculated based on the data required for vehicle merging, and the arbitration result will be determined according to the merging value;

5) Send the arbitration result to the own vehicle and the surrounding vehicles with the intention of merging for merging.

6) Prompt the driver for merging, and store the video of the merging;

7) After the merging ends, collect the driver's evaluation result on this merging arbitration, and store the evaluation result in the arbitration triggering module.

In the above scheme, both the main vehicle HV and the other vehicle RV1 are equipped with V2X equipment. The V2X device records its own body size, the position of the GPS antenna receiving point relative to the center point of the body, and vehicle performance parameters (torque, horsepower, minimum turning radius, etc.). As shown in Figure 3, V2X devices can interact with RSU, GNSS (Global Navigation Satellite System, Global Navigation Satellite System), camera, APP, HMI, ID system, and other V2X devices to obtain the required traffic information data. For example, both the host vehicle HV and the other vehicle RV1 can communicate with the roadside equipment (RSU) to obtain high-precision map information (MAP), roadside sign information (RSI), and signal light information (SPAT) of the road segment broadcast by the roadside equipment. , traffic participant information (RSM), etc.; both the main vehicle HV and other vehicles RV1 can obtain GNSS positioning information (heading angle, high-precision positioning) through GNSS; the main vehicle HV and other vehicles RV1 can obtain parallel video through the camera and For storage; when the main car HV and other car RV1 are in parallel arbitration, they can perform identity authentication through the ID system (personal identity authentication system), and interact with the driver through the APP or HMI (Human Machine Interface, human-machine interface); The host vehicle HV and the other vehicle RV1 can interact through each other's V2X devices to exchange BSM messages and obtain each other's vehicle information, motion information, location information, and so on. The main car HV and other car RV1 can receive the body CAN signal (current vehicle speed, acceleration (accelerator opening, brake pedal opening), basic body parameters (such as body length, width and height, torque, horsepower, etc.), current driving mode (such as energy saving) mode, sports mode, normal mode, etc.)), can also receive BSM, RSM, MAP, RSI, SPAT and other messages, and send BSM messages.

In the above scheme, when the following three conditions are met, the V2X device reminds the driver to deviate from the lane by means of voice broadcasting: 1) The distance between the vehicle equipped with the V2X device and the left/right line of the lane is gradually reduced; 2) The vehicle equipped with the V2X device is equipped with a V2X device. When the vehicle approaches or presses to the left/right line, the change rate of the angle (θ) between the straight line where the steering wheel is pointing and the tangent to the lane line is f'(θ) ≥ 0, as shown in Figure 4; 3) The turn signal is not turned on. After 1s of voice broadcast, the V2X device obtains the steering torque of the vehicle. If the steering torque does not decrease, the V2X device determines that the driver intends to merge and prepares to change lanes.

When the host car HV and other car RV1 change lanes to the middle lane at the same time, the V2X devices of the two cars respectively predict the approximate location area of the lane they will occupy according to the position of the other car in the BSM or RSM message and the high-precision map information in the MAP message. Broadcast via BSM messages. When the V2X device of the host vehicle (or other vehicle) detects that the area to be occupied by the own vehicle's lane change coincides with the area to be occupied by the other vehicle (or the main vehicle) to change lanes (movement trajectory), the parallel arbitration is triggered, and the lane to be occupied The area is calculated by the algorithm module inside the V2X device based on the body dynamics model, kinematics model and the current motion parameters of the vehicle (speed, acceleration, steering angle, steering torque), high-precision map, high-precision positioning, etc.

Parallel arbitration is performed according to the following parameters:

<1> The basic merging parameter f(XB), which is based on the acute angle (θ) formed by the heading angle and the tangential direction of the lane line, the distance (d), the vehicle speed (V), and the acceleration (a) of the vehicle body from the target lane line. The calculation is obtained, indicating the time required for the vehicle from the current time to the first time the vehicle body is pressed to the expected lane line or the time required for the vehicle body to reach the center line of the expected lane. The basic parallel parameter f(X _B ) is continuously updated over time.

f(X _B )=φ(θ, d, v, a)

<2> Advanced parallel parameter f(X _a ), which is calculated from the derivative of acceleration (f'(a)), torque (n) and horsepower (P). In order to reduce errors and deal with the different acceleration scenarios generated by different vehicle conditions during the merging process, the V2X device will calculate the vehicle body speed according to the factory parameters (torque and horsepower) of the vehicle when the driver depresses the accelerator/brake pedal at different accelerations. The degree of responsiveness (f(X _a )) of the vehicle to correct the time for the vehicle to reach the expected merge area (the vehicle crosses the center line of the expected lane).

<3> The driver's driving behavior parameter f(X _p ), the driving behavior parameter represents the driver's driving intensity, and the larger the parameter value, the higher the driving intensity. When the parallel arbitration is triggered, the V2X device determines the driver's identity through ID systems such as face recognition or fingerprint recognition, obtains the historical driving records corresponding to the driver's identity, and calculates the driving behavior parameters corresponding to the driver's identity based on the historical driving records. The driving record includes the following distance l(v) under a certain speed condition, the acceleration g'(a) of stepping on the brake/accelerator pedal, and the distance between the preceding vehicle (RV2) and the adjacent vehicle (RV1) required for merging. The minimum distance L(v) (as shown in Figure 5) and the probability f that the rear car needs to slam on the brake pedal after merging. The intensity of driving can be divided into the following five levels under different speed conditions: very intense f(X _p )>80%, intense 80% ≥ f(X _P )> 60%, generally 60% ≥ f (X _P ) > 40%, mild 40% > f(X _P ) > 20%, very mild 20% > f(X _P ) > 0.

In addition, after the V2X device determines the driver's identity through the ID System, it can download data related to the driver through the cloud server, such as personality test, physical health status, familiarity with road sections, violation records, dangerous driving records, etc., through these data assistance Corrects the driver's driving intensity at different speeds.

f(X _P )=φ(l(v), g'(a), L(v), f)

<4> Determine whether the returnable area of the original lane is occupied by other vehicles, which is represented by parameter A. If the original lane is occupied by other vehicles, there is a certain risk in returning to the original lane if the merging fails. When both the original lanes of the two merging competitors are occupied, or both are not occupied, A=1, at this time, the parameter A does not affect the final arbitration result; when the original lane of the own vehicle is not occupied, the merging competitor When the original lane of the vehicle is occupied, A=1 (A=0 in the arbitration result of the merging competitor, and the right to merge is given priority); when the original lane of the vehicle is occupied and the original lane of the merging competitor is not occupied, A=0, indicating that the vehicle has priority to obtain the right to merge.

<5> Reliability λ _con , which indicates the driver's tendency to choose lanes under different speed conditions. When the V2X device determines that the parallel arbitration is performed during the use of the vehicle, and the V2X device determines the driver's identity through the ID System, after the vehicle is used, the V2X device sends the obtained video of the parallel process to the corresponding driver's APP in a mobile terminal (such as a mobile phone) (or sent to the APP through a cloud server). The APP sends a push message to the driver, inviting the driver to give feedback. After watching the video of the merging process provided by the APP, the driver can choose whether to change lanes under the speed conditions. Speed conditions include the following: low speed (10～40km/h), medium speed (40～60km/h), medium high speed (60～80km/h), high speed (80～100km/h), high speed (100km/h) ~120km/h). The system collects and counts the lane change selection results of the same driver under different speed conditions, and calculates the reliability λ _con of different speed conditions according to the selection results.

<6> User-defined parameter D, the driver can set this parameter in advance. After the V2X device determines the driver's identity through the ID System, it obtains the driver's historical driving records, and provides customized services for special road section merging through the mobile APP or the merging arbitration custom option provided by the vehicle. When the V2X device determines from the driver's historical driving records that the driver has a lot of violation records or a lot of violent driving records (more aggressive driving behavior, such as entering a curve with a large curvature to change lanes), it is recommended that the driver not participate in the merging competition , if the driver agrees not to participate, then D = δ, and δ is small enough to make the merging value 0 < G < B, at this time, the right to merge cannot be obtained; if the driver does not agree, then D = 1, which does not affect the arbitration result.

Based on the above parameters, the expression for the parallel value is as follows:

G=Aλ _con D(λ _B f(X _B )+λ _a f(X _a )+λ _P f(X _P ))

Among them, λB is the weight of f(X _B ), λa is the weight of f(X _a ), λP is the weight of f(X _P ), and B is the parallel threshold. When G>B, the parallel can be obtained. line rights. The weights assigned to the above three parameters when the arbitration relation is initially established may be λB=50%, λa=30%, and λP=20%, respectively. Because the V2X device can communicate with the cloud server, the server can collect the arbitration data of all the vehicles equipped with the V2X device, and train the arbitration data through the neural network to adjust the weights of the parameters, so as to obtain the weights that tend to be stable.

After both the vehicle and surrounding vehicles have obtained the merging value, compare the merging value of the vehicle and surrounding vehicles with the merging threshold B to obtain the arbitration result, that is, whether to obtain the merging value:

If the merging value of the vehicle > the merging value of the surrounding vehicles > the merging threshold B, or the merging value of the vehicle > the merging threshold B > the merging value of the surrounding vehicles, the vehicle obtains the merging right;

If the merging value of the surrounding vehicles > the merging value of the own vehicle > the merging threshold B, or the merging value of the surrounding vehicles > the merging threshold B > the merging value of the own vehicle, the surrounding vehicles obtain the merging right.

After the arbitration result is obtained, the voice broadcast of the arbitration result and the merging prompt, the vehicle or HUD (parallel display system) or ARHUD displays the vehicle merging path and the position to be occupied, and dynamically updates in real time until the merging ends and the vehicle reaches the predetermined area. The included angle between the heading angle and the tangential direction of the lane line is less than 10° and swings slightly around 0°.

Among them, when high-priority vehicles, such as public security department vehicles, ambulances, rescue vehicles, etc. performing official duties, need to be merged, they have the priority to merge and do not need to go through the parallel arbitration. The V2X device will judge the priority of the vehicle merging according to the type of the vehicle and whether it is performing official duties (such as judging whether the warning light is on). Competing merging vehicles keep their original lanes.

The above are only specific embodiments of the present invention, but the protection scope of the present invention is not limited thereto. Any changes or substitutions that can be easily thought of by those skilled in the art within the technical scope disclosed by the present invention should be covered. within the protection scope of the present invention. Contents not described in detail in this specification belong to the prior art known to those skilled in the art.

Claims (6)

1. A V2X-based merging arbitration method is characterized in that: collecting traffic information data by V2X equipment; processing the traffic information data to obtain the data required for vehicle merging, and determining the vehicle according to the data required for vehicle merging. Whether the vehicle and surrounding vehicles have the intention of merging; if both the vehicle and the surrounding vehicles have the intention to merge, the merging arbitration will be triggered, and the merging value of the vehicle and surrounding vehicles will be calculated based on the data required for vehicle merging. Determine the arbitration result; send the arbitration result to the vehicle and the surrounding vehicles with the intention to merge; The parallel value G is calculated by the following formula: G=Aλ _con D(λ _B f(X _B )+λ _a f(X _a )+λ _P f(X _P )) Among them, A is the probability of whether the returnable area of the original lane is occupied by other vehicles; λ _con is the credibility of the driver's tendency to change lanes under different speed conditions; D is a self-defined parameter; f(X _B ) is The time required for the vehicle body to reach the center line of the expected lane; f(X _a ) is the time for the vehicle body to reach the expected merging area; f(X _P ) is the driver's driving intensity; λ _B , λ _a , λ _P are the weights of f(X _B ), f(X _a ), and f(X _P ), respectively; The f(X _B ) is calculated according to the acute angle formed by the heading angle and the tangential direction of the lane line, the closest distance between the vehicle body and the target lane line, vehicle speed and acceleration; The f(X _a ) is calculated from the derivative of acceleration, torque and horsepower; Compare the merging value of the own vehicle and surrounding vehicles with the merging threshold B, If the merging value of the vehicle > the merging value of the surrounding vehicles > the merging threshold B, or the merging value of the vehicle > the merging threshold B > the merging value of the surrounding vehicles, the vehicle obtains the merging right; If the merging value of the surrounding vehicles > the merging value of the own vehicle > the merging threshold B, or the merging value of the surrounding vehicles > the merging threshold B > the merging value of the own vehicle, the surrounding vehicles obtain the merging right. 2. the parallel arbitration method based on V2X according to claim 1, is characterized in that: described V2X equipment is from any one or more in RSU, GNSS, camera, APP, HMI, ID system, adjacent V2X equipment The device collects traffic information data. 3. The V2X-based merging arbitration method according to claim 1, characterized in that: when the following conditions are met simultaneously, it is determined that the vehicle and surrounding vehicles have a merging intention: 1) The distance between the vehicle equipped with V2X equipment and the left/right line of the lane where it is located gradually decreases; 2) When the vehicle equipped with V2X equipment approaches or presses on the left/right line, the change rate of the angle θ between the straight line where the steering wheel is pointing and the tangent to the lane line is f'(θ) ≥ 0. 4. the parallel arbitration method based on V2X according to claim 1, it is characterized in that: after determining the arbitration result, the voice broadcasts the arbitration result and the parallel prompt, the vehicle machine or HUD or AR HUD displays the vehicle parallel path and will occupy The position of the vehicle is updated dynamically in real time until the end of the merging and the vehicle reaches the predetermined area. The angle between the heading angle and the tangential direction of the lane line is less than 10° and swings slightly around 0°. 5. The V2X-based merging arbitration method according to claim 1, characterized in that: after the merging is completed, the driver's evaluation result on this merging arbitration is collected, and the evaluation result is stored in the V2X device. 6. The V2X-based merging arbitration method according to claim 1, wherein the V2X device judges the priority of the vehicle merging according to the type of the vehicle and whether it is performing official duties, and when a high-priority vehicle needs to be merged At the same time, it has the priority of merging, and does not need to go through the arbitration of merging. The high-priority vehicles include public security department vehicles, ambulances, and fire-fighting vehicles that perform official duties.

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