CN115641710B - A collision avoidance method for two-way vehicle platooning in full tidal road section environment - Google Patents
A collision avoidance method for two-way vehicle platooning in full tidal road section environment Download PDFInfo
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Abstract
本申请涉及一种全潮汐车道路段环境下的双向行驶车群编队会车避撞方法，其中，方法包括：计算全潮汐车道的多车道道路场景的目标编队构型的同时，获取全潮汐车道的当前几何结构；基于目标编队构型和当前几何结构，利用预设的A*算法在相对坐标系中计算各车辆的相对行驶路径，并将前方车辆的相对行驶路径作为后方车辆的路径规划过程中的时空约束，规划出车群内部的相对运动路径；基于车群内部的相对运动路径，确定全潮汐车道的编队结构变化提前时刻，并在达到编队结构变化提前时刻时，按照车群内部的相对运动路径进行会车避撞。由此，解决了相关技术可能导致死锁、无法得出合理的换道顺序，且无法从整体考虑车群的交通效率收益等问题。
The present application relates to a method for meeting and avoiding collisions in a two-way vehicle group formation in a full tidal road section environment, wherein the method includes: calculating the target formation configuration of a multi-lane road scene of a full tidal lane while obtaining the current geometric structure of the full tidal lane; based on the target formation configuration and the current geometric structure, using a preset A* algorithm to calculate the relative driving path of each vehicle in a relative coordinate system, and using the relative driving path of the front vehicle as a time-space constraint in the path planning process of the rear vehicle, and planning the relative motion path within the vehicle group; based on the relative motion path within the vehicle group, determining the advance time of the formation structure change of the full tidal lane, and when the advance time of the formation structure change is reached, meeting and avoiding collisions are performed according to the relative motion path within the vehicle group. Thus, the problems that the related technology may cause deadlock, fail to derive a reasonable lane change order, and fail to consider the traffic efficiency benefits of the vehicle group as a whole are solved.
Description
Technical Field
The application relates to the technical field of vehicle control, in particular to a bi-directional driving vehicle group formation vehicle collision avoidance method in a full tide lane section environment.
Background
Multi-lane segments are a common scenario in road traffic systems. In suburban, rural or other incompletely developed road environments, for example, the direction of travel of the lanes is often not clearly limited, forming a multi-tidal lane scene that is passable in both forward and reverse directions. The scene can also exist in future intelligent traffic systems, and the self-adjusting capability of the road under different traffic flow environments is given by canceling the limitation of the lane on the driving direction, so that the traffic efficiency is improved. In such a lane environment, the clusters traveling in the forward direction and the reverse direction may occupy the same lane, and if the vehicles are not guided to change lanes correctly, collision may occur, and driving safety may be affected.
Aiming at the problems, the related technology is mainly based on a rule of first-come first-get thought, namely, vehicles which drive into the road section first can obtain higher road use rights, and vehicles which drive into the road section later need to avoid.
However, when the traffic flow increases, the priority may be confused in different vehicle groups, for example, the priority of the driving of some vehicles in the forward vehicle group is between the priority of the driving of two vehicles in the backward vehicle group, which may cause a deadlock and may not result in a reasonable lane change sequence.
Disclosure of Invention
The application provides a bi-directional driving vehicle group formation meeting collision avoidance method in a full tide lane section environment, which aims to solve the problems that the related technology possibly causes deadlock, a reasonable lane change sequence cannot be obtained, the traffic efficiency benefit of the vehicle group cannot be considered from the whole, and the like.
The embodiment of the first aspect of the application provides a bi-directional driving vehicle group formation collision avoidance method in a full tide lane road section environment, which comprises the following steps of calculating a target formation configuration of a multi-lane road scene of a full tide lane, simultaneously obtaining a current geometric structure of the full tide lane, calculating relative driving paths of vehicles in a relative coordinate system by utilizing a preset A-x algorithm based on the target formation configuration and the current geometric structure, planning a relative movement path in a vehicle group by taking the relative driving path of a front vehicle as space-time constraint in a path planning process of a rear vehicle, determining a formation structure change advance moment of the full tide lane based on the relative movement path in the vehicle group, and carrying out collision avoidance according to the relative movement path in the vehicle group when the formation structure change advance moment is reached.
Optionally, in one embodiment of the application, the method for obtaining the current geometric structure of the full tide lane while calculating the target formation configuration of the multi-lane road scene of the full tide lane comprises the steps of determining coordinate scales of the relative coordinate system, calculating the current geometric structure according to the current relative positions of vehicle groups, distributing the number of driving lanes for each vehicle group according to the number of vehicles in the two-way vehicle groups based on the current geometric structure, generating a formation expected structure according to the number of driving lanes of each vehicle group in the relative coordinate system according to an interlaced formation structure or a parallel formation structure, calculating the relative coordinates of each expected target position, and determining the target formation configuration.
Optionally, in one embodiment of the application, the determining the formation change advance time of the full tide lane comprises determining a longest path according to the relative motion path, and determining the formation change advance time according to the time required by calculating the adjustment structure of the current vehicle group according to the longest path.
Optionally, in one embodiment of the present application, the determining the formation change advance time includes calculating adjustment structure required time of two clusters of vehicles driving in forward and backward directions, and calculating the formation change advance time based on the adjustment structure required time by reversing from the intersection time.
The application provides a bi-directional driving vehicle group formation collision avoidance device in a full-tide lane road section environment, which comprises an acquisition module, a planning module and a collision avoidance module, wherein the acquisition module is used for acquiring a current geometric structure of a full-tide lane while calculating a target formation configuration of a multi-lane road scene of the full-tide lane, the planning module is used for calculating relative driving paths of vehicles in a relative coordinate system by using a preset A-x algorithm based on the target formation configuration and the current geometric structure, taking the relative driving paths of the front vehicles as space-time constraints in a path planning process of the rear vehicles, and planning relative movement paths inside the vehicle group, and the collision avoidance module is used for determining a formation structure change advance moment of the full-tide lane based on the relative movement paths inside the vehicle group and carrying out collision avoidance according to the relative movement paths inside the vehicle group when the formation structure change advance moment is reached.
Optionally, in one embodiment of the present application, the obtaining module includes a first determining unit configured to determine a coordinate scale of the relative coordinate system, a first calculating unit configured to calculate the current geometry according to a current relative position of a vehicle group, an allocating unit configured to allocate a driving lane number to each vehicle group according to a number of vehicles in a bidirectional vehicle group based on the current geometry, and a generating unit configured to generate a formation expected structure according to an interleaved formation structure or a parallel formation structure in the relative coordinate system according to a number of vehicles in the bidirectional vehicle group, and calculate a relative coordinate of each expected target position, so as to determine the target formation configuration.
Optionally, in one embodiment of the application, the collision avoidance module comprises a second determining unit, a third determining unit and a control unit, wherein the second determining unit is used for determining a longest path according to the relative motion path, and the third determining unit is used for determining the formation structure change advance moment according to time required by the longest path to calculate an adjustment structure of a current vehicle group.
Optionally, in one embodiment of the present application, the collision avoidance module further includes a second calculation unit, configured to calculate time required by adjustment structures of two clusters of vehicles traveling in forward and backward directions, respectively, and a third calculation unit, configured to calculate the formation structure change advance time based on backward pushing from the intersection time based on the time required by the adjustment structures.
An embodiment of the third aspect of the application provides an electronic device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, the processor executing the program to implement the bi-directional driving fleet vehicle collision avoidance method in the full tidal lane section environment as described in the above embodiment.
A fourth aspect of the application provides a computer readable storage medium storing a computer program which when executed by a processor implements a bi-directional driving fleet formation collision avoidance method in a full tidal lane section environment as above.
Thus, embodiments of the present application have the following beneficial effects:
The method comprises the steps of obtaining a current geometric structure of a full tide lane while calculating a target formation configuration of a multi-lane road scene of the full tide lane, calculating relative running paths of vehicles in a relative coordinate system based on the target formation configuration and the current geometric structure by using a preset A-algorithm, taking the relative running paths of vehicles in front as space-time constraints in a path planning process of vehicles in back, planning out relative movement paths inside a vehicle group, determining formation structure change advance time of the full tide lane based on the relative movement paths inside the vehicle group, and carrying out vehicle meeting collision avoidance according to the relative movement paths inside the vehicle group when the formation structure change advance time is reached. Therefore, traffic efficiency benefits of the vehicle group are considered integrally, collision of the vehicle group in the vehicle group and the vehicle group running in opposite directions at the junction is effectively avoided, and calculation challenges brought by model constraint of vehicles are reduced. Therefore, the problems that the related technology possibly causes deadlock, a reasonable lane change sequence cannot be obtained, traffic efficiency benefits of the vehicle group cannot be considered from the whole are solved.
Additional aspects and advantages of the application will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the application.
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The foregoing and/or additional aspects and advantages of the application will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings, in which:
Fig. 1 is a flowchart of a bi-directional driving fleet vehicle collision avoidance method in a full tidal lane segment environment according to an embodiment of the present application;
FIG. 2 is a schematic illustration of an initial geometry of a fleet of vehicles according to one embodiment of the present application;
FIG. 3 is a schematic diagram of a desired geometry of a fleet of vehicles according to one embodiment of the present application;
FIG. 4 is an example diagram of a bi-directional driving fleet vehicle collision avoidance device in a full tidal lane segment environment according to an embodiment of the present application;
Fig. 5 is a schematic structural diagram of an electronic device according to an embodiment of the application.
The device comprises a bi-directional driving vehicle group formation meeting vehicle collision avoidance device-10, an acquisition module-100, a planning module-200, a collision avoidance module-300, a memory-501, a processor-502 and a communication interface-503.
Detailed Description
Embodiments of the present application are described in detail below, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to like or similar elements or elements having like or similar functions throughout. The embodiments described below by referring to the drawings are illustrative and intended to explain the present application and should not be construed as limiting the application.
The following describes a bi-directional traveling vehicle group formation vehicle collision avoidance method in an environment of a full tide lane section according to an embodiment of the present application with reference to the accompanying drawings. The application provides a bi-directional driving vehicle group formation collision avoidance method under the full tide lane road section environment, aiming at the problems in the background art, wherein the method comprises the steps of obtaining the current geometric structure of a full tide lane while calculating the target formation configuration of a multi-lane road scene of the full tide lane, calculating the relative driving path of each vehicle in a relative coordinate system by utilizing a preset A-x algorithm based on the target formation configuration and the current geometric structure, taking the relative driving path of a front vehicle as space-time constraint in the path planning process of a rear vehicle, planning the relative movement path inside the vehicle group, determining the formation structure change advance moment of the full tide lane based on the relative movement path inside the vehicle group, and carrying out collision avoidance according to the relative movement path inside the vehicle group when the formation structure change advance moment is reached. Therefore, traffic efficiency benefits of the vehicle group are considered integrally, collision of the vehicle group in the vehicle group and the vehicle group running in opposite directions at the junction is effectively avoided, and calculation challenges brought by model constraint of vehicles are reduced. Therefore, the problems that the related technology possibly causes deadlock, a reasonable lane change sequence cannot be obtained, traffic efficiency benefits of the vehicle group cannot be considered from the whole are solved.
Specifically, fig. 1 is a flowchart of a bi-directional driving fleet vehicle collision avoidance method in a full tide lane segment environment according to an embodiment of the present application.
As shown in fig. 1, the method for preventing collision of two-way driving vehicle group formation meeting vehicles in the full tide lane section environment comprises the following steps:
in step S101, the current geometry of the full tidal lane is acquired while calculating the target formation configuration of the multi-lane road scene of the full tidal lane.
It should be noted that, the target formation configuration, that is, the formation desired configuration, refers to a geometric configuration formed by the vehicle group after the completion of the structure switching. Embodiments of the present application may describe cluster motion, constrained vehicle behavior using a relative coordinate system of cluster motion.
It will be appreciated by those skilled in the art that embodiments of the present application may obtain the relative motion state of the vehicle with respect to the cluster by subtracting the overall motion state of the cluster from the actual absolute motion state of the vehicle. The embodiment of the application can calculate the target position coordinates of the expected configuration which can be realized by the vehicle group based on the relative coordinate system, and acquire the current geometric structure of the full tide lane, thereby realizing planning of the vehicle motion in the relative motion coordinate system and effectively reducing the calculation challenges brought by the model constraint of the vehicle.
Optionally, in one embodiment of the application, the method for obtaining the current geometry of the full tide lane while calculating the target formation configuration of the multi-lane road scene of the full tide lane comprises the steps of determining coordinate scales of a relative coordinate system, calculating the current geometry according to the current relative positions of vehicle groups, distributing the number of driving lanes for each vehicle group according to the number of vehicles in the two-way vehicle groups based on the current geometry, generating a formation expected structure according to the number of driving lanes of each vehicle group and the number of vehicles corresponding to the number of driving lanes of each vehicle group in the relative coordinate system according to an interlaced formation structure or a parallel formation structure, calculating the relative coordinates of each expected target position, and determining the target formation configuration.
In order to realize collision avoidance of two-way driving vehicle group formation meeting vehicles in the full-tide lane section environment, the expected configuration of the meeting vehicles in the full-tide lane is calculated. Embodiments of the present application may first establish a relative coordinate system of movement of a fleet of vehicles and then define relative coordinates of a target location of a desired geometry in the relative coordinate system to calculate the desired geometry based on the relative coordinate system, as follows:
S1, defining a coordinate scale of a relative coordinate system, wherein the X-axis scale can be defined by a safe longitudinal following distance, for example, the X-coordinate difference of a plurality of vehicles running in the same lane is 1;
S2, calculating an initial formation configuration according to the current relative position of the vehicle group, wherein the X coordinate of the vehicle at the forefront is 0, the Y coordinate of the vehicle at the leftmost lane is 0, namely, the origin of a coordinate system is defined, and the relative coordinate value of each vehicle in the vehicle group is calculated one by one. It should be noted that the coordinate system needs to keep integers, and all vehicles are on the same coordinate, so that the position of the vehicles is adjusted by acceleration and deceleration and lane changing before the algorithm starts, and the condition that the coordinates are the same is avoided. The current (initial) geometry of the vehicle is shown in fig. 2;
And S3, distributing the number of driving lanes for the two vehicle groups according to the number of vehicles in the two-way vehicle groups, so that lane resources are utilized to the maximum extent. For example, when the number of the bidirectional vehicles is n 1、n2 and the total number of lanes is m, only k (1 is less than or equal to k is less than or equal to m-1) is needed to be considered so that max (n 1/k,n2/(m-k)) is as small as possible, and k and m-k bidirectional lanes are respectively taken;
s4, designing a formation expected structure according to the number of lanes allocated to each vehicle group and the number of vehicles of the vehicle group in a relative coordinate system according to an interlaced formation structure or a parallel formation structure, and calculating the relative coordinates of each expected target position. An example of a desired geometry for a vehicle is shown in fig. 3.
Therefore, the embodiment of the application calculates the expected vehicle meeting configuration of the vehicles under the full tide lane based on the relative coordinate system, thereby not only reducing the calculation amount of vehicle model constraint and fully utilizing lane resources, but also providing reliable data support for switching formation structures under the subsequent meeting scenes.
In step S102, based on the target formation configuration and the current geometry, a preset a-algorithm is used to calculate a relative travel path of each vehicle in a relative coordinate system, and the relative travel path of the front vehicle is used as a space-time constraint in a path planning process of the rear vehicle, so as to plan a relative movement path inside the vehicle group.
In the relative coordinate system, the motion of the vehicle is discretized and the vehicle moves between adjacent grids, and therefore, a path planning algorithm commonly used in a grid map can be used to calculate the relative motion path of the vehicle.
Based on the obtained target formation configuration and the current geometric structure of the vehicle group, the embodiment of the application can calculate the relative running path of each vehicle in a grid relative coordinate system through an A-scale algorithm, and takes the running path result of the front vehicle as the space-time constraint in the path planning process of the rear vehicle so as to realize the switching of the formation structure under the meeting scene.
The following describes in detail the switching of the fleet configuration according to the embodiment of the present application, taking an a algorithm as an example. The specific procedure is as follows, assuming that the time spent by the vehicle moving between different coordinate points is equal:
S1, firstly, distributing the reached target position for each vehicle. The vehicle-target position distribution relation with the optimal total cost can be obtained by inputting the current position coordinates and the expected position coordinates of the vehicle group by using a Hungary algorithm, a simplex algorithm and the like and defining the grid number which needs to be passed by the distribution cost from the current position to the target position of the vehicle;
And S2, sequentially planning the relative motion paths of the vehicles by using an A-type algorithm according to the sequence from front to back in the vehicle group. For the vehicle which is planned, the position of the vehicle at different moments can be the position constraint of the vehicle which is planned after the vehicle, namely the space-time movement relation of different vehicles is limited, the vehicles are prevented from reaching the same coordinate point at the same moment, and therefore collision is avoided.
It can be understood that the embodiment of the application reasonably plans the motion path of each vehicle in the vehicle group by switching the vehicle group formation structure based on the A-algorithm, thereby effectively avoiding the collision in the vehicle group when the vehicle group is switched in the formation structure and ensuring the driving safety.
In step S103, the formation structure change advance time of the full-tide lane is determined based on the relative movement path inside the vehicle group, and when the formation structure change advance time is reached, a collision avoidance is performed according to the relative movement path inside the vehicle group.
After the motion path of each vehicle in the vehicle group is reasonably planned, further, the embodiment of the application can determine the formation structure change advanced time of the full tide lane based on the relative motion path in the vehicle group, and can avoid collision according to the relative motion path in the vehicle group when the formation structure change advanced time is reached, thereby effectively avoiding the condition of disordered priority in the same vehicle group and improving traffic efficiency.
Optionally, in one embodiment of the application, determining the formation change advance time of the full tidal lane includes determining a longest path from the relative motion paths, and determining the formation change advance time from the longest path by calculating the time required for the adjustment of the current fleet of vehicles.
The timing of the change in the formation structure is the timing when the group starts to switch the formation structure when the distance and the length of time between the group and the group traveling in the opposite direction are equal to each other.
In the relative coordinate system, assuming that the time intervals used when the vehicles move between different coordinate points are the same, after the relative movement paths inside the vehicle group are planned, the embodiment of the application can calculate the time required by the vehicle group adjusting structure based on the longest path by calculating the vehicle with the longest relative movement path (the longest time for completing the relative path) in all vehicles in the vehicle group and taking the movement time as the time for advancing the change of the formation structure, thereby ensuring that the vehicle group can complete the structure switching before reaching the junction, and effectively avoiding the collision of the vehicle group running in opposite directions at the junction.
Optionally, in one embodiment of the application, determining the formation change advance time comprises calculating adjustment structure required time of two vehicle groups driving in the forward and reverse directions respectively, and calculating the formation change advance time based on the adjustment structure required time by reversing from the intersection time.
The embodiment of the application can calculate the time required by the vehicle group adjusting structure based on the longest path, and can push back from the intersection time after calculating the time required by two vehicle groups running positively and negatively respectively, thereby calculating the formation structure change advanced time under the meeting scene.
Therefore, the embodiment of the application can reasonably guide the bi-directional driving vehicle group under the full tide lane section environment, avoid collision of the opposite driving vehicle group at the junction caused by occupying the same lane, powerfully ensure driving safety and improve traffic efficiency.
According to the bi-directional driving vehicle group formation collision avoidance method under the full tide lane road section environment, the current geometric structure of the full tide lane is obtained while the target formation configuration of a multi-lane road scene of the full tide lane is calculated, the relative driving paths of vehicles are calculated in a relative coordinate system by using a preset A-algorithm based on the target formation configuration and the current geometric structure, the relative driving paths of the front vehicles are used as space-time constraints in the path planning process of the rear vehicles, the relative movement paths inside the vehicle group are planned, the formation structure change advance time of the full tide lane is determined based on the relative movement paths inside the vehicle group, and the collision avoidance is carried out according to the relative movement paths inside the vehicle group when the formation structure change advance time is reached. Therefore, traffic efficiency benefits of the vehicle group are considered integrally, collision of the vehicle group in the vehicle group and the vehicle group running in opposite directions at the junction is effectively avoided, and calculation challenges brought by model constraint of vehicles are reduced.
Next, a bi-directional driving fleet formation collision avoidance device in an all-tidal lane segment environment according to an embodiment of the present application will be described with reference to the accompanying drawings.
Fig. 4 is a block schematic diagram of a bi-directional driving fleet meeting collision avoidance device in the context of full tidal lane segments according to an embodiment of the present application.
As shown in fig. 4, the bi-directional traveling vehicle group formation meeting collision avoidance device 10 in the full tide lane section environment includes an acquisition module 100, a planning module 200, and a collision avoidance module 300.
Wherein, the obtaining module 100 is configured to obtain the current geometry of the full tidal lane while calculating the target formation configuration of the multi-lane road scene of the full tidal lane.
The planning module 200 is configured to calculate, based on the target formation configuration and the current geometry, a relative travel path of each vehicle in a relative coordinate system by using a preset a-algorithm, and plan a relative motion path inside the vehicle group by using the relative travel path of the front vehicle as a space-time constraint in a path planning process of the rear vehicle.
The collision avoidance module 300 is configured to determine a formation structure change advance time of the full tide lane based on a relative motion path inside the vehicle group, and when the formation structure change advance time is reached, perform vehicle meeting collision avoidance according to the relative motion path inside the vehicle group.
Optionally, in one embodiment of the present application, the acquisition module 100 includes a first determination unit, a first calculation unit, an allocation unit, and a generation unit.
Wherein, the first determining unit is used for determining the coordinate scale of the relative coordinate system.
The first calculating unit is used for calculating the current geometric structure according to the current relative position of the vehicle group.
And the distribution unit is used for distributing the number of driving lanes to each vehicle group according to the number of vehicles in the bidirectional vehicle group based on the current geometric structure.
The generating unit is used for generating a formation expected structure according to the number of vehicles corresponding to the number of driving lanes of each vehicle group in a relative coordinate system according to the staggered formation structure or the parallel formation structure, calculating the relative coordinate of each expected target position and determining the target formation configuration.
Alternatively, in one embodiment of the present application, collision avoidance module 300 includes a second determination unit and a third determination unit.
Wherein the second determining unit is used for determining the longest path according to the relative motion path.
And the third determining unit is used for calculating the time required by the adjustment structure of the current vehicle group according to the longest path and determining the change advance moment of the formation structure.
Optionally, in one embodiment of the present application, collision avoidance module 300 further includes a second computing unit and a third computing unit.
The second calculation unit is used for calculating the time required by the adjustment structures of the two vehicle groups which run forward and backward respectively.
And the third calculation unit is used for carrying out backward pushing from the intersection time based on the time required by the adjustment structure and calculating the formation structure change advance time.
It should be noted that the explanation of the embodiment of the method for preventing collision of two-way driving group formation vehicles in the full-tide lane section environment is also applicable to the device for preventing collision of two-way driving group formation vehicles in the full-tide lane section environment, and is not repeated here.
According to the bi-directional driving vehicle group formation collision avoidance device under the full tide lane road section environment, the current geometric structure of the full tide lane is obtained while the target formation configuration of a multi-lane road scene of the full tide lane is calculated, the relative driving paths of vehicles are calculated in a relative coordinate system by using a preset A-algorithm based on the target formation configuration and the current geometric structure, the relative driving paths of the front vehicles are used as space-time constraints in the path planning process of the rear vehicles, the relative movement paths inside the vehicle group are planned, the formation structure change advance time of the full tide lane is determined based on the relative movement paths inside the vehicle group, and collision avoidance is carried out according to the relative movement paths inside the vehicle group when the formation structure change advance time is reached. Therefore, traffic efficiency benefits of the vehicle group are considered integrally, collision of the vehicle group in the vehicle group and the vehicle group running in opposite directions at the junction is effectively avoided, and calculation challenges brought by model constraint of vehicles are reduced.
Fig. 5 is a schematic structural diagram of an electronic device according to an embodiment of the present application. The electronic device may include:
memory 501, processor 502, and a computer program stored on memory 501 and executable on processor 502.
The processor 502, when executing the program, implements the bi-directional driving fleet vehicle collision avoidance method in the full tidal lane section environment provided in the above embodiments.
Further, the electronic device further includes:
A communication interface 503 for communication between the memory 501 and the processor 502.
Memory 501 for storing a computer program executable on processor 502.
The memory 501 may include high-speed RAM memory and may also include non-volatile memory (non-volatile memory), such as at least one disk memory.
If the memory 501, the processor 502, and the communication interface 503 are implemented independently, the communication interface 503, the memory 501, and the processor 502 may be connected to each other via a bus and perform communication with each other. The bus may be an industry standard architecture (Industry Standard Architecture, abbreviated ISA) bus, an external device interconnect (PERIPHERAL COMPONENT, abbreviated PCI) bus, or an extended industry standard architecture (Extended Industry Standard Architecture, abbreviated EISA) bus, among others. The buses may be divided into address buses, data buses, control buses, etc. For ease of illustration, only one thick line is shown in fig. 5, but not only one bus or one type of bus.
Alternatively, in a specific implementation, if the memory 501, the processor 502, and the communication interface 503 are integrated on a chip, the memory 501, the processor 502, and the communication interface 503 may perform communication with each other through internal interfaces.
The processor 502 may be a central processing unit (Central Processing Unit, abbreviated as CPU), or an Application SPECIFIC INTEGRATED Circuit (ASIC), or one or more integrated circuits configured to implement embodiments of the application.
The present embodiment also provides a computer-readable storage medium having stored thereon a computer program which, when executed by a processor, implements the bi-directional driving fleet formation collision avoidance method under the full tidal lane section environment as above.
In the description of the present specification, a description referring to terms "one embodiment," "some embodiments," "examples," "specific examples," or "some examples," etc., means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the present application. In this specification, schematic representations of the above terms are not necessarily directed to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or N embodiments or examples. Furthermore, the different embodiments or examples described in this specification and the features of the different embodiments or examples may be combined and combined by those skilled in the art without contradiction.
Furthermore, the terms "first," "second," and the like, are used for descriptive purposes only and are not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include at least one such feature. In the description of the present application, "N" means at least two, for example, two, three, etc., unless specifically defined otherwise.
Any process or method descriptions in flow charts or otherwise described herein may be understood as representing modules, segments, or portions of code which include one or more executable instructions for implementing specific logical functions or steps of the process, and additional implementations are included within the scope of the preferred embodiment of the present application in which functions may be executed out of order from that shown or discussed, including substantially concurrently or in reverse order from that shown or discussed, depending on the functionality involved, as would be understood by those reasonably skilled in the art of the embodiments of the present application.
Logic and/or steps represented in the flowcharts or otherwise described herein, e.g., a ordered listing of executable instructions for implementing logical functions, can be embodied in any computer-readable medium for use by or in connection with an instruction execution system, apparatus, or device, such as a computer-based system, processor-containing system, or other system that can fetch the instructions from the instruction execution system, apparatus, or device and execute the instructions. For the purposes of this description, a "computer-readable medium" can be any means that can contain, store, communicate, propagate, or transport the program for use by or in connection with the instruction execution system, apparatus, or device. More specific examples (a non-exhaustive list) of the computer-readable medium would include an electrical connection (an electronic device) having one or more wires, a portable computer diskette (a magnetic device), a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber device, and a portable compact disc read-only memory (CDROM). In addition, the computer readable medium may even be paper or other suitable medium on which the program is printed, as the program may be electronically captured, via optical scanning of the paper or other medium, then compiled, interpreted or otherwise processed in a suitable manner if necessary, and then stored in a computer memory.
It is to be understood that portions of the present application may be implemented in hardware, software, firmware, or a combination thereof. In the above-described embodiments, the N steps or methods may be implemented in software or firmware stored in a memory and executed by a suitable instruction execution system. If implemented in hardware as in another embodiment, may be implemented using any one or combination of techniques known in the art, discrete logic circuits with logic gates for implementing logic functions on data signals, application specific integrated circuits with appropriate combinational logic gates, programmable Gate Arrays (PGAs), field Programmable Gate Arrays (FPGAs), etc.
Those of ordinary skill in the art will appreciate that all or a portion of the steps carried out in the method of the above-described embodiments may be implemented by a program to instruct related hardware, where the program may be stored in a computer readable storage medium, and where the program, when executed, includes one or a combination of the steps of the method embodiments.
In addition, each functional unit in the embodiments of the present application may be integrated in one processing module, or each unit may exist alone physically, or two or more units may be integrated in one module. The integrated modules may be implemented in hardware or in software functional modules. The integrated modules may also be stored in a computer readable storage medium if implemented in the form of software functional modules and sold or used as a stand-alone product.
The above-mentioned storage medium may be a read-only memory, a magnetic disk or an optical disk, or the like. While embodiments of the present application have been shown and described above, it will be understood that the above embodiments are illustrative and not to be construed as limiting the application, and that variations, modifications, alternatives and variations may be made to the above embodiments by one of ordinary skill in the art within the scope of the application.
Claims (4)
1. The bi-directional driving vehicle group formation meeting vehicle collision avoidance method under the full tide lane section environment is characterized by comprising the following steps of:
Calculating a target formation configuration of a multi-lane road scene of a full tide lane and simultaneously acquiring a current geometric structure of the full tide lane;
Calculating the relative running path of each vehicle in a relative coordinate system by utilizing a preset A-algorithm based on the target formation configuration and the current geometric structure, taking the relative running path of the front vehicle as the space-time constraint in the path planning process of the rear vehicle, and planning the relative movement path inside the vehicle group, and
Determining a formation structure change advanced time of the full tide lane based on a relative motion path inside a vehicle group, and carrying out vehicle meeting collision avoidance according to the relative motion path inside the vehicle group when the formation structure change advanced time is reached;
The calculating the target formation configuration of the multi-lane road scene of the full tide lane and simultaneously obtaining the current geometric structure of the full tide lane comprises the following steps:
determining a coordinate scale of the relative coordinate system;
Calculating the current geometric structure according to the current relative position of the vehicle group;
Based on the current geometric structure, distributing the number of driving lanes for each vehicle group according to the number of vehicles in the bidirectional vehicle group;
Generating a formation expected structure according to the number of vehicles corresponding to the number of driving lanes of each vehicle group in the relative coordinate system according to a staggered formation structure or a parallel formation structure, calculating the relative coordinate of each expected target position, and determining the target formation configuration;
The determining the formation structure change advance time of the full tide lane comprises the following steps:
determining a longest path according to the relative motion path;
calculating the time required by the adjustment structure of the current vehicle group according to the longest path, and determining the change advance moment of the formation structure;
The determining the formation structure change advance time comprises the following steps:
Respectively calculating the time required by the adjustment structures of the two vehicle groups which run forward and backward;
And back-pushing from the intersection time based on the time required by the adjusting structure, and calculating the formation structure change advance time.
2. The utility model provides a bi-directional driving car crowd formation meeting car collision avoidance device under full tide lane highway section environment which characterized in that includes:
the system comprises an acquisition module, a calculation module and a calculation module, wherein the acquisition module is used for acquiring the current geometric structure of the full tide lane while calculating the target formation configuration of a multi-lane road scene of the full tide lane;
A planning module for calculating the relative running path of each vehicle in a relative coordinate system by using a preset A-x algorithm based on the target formation configuration and the current geometric structure, taking the relative running path of the front vehicle as the space-time constraint in the path planning process of the rear vehicle, and planning the relative movement path in the vehicle group, and
The collision avoidance module is used for determining the formation structure change advanced time of the full tide lane based on the relative motion path in the vehicle group, and carrying out vehicle meeting collision avoidance according to the relative motion path in the vehicle group when the formation structure change advanced time is reached;
the acquisition module comprises:
A first determining unit configured to determine a coordinate scale of the relative coordinate system;
the first calculation unit is used for calculating the current geometric structure according to the current relative position of the vehicle group;
The distribution unit is used for distributing the number of driving lanes for each vehicle group according to the number of vehicles in the bidirectional vehicle group based on the current geometric structure;
The generation unit is used for generating a formation expected structure according to the number of vehicles corresponding to the number of driving lanes of each vehicle group in the relative coordinate system according to a staggered formation structure or a parallel formation structure, calculating the relative coordinate of each expected target position and determining the target formation configuration;
the collision avoidance module includes:
A second determining unit configured to determine a longest path according to the relative motion path;
the third determining unit is used for calculating the time required by the adjustment structure of the current vehicle group according to the longest path and determining the change advance moment of the formation structure;
The collision avoidance module further includes:
the second calculation unit is used for calculating the time required by the adjustment structures of the two vehicle groups which run forward and backward respectively;
And the third calculation unit is used for carrying out backward pushing from the intersection time based on the time required by the adjustment structure and calculating the formation structure change advance time.
3. An electronic device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, the processor executing the program to implement the bi-directional driving fleet vehicle collision avoidance method in the full tidal lane section environment of claim 1.
4. A computer-readable storage medium having stored thereon a computer program for execution by a processor for implementing the bi-directional driving fleet vehicle collision avoidance method in a full tidal lane segment environment of claim 1.
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| CN110798821A (en) * | 2019-09-12 | 2020-02-14 | 腾讯科技（深圳）有限公司 | Vehicle formation method and device and electronic equipment |
| CN112130582A (en) * | 2020-09-10 | 2020-12-25 | 北京理工大学 | Multi-agent formation forming method |
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| US11550325B2 (en) * | 2020-06-10 | 2023-01-10 | Nvidia Corp. | Adversarial scenarios for safety testing of autonomous vehicles |
| CN114578825A (en) * | 2022-03-07 | 2022-06-03 | 清华大学 | Multi-vehicle collaborative transverse and longitudinal combined motion planning method and device based on relative coordinates |
| CN114399125B (en) * | 2022-03-24 | 2022-07-12 | 清华大学 | Fleet optimal trajectory control method, device, electronic device and storage medium |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN110798821A (en) * | 2019-09-12 | 2020-02-14 | 腾讯科技（深圳）有限公司 | Vehicle formation method and device and electronic equipment |
| CN112130582A (en) * | 2020-09-10 | 2020-12-25 | 北京理工大学 | Multi-agent formation forming method |
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