CN113947889B - Pedestrian crossing control method for automatic driving intersection - Google Patents
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Abstract
Description
Translated fromChinese技术领域technical field
本发明属于智能交通控制领域，涉及城市交叉口针对自动驾驶场景下行人过街的交通管控技术领域。The invention belongs to the field of intelligent traffic control, and relates to the technical field of traffic management and control for pedestrians crossing the street in an automatic driving scenario at an urban intersection.
背景技术Background technique
自动驾驶技术是未来交通发展的趋势，对于自动驾驶车辆的交叉口控制方法是当今的研究热点，但同时也是难点，尤其是同时考虑自动驾驶车辆通行和行人过街的情况。已有许多研究表明，在自动驾驶环境下，交通控制对象面对车辆个体或车队，避免车辆之间在交叉口发生冲突，可以实现车辆相互协作穿插地通行交叉口，无需信号控制，但大多研究未考虑该模式下行人的过街问题。若行人仍按现有的无信号交叉口过街让行规则通行，自动驾驶车辆的通行轨迹和行人的过街轨迹将存在大量且随机的冲突点，使得交叉口的交通运行存在极大的安全隐患。因此，如何在自动驾驶场景下利用交通控制手段使得行人安全、高效地通过交叉口是本专利需解决的问题。Autonomous driving technology is the trend of future traffic development. The intersection control method for autonomous vehicles is a research hotspot today, but it is also a difficult point, especially considering the situation of autonomous vehicles passing and pedestrians crossing the street at the same time. Many studies have shown that in the autonomous driving environment, the traffic control object faces individual vehicles or teams to avoid conflicts between vehicles at intersections, and vehicles can cooperate with each other to pass through intersections without signal control. The pedestrian crossing problem in this mode is not considered. If pedestrians still follow the existing rules for crossing the street at unsignaled intersections, there will be a large number of random conflict points between the passing trajectories of autonomous vehicles and pedestrians crossing the street, making the traffic operation at the intersection a great safety hazard. Therefore, how to use traffic control means to make pedestrians safely and efficiently pass through an intersection in an automatic driving scenario is a problem to be solved by this patent.
因此，本发明提出一种自动驾驶场景下行人过街控制方法，根据行人的过街需求量和车辆的通行需求量确定各流向行人和车辆的权重，为权重较大的流向即交叉口需求更大的流向提供相对长的通行时间，提高交叉口的利用率。如何动态计算行人和车辆的需求量，为车辆和行人分配通行时间，避免车辆之间、车辆与过街行人之间在交叉口内部的冲突，且充分利用交叉口的时空资源，是本专利重点解决的问题。Therefore, the present invention proposes a pedestrian crossing control method in an automatic driving scenario. The weight of each flow direction pedestrian and vehicle is determined according to the pedestrian crossing demand and the vehicle passing demand, and the flow direction with a larger weight, that is, the intersection with a larger demand. The flow direction provides relatively long transit times and improves the utilization of the intersection. How to dynamically calculate the demand of pedestrians and vehicles, allocate passing time for vehicles and pedestrians, avoid conflicts between vehicles, vehicles and pedestrians crossing the street in the intersection, and make full use of the time and space resources of the intersection, is the key solution of this patent. The problem.
发明内容SUMMARY OF THE INVENTION
技术问题：针对现有对自动驾驶交叉口行人过街研究的不足，本发明的目的是提供一种自动驾驶交叉口行人过街方法，同时考虑行人和车辆在交叉口的通行安全和效率，通过建立交通控制模型协调车辆和行人的通行。Technical problem: Aiming at the deficiencies of the existing research on pedestrian crossing at automatic driving intersections, the purpose of the present invention is to provide an automatic driving method for pedestrian crossing at intersections, while considering the safety and efficiency of pedestrians and vehicles at the intersection, by establishing traffic The control model coordinates the passage of vehicles and pedestrians.
技术方案：为解决上述技术问题，本发明的方法，包括如下步骤：Technical scheme: in order to solve the above-mentioned technical problems, the method of the present invention comprises the following steps:
步骤1：采集交叉口的基本物理参数，包括交叉口大小、车道数、车道宽度；将研究时段划分为等距的时间窗，每个时间窗的长度为T；输入现状交通相关参数，包括：用i表示交叉口进口方向，用j表示出口方向，i∈{E，S，W，N}，j∈{E，S，W，N}，E，S，W，N分别表示东、南、西、北；用i→j表示车辆由i进口方向驶向j出口方向；用qi→j(t)表示第t个时间窗车辆流向i→j的交通需求量，单位为辆；用di→j(t)表示第t个时间窗，交叉口i进口方向驶向j出口方向的车辆到达数，单位为辆；用ci→j表示由i进口驶向j出口的车道通行能力，单位为辆/小时；用a表示行人到达交叉口的位置，用b表示行人过街的目标位置，a∈{A，B，C，D}，b∈{A，B，C，D}，A，B，C，D分别表示交叉口的西北角、西南角、东南角、东北角；用k表示人行横道；用
步骤2：动态预测交叉口各进口道的交通需求量和各方向的行人需求量，并根据车辆需求量和行人过街需求量确定各流向的权重，建立通行能力和绿灯时间的约束条件，包括如下步骤：Step 2: Dynamically predict the traffic demand of each entrance of the intersection and the pedestrian demand in each direction, and determine the weight of each flow direction according to the vehicle demand and pedestrian crossing demand, and establish the constraints of traffic capacity and green light time, including the following step:
步骤21：第t+1个时间窗，交叉口由i进口方向驶向j出口方向的交通需求量qi→j(t+1)的计算如公式(1)所示；第t个时间窗，车辆由i进口驶向j出口的实际交通量yi→j(t)满足公式(2)约束：Step 21: In the t+1th time window, the calculation of the traffic demand qi→j (t+1) of the intersection from the entrance direction of i to the exit direction of j is shown in formula (1); the tth time window , the actual traffic volume yi→j (t) of the vehicle from the entrance of i to the exit of j satisfies the constraint of formula (2):
qi→j(t+1)＝qi→j(t)+di→j(t)-yi→j(t) (1)qi→j (t+1)=qi→j (t)+di→j (t)-yi→j (t) (1)
yi→j(t)＝min{ci→j·si→j(t)，qi→j(t)} (2)yi→j (t)=min{ci→j ·si→j (t), qi→j (t)} (2)
公式(1)中，yi→j(t)为第t个时间窗，由进口方向i行驶到出口方向j的实际交通量，单位为辆，qi→j(t)为第t个时间窗，交叉口由i进口方向驶向j出口方向的交通需求量；公式(2)中，si→j(t)为第t个时间窗，由进口i驶向出口j的车辆允许通行的时间比例；In formula (1), yi→j (t) is the t-th time window, the actual traffic volume from the entrance direction i to the exit direction j, the unit is vehicle, and qi→j (t) is the t-th time window window, the traffic demand of the intersection from the entrance of i to the exit of j; in formula (2), si→j (t) is the t-th time window, and the vehicles traveling from the entrance i to the exit j are allowed to pass. time scale;
第t+1个时间窗，对于位置点a到位置点b的有过街需求的行人，从最近一次绿灯放行结束到当前时间段的红灯时间用τa→b(t+1)来表示，单位为秒，如公式(3)所示；In the t+1th time window, for pedestrians who need to cross the street from point a to point b, the red light time from the end of the latest green light release to the current time period is represented by τa→b (t+1), The unit is seconds, as shown in formula (3);
公式(3)中，由位置点a到位置点b的行人信号灯状态用Sa→b(t)表示，Sa→b(t)＝1表示位置点a→b的行人信号灯为绿灯，Sa→b(t)＝0表示位置点a→b的行人信号灯为红灯，每个时间窗内行人信号灯只能是绿灯或者是红灯；Qa→b(t)表示第t个时间窗，从位置点a到位置点b的行人过街需求量；In formula (3), the state of the pedestrian signal light from the position point a to the position point b is represented by Sa→b (t), and Sa→b (t)=1 indicates that the pedestrian signal light at the position point a→b is green, Sa→b (t)=1a→b (t)=0 indicates that the pedestrian signal at the location point a→b is red, and the pedestrian signal can only be green or red in each time window; Qa→b (t) represents the t-th time window , the pedestrian crossing demand from location point a to location point b;
第t个时间窗，位置点a→b的行人需求量Da→b(t)等于行人到达率
位置点a到位置点b的行人过街采用二次过街的方式，分为两个阶段，第一阶段行人过街数量满足公式(5)约束：The pedestrian crossing from location point a to location point b adopts the method of secondary crossing, which is divided into two stages. The number of pedestrians crossing the street in the first stage satisfies the constraint of formula (5):
Ya→b，1(t)＝min{Ck·Sa→b，1(t)，Qa→b，1(t)} (5)Ya→b, 1 (t)=min{Ck ·Sa→b ,1 (t), Qa→b, 1 (t)} (5)
公式(5)中，Ya→b，1(t)表示第t个时间窗，由交叉口位置点a到位置点b第一阶段的实际过街行人数；Sa→b，1(t)表示第t个时间窗，由位置点a到位置点b第一阶段的行人信号灯状态，Sa→b，1(t)＝1表示该处行人信号灯为绿灯，Sa→b，1(t)＝0表示该处行人信号灯为红灯；Qa→b，1(t)表示第t个时间窗，由位置点a到位置点b第一阶段行人过街的需求量；In formula (5), Ya→b, 1 (t) represents the t-th time window, the actual number of pedestrians crossing the street in the first stage from the intersection position point a to the position point b; Sa→b, 1 (t) Represents the t-th time window, the state of the pedestrian signal in the first stage from the position point a to the position pointb. ) = 0 indicates that the pedestrian signal light is red; Qa→ b, 1 (t) indicates the t-th time window, the demand for pedestrians crossing the street in the first stage from position point a to position point b;
第t+1个时间窗，位置点a到位置点b第一阶段行人过街的需求量Qa→b，1(t+1)如公式(6)所示：In the t+1th time window, the first-stage demand for pedestrians crossing the street from point a to point b Qa→b, 1 (t+1) is shown in formula (6):
Qa→b，1(t+1)＝Qa→b，1(t)+Da→b(t)-Ya→b，1(t) (6)Qa→b, 1 (t+1)=Qa→b, 1 (t)+Da→b (t)-Ya→b, 1 (t) (6)
第二阶段行人过街数量Ya→b，2(t)满足公式(7)约束：In the second stage, the number of pedestrians crossing the street Ya→b, 2 (t) satisfies the constraint of formula (7):
Ya→b，2(t)＝min{Ck·Sa→b，2(t)，Qa→b，2(t)} (7)Ya→b, 2 (t)=min{Ck ·Sa→b, 2 (t), Qa→b, 2 (t)} (7)
公式(7)中，Ya→b，2(t)表示第t个时间窗，由交叉口位置点a到位置点b第二阶段的实际过街行人数；Sa→b，2(t)表示第t个时间窗，由位置点a到位置点b第二阶段的行人信号灯状态，Sa→b，2(t)＝1表示该行人信号灯为绿灯，Sa→b，2(t)＝0表示该行人信号灯为红灯；Qa→b，2(t)表示第t个时间窗，由位置点a到位置点b第二阶段行人过街的需求量；In formula (7), Ya→b, 2 (t) represents the t-th time window, the actual number of pedestrians crossing the street in the second stage from the intersection position point a to the position point b; Sa→b, 2 (t) Represents the t-th time window, the state of the pedestrian signal in the second stage from the position point a to the position point b, Sa→b, 2 (t)=1 indicates that the pedestrian signal is green, Sa→b, 2 (t) =0 indicates that the pedestrian signal light is red; Qa→b, 2 (t) indicates the t-th time window, the demand for pedestrians crossing the street in the second stage from position point a to position point b;
第t+1个时间窗，位置点a到位置点b第二阶段行人过街的需求量Qa→b，2(t+1)如公式(8)所示：In the t+1 th time window, the demand for pedestrians crossing the street Qa→ b in the second stage from location point a to location point b, 2 (t+1) is shown in formula (8):
Qa→b，2(t+1)＝Qa→b，1(t)+Ya→b，1(t)-Ya→b，2(t) (8)Qa→b, 2 (t+1) = Qa→b, 1 (t)+Ya→b, 1 (t)-Ya→b, 2 (t) (8)
步骤22：设置第t个时间窗的车辆权重wi→j(t)等于交通需求量乘以权重系数，交通需求量越大的流向将获得越多的通行权，如公式(9)所示：Step 22: Set the vehicle weight wi→j (t) of the t-th time window equal to the traffic demand multiplied by the weight coefficient, and the flow direction with the greater traffic demand will obtain more right of way, as shown in formula (9) :
wi→j(t)＝λqi→j(t) (9)wi→j (t)=λqi→j (t) (9)
公式(9)中，λ为权重系数；In formula (9), λ is the weight coefficient;
行人过街的权重设置需考虑人行横道两端的行人，第t个时间窗第k条人行横道的行人过街权重用Wk(t)表示，如公式(10)所示；The weight setting of pedestrians crossing the street needs to consider the pedestrians at both ends of the crosswalk, and the pedestrian crossing weight of the kth crosswalk in the t-th time window is represented by Wk (t), as shown in formula (10);
Wk(t)＝(1-λ)(Qa→b，1(t)+Qb→a，2(t)) (10)Wk (t)=(1-λ)(Qa→b, 1 (t)+Qb→a, 2 (t)) (10)
步骤23：为保障交叉口的时空资源能被最大限度利用，限制第t时间段流向i→j允许通行的车辆数yi→j(t)，使其不超过进口道上目前的车辆需求量qi→j(t)，满足公式(11)约束；当行人信号灯亮绿灯，且车辆运行轨迹与人行横道相互交叉时，该流向车辆不允许通行；当行人信号灯亮绿灯，且车辆运行轨迹与人行横道无冲突时，该流向实际交通量应受限于其通行能力，满足公式(12)约束；Step 23: In order to ensure that the time and space resources of the intersection can be utilized to the maximum, limit the number of vehicles yi→j (t) that flow to i→j in the t-th time period, so that it does not exceed the current vehicle demand q on the entrance roadi→j (t), which satisfies the constraint of formula (11); when the pedestrian signal light is green and the vehicle running track intersects with the pedestrian crossing, the vehicle in this direction is not allowed to pass; when the pedestrian signal light is green, and the vehicle running track and the pedestrian crossing are not In the event of conflict, the actual traffic volume in this direction should be limited by its capacity, which satisfies the constraint of formula (12);
0≤yi→j(t)≤qi→j(t) (11)0≤y i→j (t)≤qi→j (t) (11)
公式(11)中，
为避免同时到达交叉口的机动车之间发生冲突，控制车辆放行时，存在冲突的相位在单位时间内允许通行的时间比例之和不能超过1，而不存在冲突的相位此时可以一起放行；将存在冲突的相位归为一个集合，r1，r2，r3，r4表示四个包含冲突相位的集合；E、W、S、N表示东、西、南、北四个方向，如公式(13)-(16)所示；In order to avoid conflicts between motor vehicles arriving at the intersection at the same time, when controlling the vehicle to release, the sum of the time ratios of the phases with conflicts that are allowed to pass per unit time cannot exceed 1, and the phases without conflicts can be released together at this time; Group the conflicting phases into a set, r1 , r2 , r3 , r4 represent four sets containing conflicting phases; E, W, S, N represent four directions of east, west, south, and north, such as Formulas (13)-(16) are shown;
r1＝{N→E,S→N,E→S,W→E} (13)r1 ={N→E,S→N,E→S,W→E} (13)
r2＝{N→E,S→N,W→N,E→W} (14)r2 = {N→E, S→N, W→N, E→W} (14)
r3＝{E→S,W→E,S→W,N→S} (15)r3 ={E→S,W→E,S→W,N→S} (15)
r4＝{S→W,N→S,W→N,E→W} (16)r4 = {S→W, N→S, W→N, E→W} (16)
在同一冲突集合内的流向在单位时间内允许运行的时间比例和不应超过100％，而不在同一冲突集合的流向能够一起放行，满足公式(17)-(20)约束。The proportion of time allowed to run in the same conflict set should not exceed 100%, and the flows not in the same conflict set can be released together, satisfying the constraints of formulas (17)-(20).
步骤3：根据行人过街和车辆通行的权重，以此刻交叉口各流向权重与该流向的流量乘积之和为目标，优化获得每辆车以及行人过街的配时方案，目标函数如公式(21)所示；Step 3: According to the weights of pedestrians crossing the street and vehicles, taking the sum of the product of the weight of each flow direction at the intersection and the flow of the flow direction as the goal, optimize the timing plan for each vehicle and pedestrian crossing the street. The objective function is as formula (21) shown;
max∑i→jwi→j(t)·yi→j(t)+∑kWk(t)·Sk(t)·Ck (21)max∑i→j wi→j (t) yi→j (t)+∑k Wk (t) Sk (t) Ck (21)
有益效果：本发明与现有技术相比，具有以下优点：Beneficial effect: Compared with the prior art, the present invention has the following advantages:
本发明能在自动驾驶场景下，利用行人信号灯红灯时间乘以行人到达率的方法得到行人过街需求量，并根据车辆需求量和行人过街需求量确定各流向的车辆和行人权重，以交叉口各流向车辆和行人的权重与该流向车辆和行人的流量乘积之和最大为目标，能根据交叉口实时通行需求来分配时空资源，有利于提高交叉口通行效益。In the automatic driving scenario, the invention can obtain the pedestrian crossing demand by multiplying the pedestrian arrival rate by the red light time of the pedestrian signal, and determine the weights of vehicles and pedestrians in each direction according to the vehicle demand and the pedestrian crossing demand. The goal is to maximize the sum of the product of the weights of vehicles and pedestrians in each direction and the flow of vehicles and pedestrians in the direction, which can allocate space-time resources according to the real-time traffic demand of the intersection, which is beneficial to improve the traffic efficiency of the intersection.
附图说明Description of drawings
图1为本发明方法的流程图；Fig. 1 is the flow chart of the method of the present invention;
图2为十字交叉口行人过街示意图；Figure 2 is a schematic diagram of pedestrians crossing the street at an intersection;
图3为相位结构示意图；3 is a schematic diagram of a phase structure;
图4为人行横道编号示意图。Figure 4 is a schematic diagram of pedestrian crossing numbering.
具体实施方式Detailed ways
下面结合附图1-4和实施例，对本发明作进一步解释说明，但本发明的实施方式不限于此。本发明的实施方式并不受所述实施例的限制，其他的任何未背离本发明的精神实质与原理下所作的改变、修饰、替代、组合、简化，均应为等效的置换方式，都包含在本发明的保护范围之内。The present invention will be further explained below with reference to the accompanying drawings 1-4 and the examples, but the embodiments of the present invention are not limited thereto. The embodiments of the present invention are not limited by the examples, and any other changes, modifications, substitutions, combinations, and simplifications made without departing from the spirit and principle of the present invention should be equivalent substitution methods. Included in the protection scope of the present invention.
一种自动驾驶交叉口行人过街控制方法，所述步骤如下：An automatic driving intersection pedestrian crossing control method, the steps are as follows:
步骤1：采集交叉口的基本物理参数，包括交叉口大小、车道数、车道宽度，输入现状交通相关参数，包括交叉口各进口道的现状交通需求量，及交叉口四个角落的行人到达率等；Step 1: Collect the basic physical parameters of the intersection, including the size of the intersection, the number of lanes, and the width of the lane, and input the current traffic-related parameters, including the current traffic demand of each entrance at the intersection, and the pedestrian arrival rate at the four corners of the intersection. Wait;
步骤2：动态预测交叉口各进口道的交通需求量和各方向的行人需求量，并根据车辆需求量和行人过街需求量确定各流向车辆和行人的权重，建立通行能力和绿灯时间的约束条件；Step 2: Dynamically predict the traffic demand of each entrance at the intersection and the demand of pedestrians in all directions, and determine the weights of vehicles and pedestrians in each direction according to the demand of vehicles and the demand of pedestrians crossing the street, and establish constraints on traffic capacity and green light time ;
步骤3：考虑行人在交叉口的二次过街，以交叉口各流向车辆和行人的权重与该流向车辆和行人的流量乘积之和最大为目标，优化获得行人过街的交通控制方案。Step 3: Consider the secondary crossing of pedestrians at the intersection, with the goal of maximizing the sum of the product of the weights of vehicles and pedestrians in each direction at the intersection and the flow of vehicles and pedestrians in that direction, and optimize the traffic control scheme for pedestrians crossing the street.
步骤1采集的信息作为控制模型的输入，采集交叉口的基本信息，在实施例中，交叉口为正交十字交叉口，双向六车道，各方向进口和出口各有三条车道，分别为左转、直行、右转，车道宽为3.0米；人行横道长度为18.0米，宽度为5.0米；以30秒为一个时间窗，共划分八个时间窗；输入现状交通相关参数，交叉口各进口道现状车辆通行需求量如表1所示：The information collected in
表1实施例中现状车辆通行需求量The current vehicle traffic demand in the embodiment of Table 1
步骤21根据公式(1)-(2)动态预测交叉口各进口道车辆的交通需求量，并根据公式(3)-(8)动态预测各位置点以及安全岛的行人过街需求量；在实施例中，各位置点行人到达率如表2所示，单位为人/分钟：Step 21 dynamically predicts the traffic demand of vehicles in each entrance lane of the intersection according to formulas (1)-(2), and dynamically predicts the pedestrian crossing demand of each location point and the safety island according to formulas (3)-(8); in the embodiment , the pedestrian arrival rate at each location is shown in Table 2, and the unit is person/minute:
表2实施例中行人到达率表Table 2 Pedestrian arrival rate table in the embodiment
步骤22是根据步骤21得到的需求量计算各车辆和行人流向的权重；步骤23是设置约束条件，包括通行能力的约束、防止冲突的约束。根据步骤23的约束公式(10)-(20)以及步骤3的目标函数公式(21)，按照图4的人行横道编号示意图，可计算得各时间窗内交叉口允许各流向车辆通过和行人过街的数量，如表3及表4所示。Step 22 is to calculate the weight of each vehicle and pedestrian flow according to the demand obtained in step 21; Step 23 is to set constraints, including constraints on traffic capacity and constraints on preventing conflicts. According to the constraint formulas (10)-(20) of step 23 and the objective function formula (21) of
表3实施例中各流向实际交通量The actual traffic volume of each flow direction in the embodiment of Table 3
表4实施例中各时间窗人行横道过街行人数量The number of pedestrians crossing the street in the crosswalk in each time window in the embodiment of Table 4
本发明的实施方式并不受所述实施例的限制，其他的任何未背离本发明的精神实质与原理下所作的改变、修饰、替代、组合、简化，均应为等效的置换方式，都包含在本发明的保护范围之内。The embodiments of the present invention are not limited by the examples, and any other changes, modifications, substitutions, combinations, and simplifications made without departing from the spirit and principle of the present invention should be equivalent substitution methods. Included in the protection scope of the present invention.
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