技术领域technical field
本发明涉及智慧交通技术领域，具体而言，涉及一种“超视距”避撞行驶控制、装置及信息物理系统。The invention relates to the technical field of intelligent transportation, in particular, to a "beyond visual range" collision avoidance driving control, device and cyber-physical system.
背景技术Background technique
智能车辆，充分运用现代传感、先进通信、信息融合、人工智能及自动控制等技术，实现精准运行环境感知、规划决策、智能辅助驾驶等多种功能服务，是世界车辆工程领域研究的热点和汽车工业增长的新动力。随着新一代人工智能、大数据、互联网等技术与云计算服务的应用，智能车辆经多年发展积累了大量创新性技术，但距离完全适应新的交通基础设施建设步伐、满足新一代智能化交通控制系统和出行需求尚有一定的距离。智能车辆的发展方向，目前国际上存在两种模式，一种模式是车辆本身的智能驾驶系统为核心发展，强调车辆基于装载的传感器以获得强大的感知能力，从而辅助车辆完成智能驾驶决策；另一种模式是以车辆和路侧智能交通设备的交互为核心发展，即车路协同。该种模式不仅要求车辆具备一定水平的智能驾驶系统，还要求路侧智能交通设备向车辆输送必要的信息，辅助车辆完成智能驾驶决策，突破车载传感器感知能力的局限性。Intelligent vehicles make full use of technologies such as modern sensing, advanced communication, information fusion, artificial intelligence and automatic control to realize various functional services such as precise operating environment perception, planning and decision-making, and intelligent assisted driving. A new driver of growth in the automotive industry. With the application of a new generation of artificial intelligence, big data, Internet and other technologies and cloud computing services, smart vehicles have accumulated a large number of innovative technologies after years of development, but the distance fully adapts to the pace of new transportation infrastructure construction and meets the needs of the new generation of intelligent transportation. There is still a certain distance between the control system and travel needs. The development direction of intelligent vehicles currently has two modes in the world. One mode is that the vehicle's own intelligent driving system is the core development, emphasizing that the vehicle is based on the loaded sensors to obtain powerful perception capabilities, thereby assisting the vehicle to complete intelligent driving decisions; One model is based on the interaction between vehicles and roadside intelligent transportation equipment, that is, vehicle-road coordination. This mode not only requires the vehicle to have a certain level of intelligent driving system, but also requires the roadside intelligent transportation equipment to transmit necessary information to the vehicle to assist the vehicle in completing intelligent driving decisions and break through the limitations of the sensory capabilities of the vehicle.
2021年1月，交通运输部印发了《关于促进道路交通自动驾驶技术发展和应用的指导意见》。该文件明确了自动驾驶技术的发展是结合车路协同技术共同发展的，即上述智能车辆发展的第二种模式。基于车路协同技术，辅助智能车辆安全、高效驾驶的场景应用有很多，包括智能车辆编队行驶、地下车库代客泊车、城市多路口公交车绿波通行、智能车辆队列预测性换道等场景。In January 2021, the Ministry of Transport issued the "Guiding Opinions on Promoting the Development and Application of Autonomous Driving Technology in Road Traffic". The document clarifies that the development of autonomous driving technology is jointly developed in combination with vehicle-road coordination technology, which is the second mode of the above-mentioned intelligent vehicle development. Based on vehicle-road coordination technology, there are many scenarios for assisting intelligent vehicles to drive safely and efficiently, including intelligent vehicle formation driving, underground garage valet parking, urban multi-intersection bus green wave passing, intelligent vehicle queue predictive lane change and other scenarios .
智能车辆的避撞行驶控制，早在20世纪60年代之初，德国、日本、美国就开始对车辆主动避撞系统进行了相关的研究，但由于当时的传感技术水平相对较低、硬件成本较高，限制了主动预警/主动避撞系统在实际中的应用和发展。随着传感器技术的快速发展，各个汽车厂商研发了专有的避撞系统，如马自达汽车的AEB(Autonomous Emergency Braking，自动紧急制动)系统、沃尔沃汽车的City Safety(城市安全)系统、奥迪汽车的 Pre-SenseFront(预防式整体安全)系统、大众汽车的Front Assistant(前部辅助)系统、奔驰汽车的Pre-Safe Brake(预防式安全刹车)系统等。虽然各个避撞系统的命名和性能不完全相同，但是它们的目标和功能是一致，即通过主动预警和主动制动来避免碰撞。智能车辆避撞系统研发现状的具体情况如表1所示。The collision avoidance control of intelligent vehicles, as early as the early 1960s, Germany, Japan, and the United States began to conduct research on vehicle active collision avoidance systems, but due to the relatively low level of sensing technology and hardware costs at that time High, which limits the application and development of active warning/active collision avoidance system in practice. With the rapid development of sensor technology, various car manufacturers have developed proprietary collision avoidance systems, such as Mazda's AEB (Autonomous Emergency Braking, automatic emergency braking) system, Volvo's City Safety (city safety) system, Audi's Pre-SenseFront (preventive overall safety) system, Volkswagen's Front Assistant (front assistance) system, Mercedes-Benz's Pre-Safe Brake (preventive safety brake) system, etc. Although the naming and performance of various collision avoidance systems are not exactly the same, their goals and functions are the same, that is, to avoid collisions through active warning and active braking. The specific situation of the research and development status of the intelligent vehicle collision avoidance system is shown in Table 1.
表1Table 1
如表1所示，智能车辆制造企业集中于车载智能驾驶系统的功能研发，以此提升智能车辆的避撞行驶控制水平。但是，由于智能车辆的车载传感器感知距离有限(一般为200m左右)，仅依靠单车智能避撞决策和智能车辆之间的V2V通信，难以应对突发交通情景的安全行驶控制，尤其是存在道路拓扑结构或交通外部环境等影响传感器有效感知距离因素存在的情况下。基于车路协同技术体系，华为、万集科技、星云互联等自动驾驶智能决策模块研发企业设计了多种智能车辆碰撞预警、障碍物预警(事故预警) 等功能。具有代表性的是华为2022年1月发布的车辆碰撞检测方法：获取车辆行驶需要占用的多个第一驾驶区域以及潜在障碍物的侵占区域；若至少两个第一驾驶区域与障碍物的侵占区域之间产生重叠，确定车辆与障碍物将会发生碰撞，重叠深度用于表征重叠区域侵入第一驾驶区域的程度。该方法可准确检测出车辆是否与潜在障碍物发生碰撞，保证车辆在行驶中的安全性和平顺性。但是此类碰撞预警方法仅能向智能车辆驾驶员提供碰撞风险有无的相关信息，如何规避碰撞风险以保障驾驶员的行驶安全及舒适度却鲜有涉及。As shown in Table 1, smart vehicle manufacturers focus on the functional research and development of vehicle-mounted smart driving systems, so as to improve the level of collision avoidance driving control of smart vehicles. However, due to the limited perception distance of the on-board sensors of smart vehicles (generally about 200m), it is difficult to cope with safe driving control in unexpected traffic scenarios, especially with road topology In the case of factors such as structure or traffic external environment that affect the sensor's effective perception of distance. Based on the vehicle-road coordination technology system, Huawei, Wanji Technology, Xingyun Internet and other autonomous driving intelligent decision-making module R&D companies have designed a variety of intelligent vehicle collision warnings, obstacle warnings (accident warnings), and other functions. Representative is the vehicle collision detection method released by Huawei in January 2022: obtain multiple first driving areas that the vehicle needs to occupy and the encroachment areas of potential obstacles; if at least two first driving areas and the encroachment of obstacles There is overlap between the areas, and it is determined that the vehicle will collide with the obstacle, and the overlap depth is used to characterize the extent to which the overlapping area invades the first driving area. The method can accurately detect whether the vehicle collides with a potential obstacle, so as to ensure the safety and smoothness of the vehicle during driving. However, this kind of collision warning method can only provide the relevant information of the collision risk to the driver of the intelligent vehicle, and how to avoid the collision risk to ensure the driving safety and comfort of the driver is rarely involved.
发明内容Contents of the invention
在当前先进感知、信息通讯技术的发展现状下，由于车载传感器感知距离的局限性和智慧化出行服务的需求，需要提出一种突破车载传感器性能的限制，支持车路协同和自动驾驶技术落地，辅助智能车辆完成“超视距”避撞行驶的方法。因此，本发明实施例基于车路协同，提出了一种适用于智慧高速公路匝道汇入区域，在车载传感器感知距离外提前为智能车辆设计行驶控制策略的方法，以保障车辆行驶的安全性。Under the current development status of advanced perception and information communication technology, due to the limitations of vehicle sensor sensing distance and the demand for intelligent travel services, it is necessary to propose a method that breaks through the performance limitations of vehicle sensors and supports the implementation of vehicle-road coordination and automatic driving technologies. A method for assisting intelligent vehicles to complete "over-the-horizon" collision avoidance driving. Therefore, based on vehicle-road coordination, the embodiment of the present invention proposes a method for designing a driving control strategy for smart vehicles in advance, which is suitable for the ramp-in area of the smart expressway and beyond the sensing distance of the vehicle sensor, so as to ensure the safety of the vehicle.
本发明实施例提供一种“超视距”避撞行驶控制方法，包括：通过路侧智能交通设备监测公路匝道的加速车道区域的交通状况；判断加速车道区域是否有第一车辆出现突发停车或违规停车；若是，则获取所述第一车辆与加速车道入口的第一行驶距离、匝道区域内的第二车辆的当前位置及行驶速度、所述当前位置与所述加速车道入口的第二行驶距离；根据预设的跟驰模型结合所述第一行驶距离、所述第二行驶距离、所述行驶速度、所述第一车辆及第二车辆的长度信息，计算所述第二车辆在所述加速车道入口的行驶速度最大值；向所述第二车辆发送减速提示信息，所述减速提示信息包括所述加速车道入口的行驶速度最大值。An embodiment of the present invention provides a "beyond visual distance" collision avoidance driving control method, including: monitoring the traffic conditions in the acceleration lane area of the highway ramp through roadside intelligent traffic equipment; judging whether there is a sudden stop of the first vehicle in the acceleration lane area or illegal parking; if so, then obtain the first travel distance between the first vehicle and the entrance of the acceleration lane, the current position and speed of the second vehicle in the ramp area, and the second distance between the current position and the entrance of the acceleration lane. Traveling distance; according to the preset car-following model in combination with the first traveling distance, the second traveling distance, the traveling speed, the length information of the first vehicle and the second vehicle, calculate the distance of the second vehicle at The maximum value of the driving speed at the entrance of the acceleration lane; sending deceleration prompt information to the second vehicle, where the deceleration prompt information includes the maximum value of the travel speed at the entrance of the acceleration lane.
可选地，若所述第一车辆为可进行V2V通信的智能车辆，在向所述第二车辆发送减速提示信息之前，所述方法还包括：获取所述第一车辆与所述第二车辆稳定通信的位置、所述加速车道入口之间的第三行驶距离；根据所述跟驰模型结合所述第一行驶距离、所述第三行驶距离及所述行驶速度，计算所述第二车辆在所述稳定通信位置的行驶速度最大值；所述减速提示信息包括所述稳定通信位置的行驶速度最大值。Optionally, if the first vehicle is a smart vehicle capable of V2V communication, before sending the deceleration prompt information to the second vehicle, the method further includes: acquiring the information of the first vehicle and the second vehicle The position of stable communication, the third driving distance between the entrances of the acceleration lane; according to the car-following model combined with the first driving distance, the third driving distance and the driving speed, calculate the second vehicle The maximum travel speed at the stable communication location; the deceleration prompt information includes the maximum travel speed at the stable communication location.
可选地，所述根据预设的跟驰模型结合所述第一行驶距离、所述第二行驶距离、所述行驶速度、所述第一车辆及第二车辆的长度信息，计算所述第二车辆在所述加速车道入口的行驶速度最大值，包括：Optionally, according to the preset car-following model in combination with the first driving distance, the second driving distance, the driving speed, and the length information of the first vehicle and the second vehicle, the second vehicle is calculated. 2. The maximum driving speed of the vehicle at the entrance of the acceleration lane, including:
在所述第一车辆为非智能车辆的情况下，所述加速车道入口的行驶速度最大值的计算公式如下：In the case where the first vehicle is a non-intelligent vehicle, the formula for calculating the maximum speed at the entrance of the acceleration lane is as follows:
其中，E(amax)表示第二车辆的期望最大加速度，E(bmax)表示第二车辆的最大减速度，hmin表示最小安全车头间距，τ表示第二车辆的制动反应时长， LCD表示第一行驶距离，lC1表示第一车辆长度，lC2表示第二车辆长度；Among them, E(amax ) represents the expected maximum acceleration of the second vehicle, E(bmax ) represents the maximum deceleration of the second vehicle, hmin represents the minimum safe headway distance, τ represents the braking reaction time of the second vehicle, LCD represents the first driving distance, lC1 represents the first vehicle length, and lC2 represents the second vehicle length;
在所述第一车辆为可进行V2V通信的智能车辆的情况下，所述加速车道入口的行驶速度最大值的计算公式如下：In the case that the first vehicle is an intelligent vehicle capable of V2V communication, the formula for calculating the maximum speed of the acceleration lane entrance is as follows:
在所述第一车辆为可进行V2V通信的智能车辆的情况下，所述第一车辆与所述第二车辆稳定通信位置前的行驶速度最大值的计算公式如下：In the case where the first vehicle is an intelligent vehicle capable of V2V communication, the formula for calculating the maximum value of the driving speed before the stable communication position between the first vehicle and the second vehicle is as follows:
其中，表示第三行驶距离。in, Indicates the third travel distance.
可选地，在所述第一车辆为非智能车辆的情况下，所述向所述第二车辆发送减速提示信息，包括：若所述第二车辆的行驶速度小于或等于则向所述第二车辆发送以当前车速驶出匝道的提示信息；若所述第二车辆的行驶速度大于/>则向所述第二车辆发送在驶出匝道前降速至/>以下的提示信息。Optionally, in the case that the first vehicle is a non-intelligent vehicle, the sending deceleration reminder information to the second vehicle includes: if the driving speed of the second vehicle is less than or equal to Then send a prompt message to the second vehicle to drive off the ramp at the current speed; if the speed of the second vehicle is greater than /> then send to the second vehicle to slow down to /> before leaving the ramp The following prompt information.
可选地，在所述第一车辆为可进行V2V通信的智能车辆的情况下，所述向所述第二车辆发送减速提示信息，包括：在所述第一车辆与所述第二车辆稳定通信的范围覆盖全部匝道区域的情况下，则向所述第二车辆发送在驶出匝道前降速至以下的提示信息；在所述第一车辆与所述第二车辆稳定通信的范围覆盖部分匝道区域的情况下，若所述第二车辆的行驶速度小于或等于/>则向所述第二车辆发送以当前车速驶出匝道的提示信息；在所述第一车辆与所述第二车辆稳定通信的范围覆盖部分匝道区域的情况下，若所述第二车辆的行驶速度大于/>则向所述第二车辆发送在驶出匝道前降速至/>以下的提示信息。Optionally, in the case that the first vehicle is a smart vehicle capable of V2V communication, the sending deceleration prompt information to the second vehicle includes: when the first vehicle and the second vehicle are stable If the range of communication covers all ramp areas, then send the second vehicle to the second vehicle to decelerate to The following prompt information; in the case that the range of stable communication between the first vehicle and the second vehicle covers part of the ramp area, if the driving speed of the second vehicle is less than or equal to > Then send a prompt message to the second vehicle to drive off the ramp at the current speed; in the case that the range of stable communication between the first vehicle and the second vehicle covers part of the ramp area, if the driving of the second vehicle speed greater than /> then send to the second vehicle to slow down to /> before leaving the ramp The following prompt information.
可选地，所述通过路侧智能交通设备监测公路匝道的加速车道区域的交通状况，包括：判断公路匝道的加速车道区域的车辆的行驶速度是否为零；若是，则继续执行所述判断加速车道区域是否有第一车辆出现突发停车或违规停车的步骤。Optionally, monitoring the traffic conditions in the acceleration lane area of the highway ramp through the roadside intelligent traffic equipment includes: judging whether the speed of the vehicle in the acceleration lane area of the highway ramp is zero; if so, continue to execute the judgment acceleration Whether there is a step in which the first vehicle suddenly stops or illegally parks in the lane area.
可选地，所述判断加速车道区域是否有第一车辆出现突发停车或违规停车，包括：若第一车辆在预设连续时长内的行驶速度保持为零，且所述第一车辆前方的预设距离内无其他车辆，则确定有第一车辆出现突发停车或违规停车。Optionally, the judging whether there is sudden parking or illegal parking of the first vehicle in the acceleration lane area includes: if the driving speed of the first vehicle remains zero within a preset continuous time period, and the vehicle in front of the first vehicle If there are no other vehicles within the preset distance, it is determined that the first vehicle has suddenly stopped or parked illegally.
可选地，所述预设的跟驰模型为智能驾驶模型，表达式如下：Optionally, the preset car-following model is an intelligent driving model, and the expression is as follows:
其中，E(amax)表示跟驰车辆的期望最大加速度，E(bmax)表示跟驰车辆的最大减速度，hmin表示最小安全车头间距，hlane表示期望车头时距，Δhlane(t)表示t时刻在车道lane上的车头间距，Δvlane(t)表示t时刻在车道lane上的速度差，表示加速度指数。Among them, E(amax ) represents the expected maximum acceleration of the car-following vehicle, E(bmax ) represents the maximum deceleration of the car-following vehicle, hmin represents the minimum safe headway distance, hlane represents the expected time headway, Δhlane (t ) represents the headway distance on the lane lane at time t, and Δvlane (t) represents the speed difference on the lane lane at time t, Indicates the acceleration exponent.
本发明实施例提供一种的“超视距”避撞行驶控制装置，包括：交通监测模块，用于通过路侧智能交通设备监测公路匝道的加速车道区域的交通状况；停车判断模块，用于判断加速车道区域是否有第一车辆出现突发停车或违规停车；信息获取模块，用于若有第一车辆出现突发停车或违规停车，则获取所述第一车辆与加速车道入口的第一行驶距离、匝道区域内的第二车辆的当前位置及行驶速度、所述当前位置与所述加速车道入口的第二行驶距离；速度计算模块，用于根据预设的跟驰模型结合所述第一行驶距离、所述第二行驶距离、所述行驶速度、所述第一车辆及第二车辆的长度信息，计算所述第二车辆在所述加速车道入口的行驶速度最大值；减速提示模块，用于向所述第二车辆发送减速提示信息，所述减速提示信息包括所述加速车道入口的行驶速度最大值。An embodiment of the present invention provides a "beyond visual distance" collision avoidance driving control device, including: a traffic monitoring module, which is used to monitor the traffic conditions in the acceleration lane area of the highway ramp through roadside intelligent traffic equipment; a parking judgment module, which is used to Judging whether there is sudden parking or illegal parking of the first vehicle in the area of the acceleration lane; the information acquisition module is used to obtain the first distance between the first vehicle and the entrance of the acceleration lane if there is sudden parking or illegal parking of the first vehicle. Traveling distance, the current position and driving speed of the second vehicle in the ramp area, the second traveling distance between the current position and the entrance of the acceleration lane; a speed calculation module, configured to combine the first car-following model according to a preset A travel distance, the second travel distance, the travel speed, the length information of the first vehicle and the second vehicle, and calculate the maximum travel speed of the second vehicle at the entrance of the acceleration lane; a deceleration prompt module , configured to send deceleration prompt information to the second vehicle, where the deceleration prompt information includes the maximum driving speed of the acceleration lane entrance.
本发明实施例提供一种智慧高速信息物理系统，包括：物理空间、连接通道及信息空间；所述物理空间包括基础运输路网及设备布设层，所述设备布设层包括路侧单元、车载单元、毫米波雷达、高清摄像头；所述连接通道包括CPS单元节点控制器，用于加载事件判别模型，判断是否有交通事件发生；所述信息空间包括CPS智能控制总线、后台计算图层及方案预演图层；所述后台计算图层包括智能驾驶模型、常规车辆速度分析模型及智能车辆速度分析模型；所述方案预演图层包括预演策略效果模块及策略信息发布模块；所述信息空间用于执行上述“超视距”避撞行驶控制方法。An embodiment of the present invention provides a smart high-speed information physical system, including: a physical space, a connection channel, and an information space; the physical space includes a basic transportation road network and an equipment layout layer, and the equipment layout layer includes a roadside unit and a vehicle-mounted unit , millimeter-wave radar, and high-definition camera; the connection channel includes a CPS unit node controller, which is used to load an event discrimination model to determine whether there is a traffic incident; the information space includes a CPS intelligent control bus, a background calculation layer, and a preview of a plan layer; the background calculation layer includes an intelligent driving model, a conventional vehicle speed analysis model and an intelligent vehicle speed analysis model; the scheme preview layer includes a preview strategy effect module and a strategy information publishing module; the information space is used to execute The above-mentioned "over-the-horizon" collision avoidance driving control method.
本发明提供了一种“超视距”避撞行驶控制方法、装置及信息物理系统，结合物联网技术、云计算模式，适用于智慧高速公路匝道汇入区域、辅助智能车辆完成“超视距”避撞行驶，适用于不同车型，依据智能车辆的基础信息(车身长度等)、动力学特征参数信息为车辆设计行驶控制策略，以及适用于不同的匝道内通信覆盖范围，依据该覆盖范围为车辆设计行驶控制点以及行驶控制策略；在车载传感器感知距离外提前为车辆设计行驶控制策略，以保障车辆行驶的安全性；可应用于智慧高速信息物理系统，可有效促进信息物理系统在交通领域的功能服务设计扩展和落地方案制定，可推进智能车辆在智慧高速公路的落地应用进程，有效提升高速公路网运行安全性。The invention provides a "beyond visual distance" collision avoidance driving control method, device and information physical system, combined with Internet of Things technology and cloud computing mode, suitable for intelligent expressway ramp merge area, assisting intelligent vehicles to complete "beyond visual distance" "Collision avoidance driving is applicable to different vehicle types. According to the basic information (body length, etc.) Design driving control points and driving control strategies for vehicles; design driving control strategies for vehicles in advance beyond the sensing distance of on-board sensors to ensure the safety of vehicle driving; it can be applied to intelligent high-speed cyber-physical systems, which can effectively promote the application of cyber-physical systems in the transportation field. The expansion of functional service design and the formulation of implementation plans can promote the application process of intelligent vehicles on intelligent expressways, and effectively improve the safety of expressway network operation.
附图说明Description of drawings
为了更清楚地说明本发明实施例或现有技术中的技术方案，下面将对实施例或现有技术描述中所需要使用的附图作简单地介绍，显而易见地，下面描述中的附图仅仅是本发明的实施例，对于本领域普通技术人员来讲，在不付出创造性劳动的前提下，还可以根据提供的附图获得其他的附图。In order to more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following will briefly introduce the drawings that need to be used in the description of the embodiments or the prior art. Obviously, the accompanying drawings in the following description are only It is an embodiment of the present invention, and those skilled in the art can also obtain other drawings according to the provided drawings without creative work.
图1为本发明实施例中智能车辆“超视距”避撞行驶控制场景示意图；Fig. 1 is a schematic diagram of a smart vehicle "over-the-horizon" collision avoidance driving control scene in an embodiment of the present invention;
图2为本发明实施例中一种基于车路协同的“超视距”避撞行驶控制方法的示意性流程图；Fig. 2 is a schematic flow chart of a vehicle-road coordination-based "over-the-horizon" collision avoidance driving control method in an embodiment of the present invention;
图3为本发明实施例中“超视距”避撞行驶控制在智慧高速信息物理系统中的运行示意图；Fig. 3 is a schematic diagram of the operation of the "over-the-horizon" collision avoidance driving control in the intelligent high-speed cyber-physical system in the embodiment of the present invention;
图4为本发明实施例中系统场景开发效果示意图；Fig. 4 is a schematic diagram of the system scene development effect in the embodiment of the present invention;
图5是本发明实施例中一种基于车路协同的“超视距”避撞行驶控制装置的结构示意图。Fig. 5 is a schematic structural diagram of a vehicle-road coordination-based "over-the-horizon" collision avoidance driving control device in an embodiment of the present invention.
具体实施方式Detailed ways
为使本发明的上述目的、特征和优点能够更为明显易懂，下面结合附图对本发明的具体实施例做详细的说明。应当理解，此处所描述的具体实施例仅仅用以解释本发明，并不用于限定本发明。In order to make the above objects, features and advantages of the present invention more comprehensible, specific embodiments of the present invention will be described in detail below in conjunction with the accompanying drawings. It should be understood that the specific embodiments described here are only used to explain the present invention, not to limit the present invention.
本发明实施例基于车路协同技术体系，提出一种适用于智慧高速匝道汇入区域，智能车辆的“超视距”避撞行驶控制方法，可以弥补现有智能车辆在避撞行驶方面受限于车载传感器感知距离、鲜有涉及规避碰撞风险方案以保障行驶安全及驾驶舒适度等不足之处。The embodiment of the present invention is based on the vehicle-road coordination technology system, and proposes a "beyond visual range" collision avoidance driving control method for smart vehicles in the ramp-in area of smart high-speed roads, which can make up for the limitations of existing smart vehicles in terms of collision avoidance. There are few deficiencies in vehicle-mounted sensors for sensing distance, and few programs involving collision risk avoidance to ensure driving safety and driving comfort.
依据此方法，可以开发智慧高速公路信息物理系统的智能辅助驾驶功能模块，充分利用路侧智能基础设施的交通运行信息感知和高效计算等特征，为智能车辆在“超视距”情境下设计避撞行驶策略。同时，该方法可有效支持车路协同和自动驾驶等技术的落地应用，降低高速公路的交通事故发生率。According to this method, the intelligent assisted driving function module of the cyber-physical system of the intelligent expressway can be developed, and the characteristics of traffic operation information perception and efficient calculation of the roadside intelligent infrastructure can be fully utilized to design avoidance for intelligent vehicles in the "over-the-horizon" situation. Hit driving strategy. At the same time, this method can effectively support the application of technologies such as vehicle-road coordination and automatic driving, and reduce the incidence of traffic accidents on expressways.
本发明实施例涉及的“超视距”情境，主要包含两层含义：1.超出智能车辆驾驶员的行车视距，即驾驶员难以通过视觉感知前方存在的行车障碍； 2.超出智能车辆车载传感器的感知距离或受其他因素影响导致传感器感知距离低于常规值，从而无法及时感知前方存在的行车障碍。在高速公路匝道汇入区域，由于驾驶员的行车视距受弯道区域影响较大、弯道内侧物体 (树木、建筑、道路隔音护栏等设施)遮挡而干扰车载传感器的有效感知距离等原因，智能车辆易发生“超视距”而无法感知前方行车障碍的现象。The "over-the-horizon" situation involved in the embodiment of the present invention mainly includes two meanings: 1. Beyond the driving line-of-sight of the driver of the smart vehicle, that is, it is difficult for the driver to visually perceive the driving obstacles in front; 2. Beyond the vehicle-mounted distance of the smart vehicle The sensing distance of the sensor may be affected by other factors, resulting in the sensor sensing distance being lower than the normal value, so that it cannot sense the driving obstacles in front in time. In the ramp-in area of the expressway, because the driver's driving line of sight is greatly affected by the curve area, objects inside the curve (trees, buildings, road noise barriers, etc.) are blocked and interfere with the effective perception distance of the vehicle sensor, etc. Smart vehicles are prone to "over-the-horizon" and cannot perceive the driving obstacles ahead.
本发明实施例基于车路协同，充分利用智慧高速中的智能交通基础设施资源，设计了一种适用于智慧高速匝道汇入区域的智能车辆“超视距”避撞行驶策略，以辅助智能车辆完成“超视距”情景下面向突发交通事件的安全行驶控制。本发明实施例涉及的智能车辆，默认具有V2X通信功能。Based on vehicle-road coordination, the embodiment of the present invention makes full use of the intelligent transportation infrastructure resources in the intelligent expressway, and designs a smart vehicle "over-the-horizon" collision avoidance driving strategy suitable for the ramp-in area of the intelligent expressway to assist the intelligent vehicle Complete the safe driving control for traffic emergencies under the "over-the-horizon" scenario. The smart vehicle involved in the embodiment of the present invention has a V2X communication function by default.
本发明实施例提出方法的适用场景如下图所示：The applicable scenario of the method proposed in the embodiment of the present invention is shown in the following figure:
图1示出了本发明实施例中智能车辆“超视距”避撞行驶控制场景示意图。智能车辆C1当前行驶在弯道区域(弯道区域不考虑车辆的换道行驶行为)，其将沿虚影轨迹从A点行驶至C点(匝道出口处或称为加速车道入口处)。处于加速车道行驶的C2车辆由于非正常原因出现故障，被迫停止在匝道汇入口较近距离处，该距离记作LCD。需要注意的是，此处车辆停止场景的分析过程同样适用于加速车道发生交通事故后所产生的行驶区域缩减情况。此场景中，由于转弯半径的影响，车辆C1在行驶至匝道出口C点前，无法依靠行车视距以及车载传感器发现加速车道的故障车辆C2。此时，如果智能车辆C1在匝道上的行驶车速过快，很难在C点发现车辆C2时采取有效的紧急避撞措施，且由于紧急刹车的驾驶行为将严重影响智能车辆 C1驾驶员的舒适度。Fig. 1 shows a schematic diagram of a "beyond visual range" collision avoidance driving control scene of an intelligent vehicle in an embodiment of the present invention. The smart vehicle C1 is currently driving in the curve area (the lane change behavior of the vehicle is not considered in the curve area), and it will drive from point A to point C (at the exit of the ramp or the entrance of the acceleration lane) along the virtual trajectory. The C2 vehicle running on the acceleration lane has a breakdown due to abnormal reasons, and is forced to stop at a short distance from the entrance of the ramp, and this distance is recorded asLCD . It should be noted that the analysis process of the vehicle stop scene here is also applicable to the reduction of the driving area after a traffic accident in the acceleration lane. In this scenario, due to the influence of the turning radius, before the vehicle C1 reaches point C of the ramp exit, it cannot rely on the driving sight distance and on-board sensors to detect the faulty vehicle C2 in the acceleration lane. At this time, if the speed of the intelligent vehicle C1 on the ramp is too fast, it is difficult to take effective emergency collision avoidance measures when the vehicle C2 is found at point C, and the driving behavior due to emergency braking will seriously affect the comfort of the driver of the intelligent vehicle C1 Spend.
上述场景目标为：结合智能车辆C1的车辆本身性能参数，基于车路协同，获取加速车道上故障车辆C2的相关信息，并及时制定车速引导策略，辅助智能车辆C1行驶至匝道出口处C点时保持一个合理的车速，以应对加速车道上的行驶障碍，保障行车安全性和驾驶舒适度。The goal of the above scenario is: to combine the performance parameters of the intelligent vehicle C1 and based on the vehicle-road coordination, obtain relevant information about the faulty vehicle C2 on the acceleration lane, and formulate a speed guidance strategy in time to assist the intelligent vehicle C1 to drive to point C at the exit of the ramp. Keep a reasonable speed to deal with the driving obstacles on the acceleration lane to ensure driving safety and driving comfort.
图2是本发明实施例中一种基于车路协同的“超视距”避撞行驶控制方法的示意性流程图，该方法可以应用于智慧高速信息物理系统，包括：Fig. 2 is a schematic flowchart of a vehicle-road coordination-based "over-the-horizon" collision avoidance driving control method in an embodiment of the present invention. This method can be applied to a smart high-speed cyber-physical system, including:
S202，通过路侧智能交通设备监测公路匝道的加速车道区域的交通状况。S202, monitoring the traffic conditions in the acceleration lane area of the highway ramp through the roadside intelligent traffic equipment.
路侧智能交通设备可以是路侧单元(Road Side Unit，RSU)的设备，可以监测公路匝道的加速车道区域的交通状况。在监测过程中，判断公路匝道的加速车道区域的车辆的行驶速度是否为零，如果任意时刻加速车道区域内存在某车辆的车速为0，则转入S204，并继续保持交通监测。The roadside intelligent traffic device may be a roadside unit (Road Side Unit, RSU) device, which can monitor traffic conditions in the acceleration lane area of the highway ramp. During the monitoring process, it is judged whether the speed of the vehicle in the acceleration lane area of the highway ramp is zero. If there is a vehicle with a speed of 0 in the acceleration lane area at any time, then turn to S204 and continue to maintain traffic monitoring.
S204，判断加速车道区域是否有第一车辆出现突发停车或违规停车。S204, judging whether there is sudden parking or illegal parking of the first vehicle in the acceleration lane area.
可选地，若第一车辆在预设连续时长内的行驶速度保持为零，且第一车辆前方的预设距离内无其他车辆，则确定有第一车辆出现突发停车或违规停车。示例性地，该预设连续时长为30s，该预设距离为5m。Optionally, if the driving speed of the first vehicle remains zero within a preset continuous time period and there is no other vehicle within a preset distance in front of the first vehicle, it is determined that the first vehicle has suddenly stopped or parked illegally. Exemplarily, the preset continuous duration is 30s, and the preset distance is 5m.
S206，若有第一车辆出现突发停车或违规停车，则获取第一车辆与加速车道入口的第一行驶距离、匝道区域内的第二车辆的当前位置及行驶速度、当前位置与加速车道入口的第二行驶距离。S206, if the first vehicle suddenly stops or parks illegally, obtain the first driving distance between the first vehicle and the entrance of the acceleration lane, the current position and speed of the second vehicle in the ramp area, and the current position and the entrance of the acceleration lane the second driving distance.
该加速车道入口，也可以称为匝道出口处。上述行驶距离为车辆按照当前车道行驶至对应地点的距离，可以依据高精度地图推算以及路侧智能感知设备感知。The entrance of the acceleration lane may also be referred to as the exit of the ramp. The above driving distance is the distance from the vehicle to the corresponding location according to the current lane, which can be calculated based on high-precision maps and sensed by roadside intelligent sensing equipment.
S208，根据预设的跟驰模型结合第一行驶距离、第二行驶距离、行驶速度、第一车辆及第二车辆的长度信息，计算第二车辆在加速车道入口的行驶速度最大值。S208, according to the preset car-following model combined with the information of the first traveling distance, the second traveling distance, the traveling speed, the length of the first vehicle and the second vehicle, calculate the maximum traveling speed of the second vehicle at the entrance of the acceleration lane.
智慧高速信息物理系统的后台计算模块可以对上述距离、行驶速度、车辆长度，计算出第二车辆在加速车道入口的行驶速度最大值。其中采用了跟驰模型，例如智能驾驶模型(Intelligent Driver Model，IDM)等。在上述模型中考虑了第二车辆的最大加速度、最大减速度等车辆的动力学特征，使车辆在加速车道入口处减速到上述行驶速度最大值的情况下，驾驶员有时间采取有效的刹车动作且可以避免紧急刹车情况，保证其驾驶舒适度。The background computing module of the intelligent high-speed cyber-physical system can calculate the maximum driving speed of the second vehicle at the entrance of the acceleration lane based on the above distance, driving speed and vehicle length. A car-following model, such as an intelligent driver model (Intelligent Driver Model, IDM), etc. is adopted. In the above model, the dynamic characteristics of the vehicle such as the maximum acceleration and deceleration of the second vehicle are considered, so that the driver has time to take effective braking actions when the vehicle decelerates to the maximum value of the above-mentioned driving speed at the entrance of the acceleration lane And can avoid emergency braking situation, guarantee its driving comfort.
S210，向第二车辆发送减速提示信息。该减速提示信息包括加速车道入口的行驶速度最大值。S210. Send deceleration prompt information to the second vehicle. The deceleration prompt information includes the maximum driving speed at the entrance of the acceleration lane.
在本发明实施例中第二车辆为智能车辆，能够与智慧高速信息物理系统通信，接收其发送的减速提示信息等行驶控制策略等。示例性地，提示信息为“在加速车道入口前请减速至行驶速度最大值xx”。In the embodiment of the present invention, the second vehicle is a smart vehicle, which can communicate with the smart high-speed cyber-physical system and receive driving control strategies such as deceleration prompt information sent by it. Exemplarily, the prompt information is "Please slow down to the maximum driving speed xx before the entrance of the acceleration lane".
本发明实施例提供的基于车路协同的“超视距”避撞行驶控制方法，适用于智慧高速公路匝道汇入区域、辅助智能车辆完成“超视距”避撞行驶，可以在车载传感器感知距离外提前为车辆设计行驶控制策略，以保障车辆行驶的安全性，可推进智能车辆在智慧高速公路的落地应用进程，有效提升高速公路网运行安全性。The "beyond visual distance" collision avoidance driving control method based on vehicle-road coordination provided by the embodiment of the present invention is suitable for the ramp-in area of a smart expressway and assists intelligent vehicles to complete "beyond visual distance" collision avoidance driving. Designing a driving control strategy for the vehicle in advance to ensure the safety of the vehicle, can promote the application process of intelligent vehicles in the smart expressway, and effectively improve the safety of the expressway network operation.
考虑到上述第一车辆可能是智能车辆，则其可以与第二车辆进行V2V 通信，如此第二车辆可在匝道出口前提前感知第一车辆的位置。由于V2V 通信存在范围限制，在第二车辆与第一车辆的距离小于该范围时能够稳定通信。基于此，若上述第一车辆为可进行V2V通信的智能车辆，在向第二车辆发送减速提示信息之前，上述方法还包括：Considering that the above-mentioned first vehicle may be a smart vehicle, it can perform V2V communication with the second vehicle, so that the second vehicle can perceive the position of the first vehicle in advance before the ramp exit. Since there is a range limitation in V2V communication, the communication can be stabilized when the distance between the second vehicle and the first vehicle is less than the range. Based on this, if the above-mentioned first vehicle is a smart vehicle capable of V2V communication, before sending the deceleration prompt information to the second vehicle, the above-mentioned method further includes:
首先，获取第一车辆与第二车辆稳定通信的位置、加速车道入口之间的第三行驶距离。该稳定通信的位置通常位于匝道弯道范围内，相较于驾驶员目视更早感知第一车辆的位置及速度等。Firstly, the position of stable communication between the first vehicle and the second vehicle, and the third driving distance between the entrance of the acceleration lane are acquired. The position of the stable communication is usually located within the range of the ramp curve, and the driver perceives the position and speed of the first vehicle earlier than the driver visually.
其次，根据上述跟驰模型结合第一行驶距离、第三行驶距离及行驶速度，计算第二车辆在稳定通信位置的行驶速度最大值。可选地，上述减速提示信息包括稳定通信位置的行驶速度最大值。Secondly, according to the above car-following model combined with the first traveling distance, the third traveling distance and the traveling speed, the maximum traveling speed of the second vehicle at the stable communication position is calculated. Optionally, the above deceleration prompt information includes the maximum value of the driving speed at the stable communication location.
由于在上述第一车辆与第二车辆稳定通信的位置，两者能够稳定通信，第二车辆可以感知第一车辆的位置及速度等，在加速车道入口的行驶速度最大值与前述实施例相同，而在该位置的上游也需要适当进行减速，从而避免在稳定通信的位置与加速车道入口的区间段大幅度减速，影响驾驶舒适性。该位置处的行驶速度最大值，与上述加速车道入口的行驶速度最大值的计算方式相同。Because at the position where the first vehicle and the second vehicle stably communicate, the two can communicate stably, and the second vehicle can perceive the position and speed of the first vehicle, etc., and the maximum speed at the entrance of the acceleration lane is the same as in the previous embodiment. The upstream of this position also needs to be properly decelerated, so as to avoid a large deceleration in the section between the stable communication position and the entrance of the acceleration lane, which will affect the driving comfort. The maximum value of the driving speed at this position is calculated in the same manner as the maximum value of the driving speed at the entrance of the acceleration lane.
可选地，上述预设的跟驰模型为智能驾驶模型，表达式如下：Optionally, the above preset car-following model is an intelligent driving model, and the expression is as follows:
其中，E(amax)表示跟驰车辆的期望最大加速度，E(bmax)表示跟驰车辆的最大减速度，hmin表示最小安全车头间距，hlane表示期望车头时距，Δhlane(t)表示t时刻在车道lane上的车头间距，Δvlane(t)表示t时刻在车道lane上的速度差，表示加速度指数。Among them, E(amax ) represents the expected maximum acceleration of the car-following vehicle, E(bmax ) represents the maximum deceleration of the car-following vehicle, hmin represents the minimum safe headway distance, hlane represents the expected time headway, Δhlane (t ) represents the headway distance on the lane lane at time t, and Δvlane (t) represents the speed difference on the lane lane at time t, Indicates the acceleration exponent.
在第一车辆为非智能车辆的情况下，加速车道入口(图1中C点)的行驶速度最大值的计算公式如下：In the case that the first vehicle is a non-intelligent vehicle, the formula for calculating the maximum speed of the acceleration lane entrance (point C in Figure 1) is as follows:
其中，E(amax)表示第二车辆的期望最大加速度，E(bmax)表示第二车辆的最大减速度，hmin表示最小安全车头间距，τ表示第二车辆的制动反应时长， LCD表示第一行驶距离，lC1表示第一车辆长度，lC2表示第二车辆长度；Among them, E(amax ) represents the expected maximum acceleration of the second vehicle, E(bmax ) represents the maximum deceleration of the second vehicle, hmin represents the minimum safe headway distance, τ represents the braking reaction time of the second vehicle, LCD represents the first driving distance, lC1 represents the first vehicle length, and lC2 represents the second vehicle length;
在第一车辆为可进行V2V通信的智能车辆的情况下，第一车辆可以第二车辆进行V2V通信，驾驶员可以预先得到前方有障碍车辆停车行为的信息，从而大幅度缩短应对障碍车辆停车行为的反应时间，该反应时间可以降低至原反应时间τ的1/2之下，即小于τ/2。加速车道入口的行驶速度最大值的计算公式如下：If the first vehicle is an intelligent vehicle capable of V2V communication, the first vehicle can perform V2V communication with the second vehicle, and the driver can obtain information about the parking behavior of vehicles with obstacles ahead, thereby greatly shortening the parking behavior of vehicles with obstacles. The reaction time can be reduced to less than 1/2 of the original reaction time τ, that is, less than τ/2. The formula for calculating the maximum driving speed at the entrance of the acceleration lane is as follows:
在第一车辆为可进行V2V通信的智能车辆的情况下，第一车辆与第二车辆稳定通信位置(图1中B点)的上游，第二车辆不能通过V2V通信感知车辆第一车辆，因此，第二车辆到达B点的速度也不宜过高，以免在区间段BC之间大幅度减速，影响驾驶舒适性。该位置前的行驶速度最大值的计算公式如下：In the case that the first vehicle is an intelligent vehicle capable of V2V communication, the first vehicle and the second vehicle are upstream of the stable communication position (point B in Figure 1), and the second vehicle cannot perceive the first vehicle through V2V communication, so , the speed of the second vehicle arriving at point B should not be too high, so as not to greatly decelerate between sections BC and affect driving comfort. The formula for calculating the maximum driving speed before this position is as follows:
其中，表示第三行驶距离。in, Indicates the third travel distance.
可选地，在第一车辆为非智能车辆的情况下，向第二车辆发送减速提示信息，包括：Optionally, when the first vehicle is a non-intelligent vehicle, sending deceleration prompt information to the second vehicle includes:
若第二车辆的行驶速度小于或等于则向第二车辆发送以当前车速驶出匝道的提示信息；If the speed of the second vehicle is less than or equal to Then send a prompt message to the second vehicle to exit the ramp at the current speed;
若第二车辆的行驶速度大于则向第二车辆发送在驶出匝道前降速至以下的提示信息。If the speed of the second vehicle is greater than Then send the second vehicle to slow down to The following prompt information.
可选地，在第一车辆为可进行V2V通信的智能车辆的情况下，向第二车辆发送减速提示信息，包括：Optionally, when the first vehicle is a smart vehicle capable of V2V communication, sending deceleration prompt information to the second vehicle includes:
在第一车辆与第二车辆稳定通信的范围覆盖全部匝道区域的情况下，则向第二车辆发送在驶出匝道前降速至以下的提示信息；In the case that the range of stable communication between the first vehicle and the second vehicle covers the whole ramp area, then send the second vehicle to reduce the speed to The following prompt information;
在第一车辆与第二车辆稳定通信的范围覆盖部分匝道区域的情况下，若第二车辆的行驶速度小于或等于则向第二车辆发送以当前车速驶出匝道的提示信息；In the case where the range of stable communication between the first vehicle and the second vehicle covers part of the ramp area, if the driving speed of the second vehicle is less than or equal to Then send a prompt message to the second vehicle to exit the ramp at the current speed;
在第一车辆与第二车辆稳定通信的范围覆盖部分匝道区域的情况下，若第二车辆的行驶速度大于则向第二车辆发送在驶出匝道前降速至/>以下的提示信息。In the case where the range of stable communication between the first vehicle and the second vehicle covers part of the ramp area, if the driving speed of the second vehicle is greater than then send the second vehicle to slow down to /> before going off the ramp The following prompt information.
本发明实施例的具体策略实施流程如下：The specific strategy implementation process of the embodiment of the present invention is as follows:
Step 1.常规交通监测Step 1. Routine traffic monitoring
本发明实施例涉及的方法适用于智慧高速匝道汇入区域，默认交通运行环境中存在全覆盖的路侧智能交通设施，用于监测匝道汇入区域的交通状况。在常规交通监测过程中，如果任意时刻t1加速车道区域存在某车辆i 的车速为0，即则转入Step2并继续保持常规交通监测。The method involved in the embodiment of the present invention is applicable to the on-ramp area of the smart high-speed road. By default, there are roadside intelligent traffic facilities with full coverage in the traffic operation environment, which are used to monitor the traffic conditions in the on-ramp area. In the routine traffic monitoring process, if there is a certain vehicle i in the acceleration lane area at any time t1 , the speed is 0, that is Then turn to Step2 and continue to maintain routine traffic monitoring.
Step 2.交通事件判别Step 2. Discrimination of traffic incidents
在高速公路加速车道区域，由于车辆汇入主路车流的行驶需求，易发生交通事件，缩减加速车道的有效行驶长度。以非常规停车事件为例，前后车辆碰撞事故可以参照非常规停车场景同理分析。非常规停车事件是指车辆在禁止停车行驶区域，由于客观原因突发或违法停车的情况。由于交通流内部偶然存在车辆“走走停停”的现象，尤其是交通流密集的行驶区域，因此，判断车辆突发停车或违规停车的关键条件是连续时间内车速为0且前方无障碍车辆，即：如果Vi(t1)＝Vi(t2)＝Vi(t3)＝0km/h&xi(t1)＝xi(t2)＝xi(t3)且在xi(t1)±5m空间区域内不存在其他车辆，则转入Step3，否则转入Step1，其中tj+1-tj＝Δt，此处Δt取30s。In the acceleration lane area of the expressway, due to the driving demand of vehicles merging into the main road traffic flow, traffic accidents are prone to occur, and the effective driving length of the acceleration lane is reduced. Taking unconventional parking incidents as an example, front and rear vehicle collision accidents can be analyzed in the same way as unconventional parking scenarios. Unconventional parking incidents refer to the sudden or illegal parking of vehicles due to objective reasons in areas where parking is prohibited. Occasionally, there is a phenomenon of "stop-and-go" vehicles in the traffic flow, especially in the driving area with dense traffic flow. Therefore, the key condition for judging the sudden parking or illegal parking of the vehicle is that the speed of the vehicle is 0 for a continuous time and there are no obstacles in front of the vehicle. , that is: if Vi (t1 )=Vi (t2 )=Vi (t3 )=0km/h&xi (t1 )=xi (t2 )=xi (t3 ) and at x If there is no other vehicle in the space area ofi (t1 )±5m, go to Step 3, otherwise go to Step 1, where tj+1 -tj =Δt, where Δt is 30s.
Step 3.关键参数信息提取Step 3. Key parameter information extraction
结合高精度地图和路侧智能感知设施，获取加速车道区域停车车辆C2 与加速车道入口C点的距离LCD。获取智能车辆C1的当前位置和运行速度依据高精度地图推算车辆C1从当前位置行驶至匝道出口处的行驶距离LAC，转入Step4。Combined with high-precision maps and roadside intelligent perception facilities, the distanceLCD between the parking vehicle C2 in the acceleration lane area and the point C at the entrance of the acceleration lane is obtained. Obtain the current position and running speed of the smart vehicle C1 Estimate the driving distance LAC of the vehicle C1 from the current position to the exit of the ramp according to the high-precision map, and turn to Step4.
Step 4.计算分析Step 4. Calculation analysis
基于行车视距，智能车辆C1行驶至位置C点时才能发现停在位置D 处的车辆C2，且加速车道长度有限，LCD长度较小。由于是高速公路合流区域的加速车道，其与主路车流行驶速度差异较大，在未经有效加速的情况下，换道至主路(尤其是主路未存在较大行车间隙的条件下)存在较大行车风险。在此种情境下，智能车辆C1在C点处大概率需要采取紧急制动的驾驶操作，以避免与D处的故障车辆C2发生碰撞。Based on the driving sight distance, the intelligent vehicle C1 can only find the vehicle C2 parked at the position D when it drives to the position C, and the length of the acceleration lane is limited, and the length of theLCD is small. Since it is the acceleration lane in the merge area of the expressway, the speed difference between it and the traffic flow on the main road is quite large. Without effective acceleration, change lanes to the main road (especially when there is no large driving gap on the main road) There is a high risk of driving. In this situation, the smart vehicle C1 needs to take emergency braking driving operation at point C with a high probability to avoid collision with the faulty vehicle C2 at point D.
车辆的定位信息与车载定位装置、路侧交通信息采集装备有关，假设车辆定位信息是以车辆中心点(如图1中A、B、C、D点)为准。智能车辆C1在C点处的行驶速度分析，是以避撞为目标，因此，本专利依据智能驾驶模型(Intelligent Driver Model，IDM)，分析避撞行驶速度。选择IDM 模型的原因有两点：1.IDM模型的参数均具有明确物理意义，可直观显示驾驶行为的变化；2.模型可以同时描述自由流与拥堵流状态下的单车道车辆跟驰行为，可一定程度上保证驾驶的舒适性。IDM模型具体表达式如下：The vehicle positioning information is related to the vehicle positioning device and the roadside traffic information collection equipment. It is assumed that the vehicle positioning information is based on the center point of the vehicle (points A, B, C, and D in Figure 1). The analysis of the driving speed of the intelligent vehicle C1 at point C is aimed at avoiding collisions. Therefore, this patent analyzes the driving speed for collision avoidance based on the Intelligent Driver Model (IDM). There are two reasons for choosing the IDM model: 1. The parameters of the IDM model have clear physical meanings, which can visually display the changes in driving behavior; 2. The model can describe the car-following behavior of single-lane vehicles in both free flow and congested flow states. Driving comfort can be guaranteed to a certain extent. The specific expression of the IDM model is as follows:
其中E(amax)和E(bmax)分别表示跟驰车辆的期望最大加速度和最大减速度，hmin表示最小安全车头间距，hlane表示期望车头时距，Δhlane(t)表示t时刻在车道lane上的车头间距，Δvlane(t)表示t时刻在车道lane上的速度差，表示加速度指数，一般取值为4。hmin是指在交通拥挤、车辆低速缓行时的安全距离。hlane是指在稳定交通流状态下，车辆以恒定的安全车头时距跟随前导车。根据既有研究成果，IDM模型中各个参数的取值范围如表2所示。Where E(amax ) and E(bmax ) represent the expected maximum acceleration and maximum deceleration of the car-following vehicle respectively, hmin represents the minimum safe headway distance, hlane represents the expected headway, Δhlane (t) represents time t The headway distance on the lane lane, Δvlane (t) represents the speed difference on the lane lane at time t, Indicates the acceleration index, which generally takes a value of 4. hmin refers to the safe distance when the traffic is congested and the vehicle slows down at low speed. hlane means that in a steady traffic flow state, the vehicle follows the leading vehicle with a constant safe headway. According to the existing research results, the value range of each parameter in the IDM model is shown in Table 2.
表2Table 2
面向高速公路匝道汇入区域，可以近似取值为加速车道的设计车速 100km/h。实际驾驶过程中，E(amax)一般略小于E(bmax)。忽略车辆间的启动与制动等方面的车辆性能差异，E(amax)取值为5m/s2，E(bmax)取值为6m/s2。高速公路中，最小安全车头间距hmin可以取值大一些，为5.0m。连续交通流中的期望车头时距hlane可以取值为1.5s。基于激光雷达的信息采集频率(如果路侧设施是毫米波雷达，可同理替换)，对时间的离散粒度可与信息采集频率一致，Δt＝0.1s。Facing the merge area of the freeway ramp, It can be approximated as the design speed of the acceleration lane at 100km/h. During actual driving, E(amax ) is generally slightly smaller than E(bmax ). Neglecting the differences in vehicle performance between vehicles such as starting and braking, the value of E(amax ) is 5m/s2 , and the value of E(bmax ) is 6m/s2 . In expressways, the minimum safe distance between vehicles hmin can be set to a larger value, which is 5.0m. The expected headway hlane in continuous traffic flow can take a value of 1.5s. Based on the information collection frequency of lidar (if the roadside facility is a millimeter-wave radar, it can be replaced in the same way), the discrete granularity of time can be consistent with the information collection frequency, Δt=0.1s.
依据上述IDM模型，可以分析智能车辆C1在C点处的行驶速度应满足下述约束，其中，lane表示所处的车道编号：According to the above IDM model, the driving speed of intelligent vehicle C1 at point C can be analyzed The following constraints should be met, where lane represents the number of the lane it is in:
由上式可以推导出在保障安全行驶的条件下，智能车辆C1在C点处允许的行驶速度最大值如下式所示。From the above formula, it can be deduced that under the condition of ensuring safe driving, the maximum allowed driving speed of intelligent vehicle C1 at point C As shown in the following formula.
上述策略是基于车路协同获取加速车道区域D点处故障车辆C2的相关信息，依据驾驶员的行车视距，计算分析智能车辆C1在C点处允许的行驶速度最大值，从而保障行车安全。但是当故障车辆C2为智能车辆时，车辆 C1不再依靠物理层面的行车视距感知车辆C2，基于V2V通信，可在匝道出口C点前提前感知车辆C2的位置。此种情况下，主要分两种情境：The above strategy is based on vehicle-road coordination to obtain relevant information about the faulty vehicle C2 at point D in the acceleration lane area, and calculate and analyze the maximum allowed driving speed of intelligent vehicle C1 at point C according to the driver's driving sight distance, so as to ensure driving safety. However, when the faulty vehicle C2 is an intelligent vehicle, the vehicle C1 no longer relies on the physical driving sight distance to perceive the vehicle C2. Based on the V2V communication, it can sense the position of the vehicle C2 in advance before the ramp exit point C. In this case, there are mainly two situations:
情境1，V2V通信环境覆盖整个弯道行驶区域，即车辆C1进入弯道后，可以准确感知车辆C2的位置。此种情境下，车辆C1可以根据车辆C2的状态合理地调整驾驶行为，大幅度缩短应对车辆C2停车行为的反应时间，在本情境中，计算紧急制动时的最大允许速度时，认为基于V2V通信，车辆C1的反应时间可降至原来的1/2及以下。因此，智能车辆C1在C点处所允许的行驶速度最大值如下式所示：Scenario 1, the V2V communication environment covers the entire curve driving area, that is, the vehicle C1 can accurately perceive the position of the vehicle C2 after entering the curve. In this situation, the vehicle C1 can reasonably adjust the driving behavior according to the state of the vehicle C2, and greatly shorten the reaction time for the parking behavior of the vehicle C2. Communication, the reaction time of vehicle C1 can be reduced to 1/2 of the original and below. Therefore, the maximum allowed driving speed of intelligent vehicle C1 at point C As shown in the following formula:
在此情境中，智能车辆C1有充足的时间应对车辆C2的突发停车行为，正常情况下，车辆C1会提前减速，因此给出的仅是保障行车安全。In this situation, the intelligent vehicle C1 has enough time to deal with the sudden parking behavior of the vehicle C2. Under normal circumstances, the vehicle C1 will decelerate in advance, so the given Just for driving safety.
情境2，由于物理屏障对无线通信信号的干扰，稳定V2V通信仅能覆盖部分弯道行驶区域。如图1所示，车辆C1行驶至弯道区域B点处，无线通信干扰减小，其与车辆C2存在V2V稳定的通信，从而感知车辆C2的状态及位置。此种情境下，匝道出口处C点允许行驶速度最大值的分析方法与情境1一致。而在B点上游，C1车辆不能通过V2V通信感知车辆C2，因此，车辆C1到达B点的速度也不宜过高，以免在区间段BC之间大幅度减速，影响驾驶舒适性。智能车辆到达B点前的最大允许速度如下所示：In Scenario 2, due to the interference of physical barriers on wireless communication signals, stable V2V communication can only cover part of the curved driving area. As shown in Figure 1, when the vehicle C1 travels to point B in the curve area, the wireless communication interference is reduced, and it has stable V2V communication with the vehicle C2, so as to perceive the state and position of the vehicle C2. In this scenario, the analysis method for the maximum allowable speed at point C at the exit of the ramp is consistent with Scenario 1. In the upstream of point B, vehicle C1 cannot perceive vehicle C2 through V2V communication. Therefore, the speed of vehicle C1 to reach point B should not be too high, so as not to slow down significantly between sections BC and affect driving comfort. The maximum allowable speed of the smart vehicle before reaching point B As follows:
综上所述，智能车辆C1在故障车辆C2是非智能车辆和智能车辆不同情况下，均能计算出行驶速度的约束信息，然后转入Step5。值得注意的是，最大允许速度的计算与待辅助驾驶车辆(智能车辆C1)的特征信息密切相关，即当车辆车身长度不同、车辆最大加、减速度(动力学特征参数信息) 不同。To sum up, the intelligent vehicle C1 can calculate the constraint information of the driving speed under different circumstances that the faulty vehicle C2 is a non-intelligent vehicle or an intelligent vehicle, and then transfer to Step5. It is worth noting that the calculation of the maximum allowable speed is closely related to the characteristic information of the vehicle to be assisted driving (smart vehicle C1), that is, when the length of the vehicle body is different, the maximum acceleration and deceleration of the vehicle (dynamic characteristic parameter information) are different.
Step 5.控制策略发布Step 5. Release of control strategy
依据故障车辆C2是否为智能车辆，结合或/>的值，可以进行辅助驾驶操作策略并利用智能车辆的通信单元，发送给车辆。以故障车辆C2是非智能车辆为例，如果/>即车辆C1本身在弯道行驶区域的行驶速度并不高，则通过智能交通系统的路侧通信单元向车辆C1的OBU发送行驶建议信息，信息如下：According to whether the faulty vehicle C2 is an intelligent vehicle, combined with or /> The value can be used to carry out the assisted driving operation strategy and use the communication unit of the intelligent vehicle to send it to the vehicle. Take the faulty vehicle C2 as an example of a non-intelligent vehicle, if /> That is, the driving speed of the vehicle C1 itself in the curve driving area is not high, so the roadside communication unit of the intelligent transportation system sends the driving advice information to the OBU of the vehicle C1, and the information is as follows:
行驶策略1：“前方为事故易突发路段，请保持当前车速平稳驶出匝道”Driving strategy 1: "There is an accident-prone road ahead, please keep the current speed and drive off the ramp smoothly"
如果需要通过智能交通系统向车辆C1的OBU发送减速类行驶提醒信息，信息如下：if It is necessary to send deceleration driving reminder information to the OBU of vehicle C1 through the intelligent transportation system. The information is as follows:
行驶策略2：“前方存在突发事故，请在驶出匝道前将行驶速度降至以下”Driving strategy 2: "There is a sudden accident ahead, please reduce the driving speed to the following"
同理，当故障车辆C2是智能车辆，V2V通信环境覆盖整个弯道行驶区域，发布信息如下。值得注意的是，基于V2V通信功能，智能车辆C1可以感知故障车辆C2的情况，因此不用发布类似策略1类的建议型策略，车辆C1的驾驶员可以自行调整车速，只需给出匝道出口处的最高限速值即可。Similarly, when the faulty vehicle C2 is an intelligent vehicle, the V2V communication environment covers the entire curve driving area, and the released information is as follows. It is worth noting that based on the V2V communication function, the intelligent vehicle C1 can perceive the situation of the faulty vehicle C2, so there is no need to issue a suggested policy similar to policy 1. The driver of the vehicle C1 can adjust the speed by himself, and only needs to give the exit point of the ramp. the maximum speed limit.
行驶策略3：“前方存在突发事故，请在驶出匝道前将行驶速度降至以下”Driving strategy 3: "There is a sudden accident ahead, please reduce the driving speed to the following"
当故障车辆C2是智能车辆，稳定V2V通信仅能覆盖部分弯道行驶区域，若发布信息如行驶策略4；若/>发布信息如行驶策略5。When the faulty vehicle C2 is an intelligent vehicle, the stable V2V communication can only cover part of the curve driving area. Release information such as driving strategy 4; if /> Publish information such as driving strategy 5.
行驶策略4：“前方为事故易突发路段，请保持当前车速平稳驶出匝道”Driving strategy 4: "There is an accident-prone road ahead, please keep the current speed and drive off the ramp smoothly"
行驶策略5：“前方存在突发事故，请在驶出匝道前将行驶速度降至以下”Driving strategy 5: "There is a sudden accident ahead, please reduce the driving speed to the following"
本发明实施例提出的上述方法适用于智慧高速，一是智慧高速可以满足方法的技术实施条件，二是方法本身可嵌入智慧高速的管理与控制系统，参照发明专利《基于数据自流动的智慧公路信息物理系统》(专利号： ZL202111216233.1)，本发明在系统中的运行流程如下：The above-mentioned method proposed by the embodiment of the present invention is suitable for smart highways. First, the smart highway can meet the technical implementation conditions of the method. Second, the method itself can be embedded in the management and control system of the smart highway. Refer to the invention patent "Smart Highway Based on Data Flow" Information Physics System" (patent number: ZL202111216233.1), the operation process of the present invention in the system is as follows:
图3示出了“超视距”避撞行驶控制在智慧高速信息物理系统中的运行示意图，示出了物理空间、连接通道及信息空间。Fig. 3 shows a schematic diagram of the operation of "over-the-horizon" collision avoidance driving control in the intelligent high-speed cyber-physical system, showing the physical space, connection channel and information space.
物理空间包括基础运输路网及设备布设层，该基础运输路网可以包括匝道、加速车道及主路车道，该设备布设层可以包括路侧单元RSU，车载单元(On board Unit，OBU)，毫米波雷达，高清摄像头等。物理空间具体可以包括获取所有车辆运动学信息：定位信息、行驶速度、行驶加速度、航向角等，以及匝道区域、加速车道区域车辆特征信息：车身长度、动力学特征参数信息、是否装载OBU等。连接通道包括CPS(Cyber-Physical Systems，信息物理系统)单元节点控制器，用于加载事件判别模型，判断是否有事件以及关键参数信息提取。关键参数信息具体可以包括上传故障车辆的定位信息、待辅助驾驶车辆的定位信息和行驶速度等。信息空间包括CPS智能控制总线，后台计算图层及方案预演图层。后台计算图层包括智能驾驶模型，常规车辆速度分析模型及智能车辆速度分析模型。方案预演图层包括预演策略效果模块及策略信息发布模块。其中，上述信息空间用于执行上述“超视距”避撞行驶控制方法。The physical space includes the basic transportation road network and equipment layout layer. The basic transportation road network can include ramps, acceleration lanes and main road lanes. The equipment layout layer can include roadside units RSU, On board Unit (OBU), mm Wave radar, high-definition camera, etc. The physical space can specifically include obtaining all vehicle kinematics information: positioning information, driving speed, driving acceleration, heading angle, etc., as well as vehicle characteristic information in the ramp area and acceleration lane area: body length, dynamic characteristic parameter information, whether OBU is loaded, etc. The connection channel includes a CPS (Cyber-Physical Systems, information physical system) unit node controller, which is used to load the event discrimination model, judge whether there is an event, and extract key parameter information. The key parameter information may specifically include the location information of the uploaded faulty vehicle, the location information and driving speed of the vehicle to be assisted in driving, and the like. Information space includes CPS intelligent control bus, background calculation layer and scheme preview layer. The background calculation layer includes intelligent driving model, conventional vehicle speed analysis model and intelligent vehicle speed analysis model. The program preview layer includes a preview strategy effect module and a strategy information release module. Wherein, the above-mentioned information space is used to implement the above-mentioned "beyond-horizon" collision avoidance driving control method.
本发明实施例提出的方法可以很好地契合于智慧高速信息物理系统运行，即可以作为系统功能模块之一进行开发、运行。其中加载事件判别模型可以参照Step2进行，常规车辆、智能车辆速度分析模型参照Step 4进行，策略信息发布参照Step 5进行。The method proposed in the embodiment of the present invention can be well adapted to the operation of the intelligent high-speed cyber-physical system, that is, it can be developed and operated as one of the system functional modules. The loading event discrimination model can refer to Step 2, the conventional vehicle and intelligent vehicle speed analysis model can refer to Step 4, and the policy information release can refer to Step 5.
图4示出了本发明实施例提供方法的系统场景开发效果示意图。如图4 所示，进行智慧高速新一代交通管理与控制系统(如信息物理系统、云控平台等)的运营商、用户可以借鉴设计。场景中智能车辆进入匝道后，会发送前方交通事件的信息，并给出驶出匝道的最大允许速度建议，如图中提示框所示。此外，大型车辆和小型车辆的行驶控制策略会有差异。Fig. 4 shows a schematic diagram of the system scenario development effect of the method provided by the embodiment of the present invention. As shown in Figure 4, operators and users who implement smart high-speed new-generation traffic management and control systems (such as cyber-physical systems, cloud control platforms, etc.) can learn from the design. In the scene, after the smart vehicle enters the ramp, it will send information about the traffic event ahead, and give a suggestion on the maximum allowable speed when leaving the ramp, as shown in the prompt box in the figure. In addition, the driving control strategies of large vehicles and small vehicles will be different.
本发明实施例为应对车路协同、自动驾驶等技术对现行高速公路系统提出的需求和挑战，结合物联网技术、云计算模式，提出了一种适用于智慧高速公路匝道汇入区域、辅助智能车辆完成“超视距”避撞行驶的方法。该方法依据智能车辆的基础信息(车身长度等)、动力学特征参数信息，在车载传感器感知距离外提前为车辆设计行驶控制策略的方法，以保障车辆行驶的安全性，可推进智能车辆在智慧高速公路的落地应用进程，有效提升高速公路网运行安全性。In order to cope with the requirements and challenges of the current expressway system by technologies such as vehicle-road coordination and automatic driving, the embodiment of the present invention proposes a smart expressway ramp-in area and auxiliary intelligent A method for vehicles to complete "beyond visual range" collision avoidance driving. This method is based on the basic information (body length, etc.) The application process of the expressway has effectively improved the safety of the expressway network operation.
进一步地，本发明实施例确定了“超视距”避撞行驶控制方法的具体实施流程(如Step1—Step5所示)以及该方法作为功能模块，在智慧高速信息物理系统中的运行逻辑，可有效促进信息物理系统在我国交通领域的功能服务设计扩展和落地方案制定。Further, the embodiment of the present invention determines the specific implementation process of the "over-the-horizon" collision avoidance driving control method (as shown in Step1-Step5) and the operation logic of the method as a functional module in the intelligent high-speed cyber-physical system. Effectively promote the functional service design expansion and implementation plan formulation of cyber-physical systems in my country's transportation field.
图5是本发明实施例中一种基于车路协同的“超视距”避撞行驶控制装置的结构示意图，包括：Fig. 5 is a schematic structural diagram of a vehicle-road coordination-based "over-the-horizon" collision avoidance driving control device in an embodiment of the present invention, including:
交通监测模块501，用于通过路侧智能交通设备监测公路匝道的加速车道区域的交通状况；The traffic monitoring module 501 is used to monitor the traffic conditions in the acceleration lane area of the highway ramp through the roadside intelligent traffic equipment;
停车判断模块502，用于判断加速车道区域是否有第一车辆出现突发停车或违规停车；The parking judging module 502 is used to judge whether there is sudden parking or illegal parking of the first vehicle in the acceleration lane area;
信息获取模块503，用于若有第一车辆出现突发停车或违规停车，则获取所述第一车辆与加速车道入口的第一行驶距离、匝道区域内的第二车辆的当前位置及行驶速度、所述当前位置与所述加速车道入口的第二行驶距离；An information acquisition module 503, configured to acquire the first driving distance between the first vehicle and the entrance of the acceleration lane, the current position and the driving speed of the second vehicle in the ramp area if the first vehicle stops suddenly or illegally , the second driving distance between the current position and the entrance of the acceleration lane;
速度计算模块504，用于根据预设的跟驰模型结合所述第一行驶距离、所述第二行驶距离、所述行驶速度、所述第一车辆及第二车辆的长度信息，计算所述第二车辆在所述加速车道入口的行驶速度最大值；A speed calculation module 504, configured to calculate the first driving distance, the second driving distance, the driving speed, and the length information of the first vehicle and the second vehicle according to a preset car-following model. the maximum speed of the second vehicle at the entrance of the acceleration lane;
减速提示模块505，用于向所述第二车辆发送减速提示信息，所述减速提示信息包括所述加速车道入口的行驶速度最大值。The deceleration prompting module 505 is configured to send deceleration prompting information to the second vehicle, the deceleration prompting information including the maximum driving speed of the acceleration lane entrance.
本发明实施例提供的基于车路协同的“超视距”避撞行驶控制装置，适用于智慧高速公路匝道汇入区域、辅助智能车辆完成“超视距”避撞行驶，可以在车载传感器感知距离外提前为车辆设计行驶控制策略，以保障车辆行驶的安全性，可推进智能车辆在智慧高速公路的落地应用进程，有效提升高速公路网运行安全性。The "beyond visual distance" collision avoidance driving control device based on the vehicle-road coordination provided by the embodiment of the present invention is suitable for the ramp-in area of the smart expressway and assists intelligent vehicles to complete the "beyond visual distance" collision avoidance driving. Designing a driving control strategy for the vehicle in advance to ensure the safety of the vehicle, can promote the application process of intelligent vehicles in the smart expressway, and effectively improve the safety of the expressway network operation.
上述实施例提供的基于车路协同的“超视距”避撞行驶控制装置能够实现上述基于车路协同的“超视距”避撞行驶控制方法的实施例中的各个过程，为避免重复，这里不再赘述。The vehicle-road coordination-based "beyond-horizon" collision avoidance driving control device provided in the above-mentioned embodiments can realize the various processes in the embodiments of the above-mentioned vehicle-road coordination-based "beyond-line-of-sight" collision avoidance driving control method. In order to avoid repetition, I won't go into details here.
本发明实施例还提供一种计算机可读存储介质，计算机可读存储介质上存储有计算机程序，该计算机程序被处理器执行时实现上述基于车路协同的“超视距”避撞行驶控制方法实施例的各个过程，且能达到相同的技术效果，为避免重复，这里不再赘述。其中，所述的计算机可读存储介质，如只读存储器(Read-Only Memory，简称ROM)、随机存取存储器(Random Access Memory，简称RAM)、磁碟或者光盘等。An embodiment of the present invention also provides a computer-readable storage medium, on which a computer program is stored, and when the computer program is executed by a processor, the above-mentioned "over-the-horizon" collision avoidance driving control method based on vehicle-road coordination is implemented. The various processes of the embodiment can achieve the same technical effect, so in order to avoid repetition, details are not repeated here. Wherein, the computer-readable storage medium is, for example, a read-only memory (Read-Only Memory, ROM for short), a random access memory (Random Access Memory, RAM for short), a magnetic disk or an optical disk, and the like.
当然，本领域技术人员可以理解实现上述实施例方法中的全部或部分流程，是可以通过计算机程度来指令控制装置来完成，所述的程序可存储于一计算机可读取的存储介质中，所述程序在执行时可包括如上述各方法实施例的流程，其中所述的存储介质可为存储器、磁盘、光盘等。Of course, those skilled in the art can understand that all or part of the processes in the methods of the above-mentioned embodiments can be completed by instructing the control device through a computer program, and the program can be stored in a computer-readable storage medium, so When the program is executed, it may include the processes of the above method embodiments, wherein the storage medium may be a memory, a magnetic disk, an optical disk, and the like.
在本文中，诸如第一和第二等之类的关系术语仅仅用来将一个实体或者操作与另一个实体或操作区分开来，而不一定要求或者暗示这些实体或操作之间存在任何这种实际的关系或者顺序。而且，术语“包括”、“包含”或者其任何其他变体意在涵盖非排他性的包含，从而使得包括一系列要素的过程、方法、物品或者设备不仅包括那些要素，而且还包括没有明确列出的其他要素，或者是还包括为这种过程、方法、物品或者设备所固有的要素。在没有更多限制的情况下，由语句“包括一个……”限定的要素，并不排除在包括所述要素的过程、方法、物品或者设备中还存在另外的相同要素。In this document, relational terms such as first and second etc. are used only to distinguish one entity or operation from another without necessarily requiring or implying any such relationship between these entities or operations. Actual relationship or sequence. Furthermore, the term "comprises", "comprises" or any other variation thereof is intended to cover a non-exclusive inclusion such that a process, method, article, or apparatus comprising a set of elements includes not only those elements, but also includes elements not expressly listed. other elements of or also include elements inherent in such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising a ..." does not exclude the presence of additional identical elements in the process, method, article or apparatus comprising said element.
本说明书中各个实施例采用递进的方式描述，每个实施例重点说明的都是与其他实施例的不同之处，各个实施例之间相同相似部分互相参见即可。Each embodiment in this specification is described in a progressive manner, each embodiment focuses on the difference from other embodiments, and the same and similar parts of each embodiment can be referred to each other.
对所公开的实施例的上述说明，本领域专业技术人员能够实现或使用本发明。对这些实施例的多种修改对本领域的专业技术人员来说将是显而易见的，本文中所定义的一般原理可以在不脱离本发明的精神或范围的情况下，在其它实施例中实现。因此，本发明将不会被限制于本文所示的这些实施例，而是要符合与本文所公开的原理和新颖特点相一致的最宽的范围。Based on the above description of the disclosed embodiments, a person skilled in the art can make or use the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the invention. Therefore, the present invention will not be limited to the embodiments shown herein, but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
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| CN202211055589.6ACN115547035B (en) | 2022-08-31 | 2022-08-31 | Beyond-visual-distance collision avoidance running control method and device and information physical system |
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