The invention discloses a vehicle queuing length sensing method, device and equipment and a storage medium. The method comprises the following steps: acquiring basic motion state data, signal timing data and average time headway data of an intelligent networked vehicle, and the time when the vehicle leaves a stop line at an intersection in a queuing dissipation process and vehicle number data; constructing a Bayesian posterior probability model for estimating the queuing length; taking the permeability of the intelligent connected vehicles as parameters to establish a probability function that the intelligent connected vehicles exist in the tail vehicles in the multi-lane intersection road environment; and according to the average time headway data and the time when the vehicle leaves the stop line of the intersection in the queuing dissipation process during the green light, deriving Gaussian distribution characteristics of the vehicle queuing length in combination with the probability function, and estimating a prior probability ratio of the vehicle queuing length of each lane. the method, device and equipment improve the estimation precision of the queuing length, do not need a large amount of historical data to solve the prior probability value, guarantee the real-time performance of the queuing length, and improve the data refinement and precision performance.

    本发明公开了一种车辆排队长度感知方法、装置、设备及存储介质,所述方法通过获取智能网联汽车的基本运动状态数据、信号配时数据、平均车头时距数据、排队消散过程中车辆离开路口停车线时间及车辆数数据;构建估计排队长度的贝叶斯后验概率模型;以智能网联汽车渗透率为参数,建立多车道路口道路环境下队尾车辆中存在智能网联汽车的概率函数;根据平均车头时距数据和绿灯期间排队消散过程中车辆离开路口停车线时间为参数,结合所述概率函数推导出车辆排队长度的高斯分布特征,估计各车道的车辆排队长度的先验概率比值;提高了排队长度的估计精度,不需要大量历史数据求解先验概率值,保障了排队长度的实时性,提升了数据精细化及精度性能。


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    Title :

    Vehicle queuing length sensing method, device and equipment and storage medium


    Additional title:

    车辆排队长度感知方法、装置、设备及存储介质


    Contributors:
    HE SHUXIAN (author) / YANG TANGTAO (author) / ZHANG LONGYANG (author) / LIU YI (author)

    Publication date :

    2021-11-12


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    G08G Anlagen zur Steuerung, Regelung oder Überwachung des Verkehrs , TRAFFIC CONTROL SYSTEMS



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