The invention relates to a ramp confluence cooperative control method and device based on a vehicle formation, electronic equipment and a computer storage medium, and the method comprises the steps: carrying out the region division of a main line and a ramp, and determining the length of each region; setting the driving speed and the confluence point position of the motorcade in each area; respectively calculating a first driving time when each vehicle in the first motorcade arrives at the confluence point and a second driving time when each vehicle in the second motorcade arrives at the confluence point; and determining a motorcade sequence according to a preset priority principle, making a confluence scheme based on the determined motorcade sequence, the first driving time and the second driving time, and sending the confluence scheme to each vehicle of the motorcade to control each vehicle to execute the confluence scheme. According to the method, the converging scheme is appointed for the networked automatic driving vehicles according to the driving time of the motorcade arriving at the converging point, and the passing efficiency and safety of the motorcade in the ramp converging area are improved.

    本发明涉及一种基于车辆编队的匝道合流协同控制方法、装置、电子设备及计算机存储介质,其方法包括:对主线和匝道进行区域划分,并确定每一区域的长度;设定车队在每一区域的行驶速度及合流点位置;分别计算第一车队每一车辆到达所述合流点的第一行驶时间和第二车队每一车辆到达所述合流点的第二行驶时间;根据预设优先原则确定车队顺序,并基于已确定的车队顺序、所述第一行驶时间及第二行驶时间制定合流方案,将所述合流方案发送至车队的每一车辆中,以控制每一车辆执行所述合流方案。本发明通过车队到达合流点的行驶时间对网联自动驾驶车辆指定合流方案,提高匝道合流区车队的通行效率和安全性。


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    Title :

    Ramp confluence cooperative control method and device based on vehicle formation, and electronic equipment


    Additional title:

    基于车辆编队的匝道合流协同控制方法、装置及电子设备


    Contributors:
    ZHAO XIN (author) / LIU ZHONGYUAN (author) / FENG LEI (author) / LIU BAOZHEN (author)

    Publication date :

    2023-07-14


    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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