The invention relates to an intersection signal-vehicle trajectory cooperative control method in a vehicle-road cooperative environment. The method comprises the following steps: constructing an intersection signal optimization model; constructing a vehicle trajectory optimization model; solving the intersection signal optimization model and the vehicle trajectory optimization model respectively to obtain a signal timing scheme and a vehicle traveling trajectory, wherein the vehicle traveling trajectory comprises the positions and speeds of vehicles in an entrance lane and an intersection, theintersection annunciator correspondingly executes the signal timing scheme, and the vehicle moves according to the vehicle running track. Compared with the prior art, the method has the advantages that reasonable green light intervals can be dynamically designed according to the size characteristics of different intersections, and vehicle conflicts caused by breaking of the green light intervalsand effective green light time waste caused by overlong green light intervals are avoided; and meanwhile, the driving tracks of the vehicles in the entrance lanes and the intersections are optimized,so that the safety in the signal switching period is guaranteed, and the passing efficiency and safety of the intersections are effectively improved.
本发明涉及一种车路协同环境下交叉口信号‑车辆轨迹协同控制方法,包括:构建交叉口信号优化模型;构建车辆轨迹优化模型;分别求解交叉口信号优化模型和车辆轨迹优化模型,得到信号配时方案和车辆行驶轨迹,其中,车辆行驶轨迹包括车辆在进口道以及交叉口内部的位置及速度;交叉口信号机对应执行信号配时方案;车辆按照车辆行驶轨迹移动。与现有技术相比,本发明能够根据不同交叉口尺寸特性,动态设计合理的绿灯间隔,避免绿灯间隔时间果断导致的车辆冲突,以及绿灯间隔时间过长导致的有效绿灯时间的浪费;同时优化了车辆在进口道以及交叉口内部的行驶轨迹,从而保障信号切换期间安全性,以此有效提高了交叉口通行效率和安全性。
Intersection signal-vehicle trajectory cooperative control method in vehicle-road cooperative environment
一种车路协同环境下交叉口信号-车辆轨迹协同控制方法
2020-09-25
Patent
Elektronische Ressource
Chinesisch
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