The invention discloses a method and device for automatic driving to pass through a highway toll station based on vehicle-road cooperation, which belong to the technical field of path planning. The method comprises the steps of planning a driving route from each lane exit of a toll station regular width road area to a corresponding gate through a toll station front end lane extension area, calculating the time for the current vehicle to pass through the gate in each driving route, and selecting the vehicle which needs the longest time for arriving at the gate in each driving route, selecting a driving route which is short in time and meets the requirements of height limit and weight limit factors from the vehicles which need the longest time to arrive at the gate currently in each driving route, and pushing the selected driving route to a target vehicle which is about to enter a lane expansion area at the front end of the toll station, and according to the driving speed of the target vehicle at the current moment and the driving distance to the gate, pushing the vehicle driving acceleration to the target vehicle. The basic state information and the driving state information of the vehicle which is about to pass through the toll station are collected through V2X for unified processing, and vehicle-vehicle cooperation is realized.

    本发明公开了一种基于车路协同的自动驾驶通过高速收费站方法及装置,属于路径规划技术领域,其中,方法的实现包括:规划收费站正规宽度道路区每个车道出口经过收费站前端车道扩展区到达相应闸机口的行驶路线;计算出每条行驶路线中当前车辆通过闸机口的时间,选择出每条行驶路线中当前到达闸机口需要最长时间的车辆;从每条行驶路线中当前到达闸机口需要最长时间的车辆中选择时间短且满足限高和限重因素对应的行驶路线推送给待进入收费站前端车道扩展区的目标车辆;根据目标车辆当前时刻的行驶速度和到闸机口的行驶距离,向目标车辆推送车辆行驶的加速度。本发明通过V2X收集即将通过收费站的车辆的基本状态信息和行驶状态信息进行统一处理,做到了车车协同。


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    Titel :

    Method and device for automatic driving to pass through highway toll station based on vehicle-road cooperation


    Weitere Titelangaben:

    基于车路协同的自动驾驶通过高速收费站方法及装置


    Beteiligte:
    ZHAO YIMING (Autor:in) / TUO XINJUAN (Autor:in) / LAI FENG (Autor:in) / LI RUIPIAN (Autor:in) / XIAN ZHIWEI (Autor:in)

    Erscheinungsdatum :

    2021-10-01


    Medientyp :

    Patent


    Format :

    Elektronische Ressource


    Sprache :

    Chinesisch


    Klassifikation :

    IPC:    G08G Anlagen zur Steuerung, Regelung oder Überwachung des Verkehrs , TRAFFIC CONTROL SYSTEMS / H04W WIRELESS COMMUNICATION NETWORKS , Drahtlose Kommunikationsnetze




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