The invention provides a non-signalized intersection resource scheduling method in a vehicle-road cooperation environment, and the method is characterized in that the method comprises the following steps: S1, enabling an autonomous vehicle to reach an intersection induction region with an intelligent road side unit; S2, enabling the autonomous vehicle to send the state information to the intelligent road side unit in real time through a collaborative information interaction system; s3, enabling the intelligent road side unit to calculate the traffic flow and the queuing length of each entrance lane according to the received state information and an established non-signalized intersection resource scheduling model, and calculate an optimal vehicle passing sequence; s4, enabling the intelligent road side unit to send the optimal vehicle passing sequence to the autonomous vehicle in real time; s5, enabling the autonomous vehicles to sequentially pass through the intersections according to the indication of the intelligent road side unit and the current optimal traveling sequence; and S6, judging whether a new autonomous vehicle arrives or not, if no new autonomous vehicle arrives, executing the step S5, and if a new autonomous vehicle arrives, returning to the step S2. Compared with a traditional signalized intersection control method, the non-signalized intersection resource scheduling method in the vehicle-road cooperation environment effectively reduces the queuing length of vehicles and improves the vehicle throughput capacity of the intersection.
本发明提出一种车路协同环境下的无信号交叉口资源调度方法,其特征在于,包括如下步骤:步骤S1:自治车辆到达拥有智能路侧单元的交叉口感应区域;步骤S2:自治车辆将状态信息经由协同信息交互系统实时发送给智能路侧单元;步骤S3:智能路侧单元根据接收到的状态信息,根据已建立的无信号交叉口资源调度模型计算出各个进口车道的车流量、排队长度,计算出最优车辆通行序列;步骤S4:智能路侧单元将最优车辆通行序列实时发送至自治车辆;步骤S5:自治车辆按照智能路侧单元的指示,按照当前最优同行序列,依次通过交叉口;步骤S6:判断是否有新的自治车辆到达,若没有新的自治车辆到达,则执行步骤S5,若有新的自治车辆到达,则返回步骤S2。较传统有信号交叉口控制方法,本发明所提出的车路协同环境下的无信号交叉口资源调度方法有效减少了车辆的排队长度,提高了交叉口的车辆吞吐能力。
Non-signalized intersection resource scheduling method in vehicle-road coordination environment
一种车路协同环境下的无信号交叉口资源调度方法
2021-10-22
Patent
Elektronische Ressource
Chinesisch
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