The invention relates to a confluence optimization control method for merging a special lane of an automatic vehicle into a common lane, which fully considers the randomness of a traditional common vehicle during design, and specifically comprises the following steps: dividing a road section at a lane merging bottleneck into a control area, a confluence area and a merging downstream area; when a traditional general vehicle is driven into the control area, predicting a driving track of the vehicle based on a random car-following model and an alpha track method according to the detected initial speed; when the automatic vehicle enters the control area, collecting the speed and the position of the automatic vehicle in real time; determining the number of vehicles in each lane in the control area according to the obtained vehicle track information; adopting a double-layer optimization algorithm to design the optimal confluence sequence and the optimal confluence track of the automatic vehicle; sending the optimal track to the automatic vehicle in the control area so that the automatic vehicle runs in the control area according to the confluence track; after the automatic vehicle leaves the control area, enabling the automatic vehicle to move in the confluence area based on the car-following model, and searching a feasible gap on a common lane for lane changing according to lane changing safety conditions; and when a new vehicle is driven into the control area, executing the re-optimization.
本发明为一种自动车专用道并入普通车道的合流优化控制方法,并在设计时充分考虑传统一般车辆的随机性,具体为将车道合并瓶颈处的路段分为控制区、合流区和合并下游区;当传统一般车辆驶入控制区时,依据探测的初始速度基于随机性跟驰模型和α轨迹法预测其行驶轨迹;当自动车进入控制区后,实时收集其速度和位置;根据获得的车辆轨迹信息,确定控制区内各车道的车辆数;采用双层优化算法对自动车的最优合流次序和合流轨迹进行设计;将最优轨迹发送给控制区内的自动车,自动车按照合流轨迹在控制区内行驶;自动车驶出控制区后,在合流区基于跟驰模型运动,并依据换道安全条件寻找普通车道上可行的空隙换道;当有新的车辆驶入控制区时,进行重新优化。
Confluence optimization control method for merging automatic vehicle special lane into common lane
一种自动车专用道并入普通车道的合流优化控制方法
2022-02-18
Patent
Elektronische Ressource
Chinesisch
IPC: | G08G Anlagen zur Steuerung, Regelung oder Überwachung des Verkehrs , TRAFFIC CONTROL SYSTEMS |
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