The invention relates to a man-machine mixed driving traffic flow vehicle lane changing model construction method. A man-machine mixed driving traffic flow vehicle lane changing model established by the method comprises a manual driving vehicle lane changing model in a passive lane changing intention scene, a network connection automatic driving vehicle lane changing model and a network connection automatic driving vehicle lane changing model in an active lane changing intention scene; a lane changing intention, a safety distance, a lane changing vehicle speed revenue condition and a vehicle overall speed revenue condition are considered while free lane changing is carried out in a networked automatic driving vehicle lane changing model under a passive lane changing intention scene, and the overall speed revenue is measured by using a networked automatic driving vehicle lane changing decision parameter; and when the road condition does not meet the safety distance, the lane changing vehicle performs information interaction with other networked automatic driving vehicles of the target lane, and lane changing is assisted in a collaborative driving mode. The model considers vehicle lane changing intentions, safety condition differences and automatic driving vehicle formation driving behaviors, and can provide references for road management and control in man-machine mixed driving traffic flow.
本发明为一种人机混驾交通流车辆换道模型构建方法,该方法建立的人机混驾交通流车辆换道模型包括被动换道意图场景下的手动驾驶车辆换道模型、网联自动驾驶车辆换道模型以及主动换道意图场景下的网联自动驾驶车辆换道模型;在被动换道意图场景下的网联自动驾驶车辆换道模型中自由换道同时考虑了换道意图、安全间距、换道车辆速度收益条件和车辆整体速度收益条件,用网联自动驾驶车辆换道决策参数衡量整体速度收益;在道路条件不满足安全间距时,换道车辆与目标车道的其他网联自动驾驶车辆进行信息交互,通过协同驾驶方式协助换道。该模型考虑车辆换道意图、安全条件差异性以及自动驾驶车辆编队行驶行为,可为人机混驾交通流中的道路管控提供参考。
Man-machine mixed driving traffic flow vehicle lane changing model construction method
一种人机混驾交通流车辆换道模型构建方法
2022-07-22
Patent
Elektronische Ressource
Chinesisch
IPC: | B60W CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION , Gemeinsame Steuerung oder Regelung von Fahrzeug-Unteraggregaten verschiedenen Typs oder verschiedener Funktion |
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