The invention provides an intersection traffic efficiency improvement method based on risk degree in an automatic driving environment, and the method is mainly divided into three parts: firstly, through an intersection holographic data expression method, intersection information is integrated and transmitted to all vehicles in an area, and a precise intersection state expression model is provided for the vehicles at an intersection; then, by increasing path selection of the vehicles in the intersection, calculating conflict time and conflict point occupation time between the vehicles according to the vehicle motion state and the corresponding track route; by comparing the conflict time with the conflict point occupation time, a risk index is proposed, and a conflict resolution scheme based on risk judgment is designed; and finally, by comprehensively considering constraint conditions such as optimal speed, following collision avoidance, signal phase and risk degree and taking the highest vehicle passing efficiency at the intersection as a target, vehicle speed and trajectory planning is carried out, an optimal scheme of cooperative passing of vehicles at the intersection is obtained, and the passing efficiency is improved on the premise of guaranteeing safety.
本发明提出了自动驾驶环境下基于危险度的交叉口通行效率提升方法,该方法主要分为三个部分,首先通过交叉口全息数据表达方法,将交叉口信息整合传递给区域内的所有车辆,为交叉口的车辆提供精准的交叉口状态表达模型;之后,通过增加车辆在交叉口内的路径选择,并根据车辆运动状态及对应的轨迹路线,计算车辆间的冲突时间及冲突点占用时间;通过对比冲突时间和冲突点占用时间,提出危险度指标,并设计基于危险度判别的冲突消解方案;最终通过综合考虑最优速度、跟驰避撞、信号相位和危险度等约束条件,并以交叉口车辆通行效率最高为目标,进行车辆速度和轨迹规划,得到交叉口车辆协同通行的最优方案,在保障安全性的前提下提高通行效率。
Intersection traffic efficiency improving method based on risk degree in automatic driving environment
自动驾驶环境下基于危险度的交叉口通行效率提升方法
17.01.2023
Patent
Elektronische Ressource
Chinesisch
IPC: | G08G Anlagen zur Steuerung, Regelung oder Überwachung des Verkehrs , TRAFFIC CONTROL SYSTEMS |
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