The invention provides a rapid trunk road vehicle trajectory optimization control method in a vehicle-road cooperative mixed traffic flow environment, and aims at a scene of mixed driving of a networked automatic driving vehicle and a traditional man-driven vehicle at a rapid trunk road signal intersection based on application of a mobile networking and automatic driving technology. On one hand, front signals and traffic flow operation information are collected and transmitted through the roadside equipment and the vehicle-mounted equipment; and on the other hand, a vehicle trajectory optimization model is constructed based on a deep reinforcement learning algorithm, the model is optimized by adopting an actor-commentator framework, intersection safety is taken as an optimization target, road speed limit and traffic light rule constraints are obeyed, a safety detector is arranged to carry out mandatory correction on potential unsafe behaviors adopted in the control process, and the control accuracy is improved. Optimization design of the track of the network-connected automatic driving vehicle is achieved so as to avoid collision, and the passing efficiency of the rapid trunk road is improved.
本发明提出了一种车路协同混合交通流环境下快速干道车辆轨迹优化控制方法,针对快速干道信号交叉口处网联自动驾驶车辆与传统人驾车辆混行的场景,基于移动网联及自动驾驶技术的应用,一方面通过路侧设备和车载设备收集并传递前方信号和车流运行信息;另一方面本发明基于深度强化学习算法构建车辆轨迹优化模型,模型采用演员‑评论家框架优化,以交叉口安全性作为优化目标,遵守道路限速和红绿灯规则约束,并设置安全检测器对控制过程中采取的潜在不安全行为进行强制性修正,实现对网联自动驾驶车辆轨迹的优化设计以避免碰撞的发生,提高快速干道的通行效率。
Rapid trunk road vehicle trajectory optimization control method in vehicle-road cooperative mixed traffic flow environment
一种车路协同混合交通流环境下快速干道车辆轨迹优化控制方法
2023-07-28
Patent
Elektronische Ressource
Chinesisch
IPC: | G06F ELECTRIC DIGITAL DATA PROCESSING , Elektrische digitale Datenverarbeitung / G06Q Datenverarbeitungssysteme oder -verfahren, besonders angepasst an verwaltungstechnische, geschäftliche, finanzielle oder betriebswirtschaftliche Zwecke, sowie an geschäftsbezogene Überwachungs- oder Voraussagezwecke , DATA PROCESSING SYSTEMS OR METHODS, SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL, SUPERVISORY OR FORECASTING PURPOSES / G08G Anlagen zur Steuerung, Regelung oder Überwachung des Verkehrs , TRAFFIC CONTROL SYSTEMS |
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