The invention relates to a self-adaptive dynamic path planning method based on vehicle infrastructure collaborative awareness. The method comprises the following steps: firstly, establishing a machine learning model for predicting traffic information in a future period according to a road network, a traffic characteristic matrix and an attribute matrix; the attribute matrix comprises an inherent attribute matrix and a non-inherent attribute matrix; then establishing a training set comprising a traffic characteristic matrix reflecting historical traffic speed, an inherent attribute matrix reflecting types of information points around a road section, and a non-inherent attribute matrix constructed according to historical weather conditions; training the machine learning model by using the training set to obtain an urban traffic flow prediction model; and finally, collecting current real data, obtaining a traffic flow prediction result according to the urban traffic flow prediction model, and calculating an optimal path by using a Dijkstra algorithm. According to the method, the convolutional neural network is trained to predict the traffic flow, so that the problems that the existing time-saving path planning depends on the road condition at the current moment and the planned path is easy to lose optimality are solved.
本发明涉及一种基于车路协同感知下的自适应动态路径规划方法,首先建立根据路网、交通特征矩阵和属性矩阵预测未来时段交通信息的机器学习模型;属性矩阵包括固有属性矩阵和非固有属性矩阵;然后建立包括反应历史交通速度的交通特征矩阵、反应路段周围信息点类型的固有属性矩阵、根据历史天气状况构造的非固有属性矩阵的训练集;利用训练集对机器学习模型进行训练,得到城市交通流量预测模型;最后采集当前真实数据,根据城市交通流量预测模型得到交通流预测结果,使用迪杰斯特拉算法计算最优路径。本发明通过对卷积神经网络进行训练,实现对交通流量进行预测,从而改善现有省时路径规划依赖于当前时刻路况,规划的路径容易失去最佳性的问题。
Self-adaptive dynamic path planning method based on vehicle infrastructure collaborative awareness
一种基于车路协同感知下的自适应动态路径规划方法
2023-08-18
Patent
Elektronische Ressource
Chinesisch
IPC: | G08G Anlagen zur Steuerung, Regelung oder Überwachung des Verkehrs , TRAFFIC CONTROL SYSTEMS / G01C Messen von Entfernungen, Höhen, Neigungen oder Richtungen , MEASURING DISTANCES, LEVELS OR BEARINGS / G06F ELECTRIC DIGITAL DATA PROCESSING , Elektrische digitale Datenverarbeitung / G06N COMPUTER SYSTEMS BASED ON SPECIFIC COMPUTATIONAL MODELS , Rechnersysteme, basierend auf spezifischen Rechenmodellen |
Vehicle guiding method based on vehicle infrastructure collaborative awareness
Europäisches Patentamt | 2023
|DOAJ | 2021
|Vehicle Infrastructure Collaborative Systems
British Library Conference Proceedings | 2006
|Multi-unmanned-surface-vehicle full-coverage path collaborative planning method
Europäisches Patentamt | 2020
|Europäisches Patentamt | 2022
|