The invention discloses a centralized vehicle collaborative decision ramp afflux separation method and device and a cloud, and belongs to the technical field of automatic driving, and the method comprises the steps: planning a global path of a target vehicle through employing a rapid extension random tree according to the current position information and destination address of the target vehicle; the global path is combined with the expected driving speed to obtain the position of the target vehicle at each time point on the global path, so that other vehicles can plan the global path according to the position of the target vehicle at each time point on the global path; and if the global path planning time of the target vehicle is later than the global path planning time of other vehicles when the target vehicle arrives at the target road section, and a planned ramp afflux or separation route is occupied by other vehicles, a cooperative control strategy is generated based on the sensing data of the roadside equipment, the operation data of the vehicle and the sensing data of the vehicle end sensor. On the premise that the driving safety of the intelligent vehicle is guaranteed, the driving efficiency of the single intelligent vehicle and the traffic efficiency of the road are improved to the maximum extent.

    本发明公开了一种集中式车辆协同决策匝道汇入分离方法、装置及云端,属于自动驾驶技术领域,包括:根据目标车辆当前位置信息和目的地址,采用快速扩展随机树规划目标车辆的全局路径;将全局路径结合期望行驶速度得出目标车辆各时间点在全局路径上的位置,以使其他车辆结合目标车辆各时间点在全局路径上的位置来规划全局路径;若目标车辆的全局路径规划时间晚于当其到达目标路段时其他车辆全局路径规划时间,且规划的匝道汇入或分离的路线已被其他车辆占有,则基于路侧设备的感知数据、车辆的运行数据及车端传感器感知数据,生成协同控制策略。本发明在保障智能车辆行驶安全的前提下,最大程度上提高单个智能车辆的行驶效率以及道路的通行效率。


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    Titel :

    Centralized vehicle collaborative decision-making ramp convergence separation method and device and cloud


    Weitere Titelangaben:

    集中式车辆协同决策匝道汇入分离方法、装置及云端


    Beteiligte:
    ZHAO YIMING (Autor:in) / MA ZE (Autor:in) / TONG BEINING (Autor:in) / KUMAKICHI (Autor:in) / YANG QIUBEI (Autor:in)

    Erscheinungsdatum :

    15.09.2023


    Medientyp :

    Patent


    Format :

    Elektronische Ressource


    Sprache :

    Chinesisch


    Klassifikation :

    IPC:    G08G Anlagen zur Steuerung, Regelung oder Überwachung des Verkehrs , TRAFFIC CONTROL SYSTEMS / 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



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