The invention discloses an expressway collaborative decision-making safe driving method, which comprises the following steps of S1, acquiring vehicle end sensing information and road end sensing information, and performing information fusion; s2, establishing a rectangular plane coordinate system, and establishing a speed potential field, a lane potential field, a road boundary potential field and an entity obstacle potential field on the road surface according to the fused sensing information; wherein the speed potential field enables the vehicle to tend to run at a set expected speed, the lane potential field enables the vehicle to tend to run in a current lane, the road boundary potential field enables the vehicle to tend to run away from a road boundary, and the entity obstacle potential field enables the vehicle to tend to run away from an entity obstacle; s3, the running vehicle is influenced by a total potential field formed by overlapping the speed potential field, the lane potential field, the road boundary potential field and the entity obstacle potential field, and according to the potential field intensity gradients of the total potential field at the vehicle position in the running direction and the transverse direction, the target acceleration of the vehicle in the running direction and the transverse direction is obtained; and S4, driving the vehicle according to the driving direction and the transverse target acceleration.

    本发明公开了一种高速公路协同决策安全行车方法,包括以下步骤,S1、获取车端感知信息和路端感知信息并进行信息融合;S2、建立平面直角坐标系,根据融合的感知信息在路面建立速度势场、车道势场、道路边界势场、实体障碍势场;其中速度势场使车辆趋于以设定的期望速度行驶,车道势场使车辆趋于以当前车道保持行驶,道路边界势场使车辆趋于远离道路边界行驶,实体障碍势场使车辆趋于远离实体障碍行驶;S3、行驶车辆受速度势场、车道势场、道路边界势场、实体障碍势场叠加行成的总势场影响,根据总势场在车辆位置沿行驶方向和横向的势场强度梯度,得到车辆在行驶方向和横向的目标加速度;S4、车辆根据行驶方向和横向的目标加速度进行行驶。


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    Titel :

    Highway collaborative decision-making safe driving method and system


    Weitere Titelangaben:

    一种高速公路协同决策安全行车方法及系统


    Beteiligte:
    ZHAO YIMING (Autor:in) / KUMAKICHI (Autor:in) / MA ZE (Autor:in) / LI RUIPIAN (Autor:in) / GUO JIANRUI (Autor:in)

    Erscheinungsdatum :

    2023-11-24


    Medientyp :

    Patent


    Format :

    Elektronische Ressource


    Sprache :

    Chinesisch


    Klassifikation :

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