The invention discloses an urban road emergency vehicle priority control method in a network connection environment, and aims at urban road intersections and road sections to collect vehicle arrival information. And establishing a function relationship between the time when the vehicle enters and exits the grid and the speed and time when the vehicle enters the intersection on each track. All grids can only be occupied by one vehicle at the same moment as a safety constraint. On a road section, time is discretized, and driving tracks, including a longitudinal track and a transverse track, in each step length on the road section are globally optimized. In order to ensure the continuity between a road section track and an intersection track, the invention provides a vehicle speed grading method, the speed of a vehicle entering an intersection is divided into a plurality of grades, and the optimal entering speed and time are determined by an intersection track planning model. And planning a driving track of the road section according to the optimal speed and time. According to the method, emergency vehicles can pass preferentially mainly by planning the driving tracks of the vehicles at the intersections and the road sections, the response time of the emergency vehicles is shortened, and the emergency rescue capacity is improved.
本发明公开了一种网联环境下城市道路应急车辆优先控制方法,针对城市道路交叉口和路段,采集车辆到达信息。建立每条轨迹上车辆进出网格时间与进入交叉口速度、时间的函数关系。以所有网格在同一时刻只能被一辆车占据为安全约束。在路段上,将时间离散化,全局优化路段上每一步长内的行驶轨迹,包括纵向轨迹和横向轨迹。为保证路段轨迹和交叉口轨迹之间的连续性,本发明提出车辆速度分级方法,将车辆进入交叉口的速度分为若干等级,交叉口轨迹规划模型确定最佳进入速度和时间。根据最佳速度和时间规划路段的行驶轨迹。本发明方法主要通过规划车辆在交叉口和路段的行驶轨迹,实现应急车辆优先通行,降低应急车辆响应时间,提高应急救援能力。
Urban road emergency vehicle priority control method in network connection environment
一种网联环境下城市道路应急车辆优先控制方法
26.12.2023
Patent
Elektronische Ressource
Chinesisch
Europäisches Patentamt | 2022
|Europäisches Patentamt | 2024
|Unmanned vehicle route searching method based on urban road in network connection environment
Europäisches Patentamt | 2024
|Distributed urban road traffic control with vehicle priority management
Kraftfahrwesen | 2010
|