The invention relates to a vehicle collaborative decision-making method and device based on a mixed traffic scene, and the method comprises the steps: determining the manual driving vehicle following distance, queue interval and stable vehicle following state of each mixed queue in the current mixed traffic scene, constructing a queue kinematics model through combining with a preset mixed queue initial state condition, and obtaining a mixed queue kinematics model; calculating the convergence time of the hybrid queue; the method comprises the following steps: determining full-manual driving vehicle queuing time of a current cross road section, generating a directed conflict graph of each mixed queue to construct a depth-first spanning tree of a communication topological configuration, characterizing the depth-first spanning tree based on a preset matrix form, and constructing a linear feedback controller at the same time; and controlling the vehicle to pass through the current crossing road section according to the depth-first spanning tree of the communication topology configuration. Therefore, the problems that existing mixed queue analysis is only oriented to a fixed timing signal lamp scene, the universality is poor, the calculation complexity is high, the requirement of real-time application is difficult to meet, and the improvement of the traffic efficiency is greatly limited are solved.
本申请涉及一种基于混合交通场景的车辆协同决策方法及装置,其中,方法包括:确定当前混合交通场景中每个混合队列的人工驾驶车辆跟车距离、队列间隔和稳定跟车状态,并结合预设的混合队列初态条件构建队列运动学模型,以计算混合队列收敛时间;确定当前交叉路段的全人工驾驶车辆排队时间,并生成每个混合队列的有向冲突图,以构建通信拓扑构型的深度优先生成树,且基于预设矩阵形式对其进行表征,同时构建线性反馈控制器,以根据通信拓扑构型的深度优先生成树控制车辆通过当前交叉路段。由此,解决了现有的混合队列分析仅面向固定配时信号灯场景,普适性较差,计算复杂度较高,难以满足实时应用的需求,极大限制了交通效率的提升和改善等问题。
Vehicle collaborative decision-making method and device based on mixed traffic scene
基于混合交通场景的车辆协同决策方法及装置
2024-03-08
Patent
Elektronische Ressource
Chinesisch
IPC: | G08G Anlagen zur Steuerung, Regelung oder Überwachung des Verkehrs , TRAFFIC CONTROL SYSTEMS |
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