The invention relates to an intersection passing track control method and device, equipment and a storage medium. The method comprises the steps that a first motion state of a vehicle passing through an intersection at a preset distance away from an intersection parking line and a second motion state of the vehicle at the intersection parking line are collected respectively; based on the first motion state and the second motion state, a vehicle track control function is established with discrete travel time, discrete fuel consumption and discrete car-following safety distance as targets; establishing constraint conditions of the vehicle track control function according to road network information, vehicle parameter information, a following safety distance, the first motion state and the second motion state; solving a target speed and a target acceleration when the vehicle trajectory control function is maximum under the constraint condition; and controlling the vehicle to pass through the intersection according to the target speed and the target acceleration. The objective function is a discrete function, the car-following safety distance is increased, and time dimension explosion is avoided when the objective function is solved.
本发明涉及一种路口通行的轨迹控制方法、装置、设备及存储介质,该方法包括:分别采集路口通行的车辆在距离路口停车线预设距离时的第一运动状态与在路口停车线时的第二运动状态;基于所述第一运动状态和所述第二运动状态,以离散旅行时间、离散油耗和离散跟驰安全距离为目标建立车辆轨迹控制函数;根据路网信息、车辆参数信息、跟驰安全距离、所述第一运动状态和所述第二运动状态建立所述车辆轨迹控制函数的约束条件;在所述约束条件下求解所述车辆轨迹控制函数最大时的目标速度和目标加速度;根据所述目标速度和所述目标加速度控制车辆通过路口。本发明的目标函数为离散函数,并增加了跟驰安全距离,避免了在求解目标函数时出现时间维度爆炸。
Intersection passing track control method, device and equipment and storage medium
一种路口通行的轨迹控制方法、装置、设备及存储介质
2024-05-14
Patent
Elektronische Ressource
Chinesisch
IPC: | 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 |
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