The invention relates to the technical field of collision avoidance of intelligent network-connected vehicles, in particular to a multi-vehicle cooperative collision avoidance method and device for intelligent network-connected vehicles in a mixed flow environment based on a composite network and a computer readable storage medium, and the method comprises the steps: building the composite network composed of intelligent network-connected vehicle state nodes and contact arcs, searching a safe and feasible operation set according to the driving state of the intelligent network-connected vehicle; a collision avoidance problem is converted into a network flow optimization problem, and a multi-vehicle optimal decision is estimated by searching an optimal network; active lane changing and collision avoidance are realized by dynamically iterating the speeds and positions of multiple vehicles; carrying out analog simulation through SUMO software; the novel collision avoidance model provided by the invention is wider in application range; the CACC technology is fully utilized to avoid traffic jam; the virtual composite network is constructed based on the real traffic flow, the composite network is optimized, the road traffic efficiency is improved, and the traffic environment is improved; network model construction, an optimal decision model and simulation verification are integrated, and the effectiveness and feasibility of the model are fully verified.
本发明涉及智能网联车避撞技术领域,具体指一种基于复合网络的混合流环境下智能网联车多车协同避撞方法、设备以及计算机可读存储介质,包括:建立由智能网联车状态节点和联系弧组成的复合网络,依据智能网联车行驶状态寻找安全可行操作集;将避撞问题转换为网络流优化问题,通过寻找最优网络估算多车最优决策;通过动态迭代多车速度与位置实现主动换道和避撞;通过SUMO软件进行模拟仿真;本发明提出新型避撞模型应用范围更加广泛;充分运用CACC技术避免发生交通拥堵;基于现实车流构建虚拟复合网络,优化复合网络,提高了道路交通效率,改善了交通环境;将网络模型构建、最优决策模型和仿真验证三合一,充分验证了模型的有效性和可行性。
CAV multi-vehicle cooperative collision avoidance method in mixed flow environment based on composite network
基于复合网络的混合流环境下CAV多车协同避撞方法
2024-05-24
Patent
Elektronische Ressource
Chinesisch
IPC: | G08G Anlagen zur Steuerung, Regelung oder Überwachung des Verkehrs , TRAFFIC CONTROL SYSTEMS |
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