The invention provides a cooperative passing strategy of a networked automatic driving vehicle under a left-turn special signal, and the method is mainly divided into three parts: firstly, planning left-turn trajectory curves corresponding to two exit lanes through obtained intersection static channelization information; then, the shortest left-turn track of the two exit lanes is selected; and finally, by taking the highest vehicle passing efficiency at the intersection as a target, on the premise of ensuring the safety, executing a left-turn passing scheme, calculating an exit lane selection index and selecting an exit lane in a left-turn allowed passing range according to the vehicle distance and the speed of two adjacent vehicles, and safely and quickly passing through the intersection along with the corresponding left-turn track, so that the vehicle passing efficiency is improved. And the left-turn vehicle passing efficiency is improved.
本发明提出了一种左转专用信号下网联自动驾驶车辆的协同通行策略,该方法主要分为三个部分,首先通过获取到的交叉口静态渠化信息,规划对应两个出口道的左转轨迹曲线;之后,选择两个出口道的最短左转轨迹;最后,以交叉口车辆通行效率最高为目标,在保障安全性的前提下,执行左转通行方案,在左转允许的通行范围内,根据相邻两车车距、速度的大小,计算出口道选择指数,选择出口道,并跟随对应的左转轨迹,安全、快速地通过交叉口,提高左转车辆通行效率。
Cooperative passing strategy of networked automatic driving vehicle under special left-turn signal
一种左转专用信号下网联自动驾驶车辆的协同通行策略
12.07.2024
Patent
Elektronische Ressource
Chinesisch
Europäisches Patentamt | 2023
|Europäisches Patentamt | 2025
|Europäisches Patentamt | 2021
|Europäisches Patentamt | 2023
|