The invention discloses an intersection speed planning method and device, and the method comprises the steps: building an abstract space according to the path planning information of a vehicle and the position information of other traffic participants, and enabling the abstract space to comprise an interactive game and an intersection game, the interactive game is used for representing that the own vehicle and other traffic participants are finally separated in the transverse space, and the intersection game is used for representing that the own vehicle and other traffic participants are finally converged in the transverse space; establishing an optimization problem according to the interactive game, the intersection game, the self-vehicle speed information and the speed information of other traffic participants in the abstract space; and outputting an intersection speed planning result by solving the optimization problem. According to the method, the complexity of design of the intersection passing speed planning optimization problem is reduced, and meanwhile, the smoothness and safety of solving are guaranteed.
本申请公开了一种路口速度规划方法、装置,所述方法包括:根据自车路径规划信息和其他交通参与者位置信息,建立抽象空间,所述抽象空间包括交互博弈和交汇博弈,所述交互博弈用于表示自车与其他交通参与者最终会在横向空间上分离,所述交汇博弈用于表示自车和其他交通参与者最终会在横向空间上汇合;根据所述抽象空间中的所述交互博弈、所述交汇博弈以及自车速度信息、其他交通参与者速度信息,建立优化问题;通过求解所述优化问题,输出路口速度规划结果。通过本申请降低路口通行速度规划优化问题设计的复杂性,同时保证求解的平顺性和安全性。
Intersection speed planning method and device
路口速度规划方法、装置
30.08.2024
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 / G06N COMPUTER SYSTEMS BASED ON SPECIFIC COMPUTATIONAL MODELS , Rechnersysteme, basierend auf spezifischen Rechenmodellen / G06Q Datenverarbeitungssysteme oder -verfahren, besonders angepasst an verwaltungstechnische, geschäftliche, finanzielle oder betriebswirtschaftliche Zwecke, sowie an geschäftsbezogene Überwachungs- oder Voraussagezwecke , DATA PROCESSING SYSTEMS OR METHODS, SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL, SUPERVISORY OR FORECASTING PURPOSES |
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