The invention relates to an intelligent network connection vehicle collaborative decision-making and control method for an expressway interleaving area in mixed traffic, and belongs to the field of intelligent network connection vehicles. According to the method, firstly, based on high-precision map data information and road right information, a macroscopic and microscopic unified mixed traffic driving rule is formed under a fixed geometric reference system of an interlaced area; on the basis, a master-slave game model is established, and a single-vehicle/multi-vehicle decision result conforming to traffic rules is generated in combination with a particle swarm optimization method. And the vehicle end establishes a single-vehicle input state/multi-vehicle input state and corresponding constraint conditions respectively, and a vehicle controller based on reinforcement learning outputs a corresponding steering wheel angle and a vehicle longitudinal acceleration to a vehicle bottom layer for execution according to a decision result, so that decision and control of the intelligent network connection vehicle in the expressway interleaving area are realized. According to the method, the safety, the stability and the high efficiency of the expressway interleaving area in mixed traffic are ensured.

    本发明涉及一种混合交通中面向高速公路交织区的智能网联车辆协同决策与控制方法,属于智能网联汽车领域。该方法首先基于高精地图数据信息以及道路路权信息,在交织区固定几何参考系下,形成宏观与微观统一的混行交通行车规则。在此基础上,建立主从博弈模型,结合粒子群优化方法生成符合交通规则的单车/多车决策结果。车端分别建立单车输入状态/多车输入状态以及相对应的约束条件,根据决策结果由基于强化学习的车辆控制器输出对应的方向盘转角和车辆纵向加速度到车辆底层进行执行,进而实现高速公路交织区智能网联车辆的决策与控制。本发明确保了混行交通中高速公路交织区的安全性、稳定性和高效性。


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    Titel :

    Intelligent network connection vehicle collaborative decision-making and control method for expressway interleaving area in mixed traffic


    Weitere Titelangaben:

    混合交通中面向高速公路交织区的智能网联车辆协同决策与控制方法


    Beteiligte:
    LEE YOUNG BOK (Autor:in) / ZHU YONGXIN (Autor:in) / HUANG XIN (Autor:in)

    Erscheinungsdatum :

    22.11.2024


    Medientyp :

    Patent


    Format :

    Elektronische Ressource


    Sprache :

    Chinesisch


    Klassifikation :

    IPC:    G08G Anlagen zur Steuerung, Regelung oder Überwachung des Verkehrs , TRAFFIC CONTROL SYSTEMS / G06N COMPUTER SYSTEMS BASED ON SPECIFIC COMPUTATIONAL MODELS , Rechnersysteme, basierend auf spezifischen Rechenmodellen



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