The invention discloses a traffic flow afflux method and device, electronic equipment and a storage medium, and the method comprises the steps: constructing an abstract space according to the planning path information of a vehicle and the position information of other vehicles; constructing an intersection game problem according to the abstract space, wherein the intersection game problem comprises calculation of an intersection area, construction of an objective function and construction of a constraint term; outputting first acceleration information by solving the intersection game problem; according to the own vehicle information and the front vehicle information, a vehicle following problem is constructed, and second acceleration information is obtained through solving; and comparing the first acceleration information with the second acceleration information, and outputting an afflux traffic flow result. According to the method and the device, the complexity of traffic flow convergence is reduced, the safety of the traffic flow convergence process is improved, and the method and the device have polite.
本申请公开了一种汇入车流方法、装置及电子设备、存储介质,所述方法包括根据自车规划路径信息和他车位置信息,构建抽象空间;根据所述抽象空间构建交汇博弈问题,所述交汇博弈问题包括计算交汇区域、构建目标函数、构建约束项;通过求解所述交汇博弈问题,输出第一加速度信息;根据自车信息和前车信息,构建跟车问题并通过求解得到第二加速度信息;通过比较所述第一加速度信息与所述第二加速度信息,输出汇入车流结果。通过本申请降低了汇入车流时的复杂程度,同时提高汇入车流过程的安全性且兼具礼貌性。
Traffic flow converging method and device, electronic equipment and storage medium
汇入车流方法、装置及电子设备、存储介质
29.11.2024
Patent
Elektronische Ressource
Chinesisch
IPC: | G08G Anlagen zur Steuerung, Regelung oder Überwachung des Verkehrs , TRAFFIC CONTROL SYSTEMS |
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