The invention discloses a variable curvature complex road condition mixed traffic flow-oriented CAVs car-following queue forming method. The method comprises the steps of obtaining state information of confluence CAVs and a confluence center of an initial CAVs queue; performing confluence scene division according to the state information of the confluence CAVs; for the collaborative lane-changing confluence scene, establishing a collaborative lane-changing game model considering the compromise degree of a human driver based on the confluence CAVs, the confluence center and the position state of HVs in the confluence direction, and generating a collaborative lane-changing confluence decision; for an overtaking lane-merging confluence scene, generating an initial confluence track based on road surface information by using a dynamic programming algorithm; constraining the initial confluence trajectory through a double-layer quadratic programming algorithm to generate an overtaking lane-merging confluence decision; and the confluence CAVs complete confluence through a collaborative lane changing confluence decision or an overtaking lane changing confluence decision, and join the confluence into the initial CAVs queue to form a CAVs car following queue. According to the method, the influence of HVs and road conditions (environmental information) on the formation of the CAVs car-following queue in a mixed traffic scene is considered.
本发明公开了面向变曲率复杂路况混合交通流的CAVs跟驰队列形成方法,包括:获取合流CAVs的状态信息以及初始CAVs队列的合流中心;根据合流CAVs的状态信息进行合流场景划分;对于协同换道合流场景:基于合流CAVs、合流中心以及合流方向上HVs的位置状态建立考虑人类驾驶员谦让程度的协同换道博弈模型,生成协同换道合流决策;对于超车并道合流场景:使用动态规划算法基于路面信息生成初始合流轨迹;通过双层二次规划算法对初始合流轨迹进行约束生成超车并道合流决策;合流CAVs通过协同换道合流决策或超车并道合流决策完成合流,加入到初始CAVs队列中,形成CAVs跟驰队列。本发明考虑了在混合交通场景下HVs及道路状况(环境信息)对CAVs跟驰队列形成的影响。
CAVs car-following queue forming method for variable curvature complex road condition mixed traffic flow
面向变曲率复杂路况混合交通流的CAVs跟驰队列形成方法
07.03.2025
Patent
Elektronische Ressource
Chinesisch
IPC: | G08G Anlagen zur Steuerung, Regelung oder Überwachung des Verkehrs , TRAFFIC CONTROL SYSTEMS |
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