The invention discloses a vehicle track control method for an expressway bottleneck area. The method comprises the following steps: the vehicle speed of a target lane where a fault vehicle is locatedserves as a target control speed of a control vehicle; according to the target control speed, the maximum deceleration and the maximum speed limit of the control vehicle, the transverse control area length, the lane changing starting position, the longitudinal control area length and the control starting position of the control vehicle are determined; a longitudinal avoidance track of the vehicleis constructed in the longitudinal control area by taking the lowest energy consumption as a performance index; and a transverse avoidance track of the vehicle is constructed according to the transverse acceleration and the target control speed. The vehicle track control method under a vehicle-road cooperation environment is carried out under the condition of considering both the motion state information of the control vehicle and the traffic state information of the avoidance areas, and the longitudinal avoidance track and the transverse avoidance track of the control vehicle are reasonably planned; and the longitudinal avoidance track gives a vehicle speed change control mode with the lowest energy consumption, and the transverse avoidance track gives a comfortable lane changing curve radius for passengers.
本发明公开了一种高速公路瓶颈区域的车辆轨迹控制方法,包括:将故障车辆所在目标车道的车速作为控制车辆的目标控制速度;根据控制车辆的目标控制速度、最大减速度、最高限速,确定控制车辆的横向控制区域长度、换道开始位置、纵向控制区域长度和控制开始位置;在纵向控制区域以能耗最低为性能指标,构造车辆纵向避让轨迹;根据横向加速度和目标控制速度,构造车辆横向避让轨迹。本发明在车路协同环境下的车辆轨迹控制方法在兼顾控制车辆运动状态信息和避让区域交通状态信息下进行,对控制车辆的纵向避让轨迹和横向避让轨迹进行合理规划;纵向避让轨迹给出能耗最低的车速变化控制方式,横向避让轨迹给出乘客舒适的换道曲线半径。
Vehicle track control method for expressway bottleneck area
一种高速公路瓶颈区域的车辆轨迹控制方法
2020-04-28
Patent
Electronic Resource
Chinese
IPC: | G08G Anlagen zur Steuerung, Regelung oder Überwachung des Verkehrs , TRAFFIC CONTROL SYSTEMS |
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