The invention discloses an expressway traffic flow full-sample trajectory reconstruction method based on automatic driving vehicle movement detection. The method mainly comprises the steps that firstly, for two adjacent manual driving vehicles which can be detected by an automatic driving vehicle, the driving state of a rear vehicle is divided into following and approaching states, and expected driving state parameters of the rear vehicle at the next moment are predicted through front vehicle track data detected by movement of the automatic driving vehicle; secondly, the difference value between the expected driving state parameter and the actual driving state parameter of the rear vehicle at the next moment is calculated, and if the difference value exceeds an acceptable range, a new vehicle needs to be inserted between the two adjacent manually-driven vehicles; then, the initial insertion position and the initial insertion speed of the inserted artificial driving vehicle are furthercalculated according to the local traffic density and the regional average speed of the road; and finally, a cellular automaton motion updating rule is designed to simulate vehicle motion, and thus insertion vehicle trajectory reconstruction is completed to obtain an expressway mixed traffic flow full-sample trajectory.
本发明公开了一种基于自动驾驶车辆移动检测的快速路交通流全样本轨迹重构方法。主要步骤包括:首先,对于自动驾驶车辆可以检测到的两辆相邻人工驾驶车辆,将后车行驶状态分为跟随和逼近,利用自动驾驶车辆移动检测到的前车轨迹数据预测后车下一时刻的期望行驶状态参数;其次,计算后车下一时刻期望行驶状态参数与实际行驶状态参数差值,若该差值超出可接受范围,要在这两辆相邻人工驾驶车辆之间插入新的车辆;之后,根据道路局部交通密度和区域平均速度,进一步计算插入人工驾驶车辆初始插入位置和初始插入速度;最后,设计元胞自动机运动更新规则,仿真车辆运动,据此完成插入车辆轨迹重构,得到快速路混行交通流全样本轨迹。
Expressway traffic flow full-sample trajectory reconstruction method based on automatic driving vehicle movement detection
一种基于自动驾驶车辆移动检测的快速路交通流全样本轨迹重构方法
2020-06-05
Patent
Electronic Resource
Chinese
IPC: | G08G Anlagen zur Steuerung, Regelung oder Überwachung des Verkehrs , TRAFFIC CONTROL SYSTEMS |
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