本发明公开了基于车路协同的上匝道协同并道控制方法,在初始时刻,判断主干道上的协同车辆的类型;若协同车辆为网联人驾驶车辆,则诱导控制该车辆的驾驶员,使得该车辆按照第一期望行为行驶;若协同车辆为网联自动驾驶车辆,则直接控制车辆,该车辆按照第二期望运动行为;判断该时刻是否满足合并条件,若满足则合并完成,如不满足则继续进行车辆合并。本发明保证合作车辆无论是网联人驾车还是网联自动驾驶车,都能够实现安全高效且舒适的上匝道合并。
The invention discloses an on-ramp cooperative lane merging control method based on vehicle-road cooperation. The method comprises steps that types of cooperative vehicles on a main road at an initialmoment are determined; if the collaborative vehicle is a network-connected person driving vehicle, a driver of the vehicle is induced and controlled, so that the vehicle is driven according to a first expected behavior, or the vehicle is directly controlled, so that the vehicle is driven according to a second expected behavior; if the cooperative vehicle is the networked automatic driving vehicle, the vehicle is directly controlled, and the vehicle moves according to a second expected movement behavior; whether the moment meets a merging condition or not is determined, if so, merging is finished, and if not, merging the vehicles is continued. The method is advantaged in that the cooperative vehicle can safely, efficiently and comfortably get on the ramp to be merged no matter whether thecooperative vehicle is driven by a network-connected person or a network-connected automatic driving vehicle.
基于车路协同的上匝道协同并道控制方法
2022-04-22
Patent
Electronic Resource
Chinese
IPC: | G08G Anlagen zur Steuerung, Regelung oder Überwachung des Verkehrs , TRAFFIC CONTROL SYSTEMS |