The invention belongs to the field of non-signalized intersection coordination control, and particularly relates to a traffic light-free vehicle intersection coordination method. In a connected vehicle environment, an ICU globally coordinates automatic vehicles on all road sections and close to the intersection, so that the automatic vehicles can safely and stably pass through the intersection. Under the condition that the edge gap defined by a risk function is guaranteed, the ICU optimizes the control input of the vehicle by minimizing the performance cost index of the vehicle in the intersection area, and the optimal track of the vehicle is obtained. According to the scheme, parking delay of vehicles at the intersection is almost eliminated, traffic flow and oil consumption are improved,and the traffic capacity of the intersection is remarkably improved. In addition, the passing of the emergency vehicle is considered, and a corresponding yielding strategy is carried out on the emergency vehicle, so that the emergency vehicle can pass with the minimum delay time.
本发明属于非信控交叉口协调控制领域,具体涉及一种无红绿灯的车辆交叉口协调方法。在连通车辆环境下,ICU对所有路段且接近交叉口的自动车辆进行全局协调,以使其安全平稳地通过交叉口。在保证风险函数定义的边缘间隙下,ICU通过最小化交叉口区域内车辆的性能成本指标,对车辆的控制输入进行优化,得到车辆的最优轨迹。该方案几乎消除了车辆在交叉口的停车延误,改善了交通流和油耗,显著提高了交叉口的通行能力。并且考虑了应急车辆的通过对其进行了相应的让步策略,实现了应急车辆以最小延误时间通过。
Traffic light-free vehicle intersection coordination method
一种无红绿灯的车辆交叉口协调方法
2021-01-05
Patent
Electronic Resource
Chinese
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