The invention discloses a double-lane vehicle lane changing guiding method under vehicle-road cooperation, and the method comprises the steps: describing the state information of a vehicle based on acellular automaton model, carrying out the real-time effective evaluation of the threat to the vehicle in real time according to the information of surrounding vehicles, carrying out the traversal ofthe elements of a threat evaluation function, obtaining the position of a minimum value, and giving the vehicle lane changing guidance; in a double-lane environment, subjecting the observation vehicleto vehicle speed induction according to the movement trend of the forward vehicle after lane changing, so that the vehicle speed of the observation vehicle is associated with the acceleration trend of the forward vehicle after lane changing; referring to the motion trend of the backward vehicle, observing that the vehicle adopts a leading acceleration motion rule, and avoiding rear-end collisionaccidents while ensuring motion synchronization; providing early-stage speed guidance for the vehicle close to the blocking point, and avoiding the phenomenon of vehicle starting and stopping; and finally, giving a double-lane vehicle lane changing rule under vehicle-road cooperation to complete lane changing. According to the invention, the problems of vehicle congestion and road section congestion point increase in the future traffic environment are solved.
本发明公开了一种车路协同下双车道车辆换道指引方法,基于元胞自动机模型描述车辆的状态信息,根据周围车辆信息实时对自身车辆所受威胁进行有效评价,对威胁评价函数的元素进行遍历,获得最小值的位置,给予车辆换道指引;在双车道环境中,观察车在换道后依照前向车辆的运动趋势对其进行车速诱导,使观察车的车速与换道后的前车下时刻加速趋势相关联;参考后向车辆运动趋势,观察车采取主导加速的运动规则,在保证运动同步的同时避免追尾事故的发生;针对临近阻塞点的车辆给予早期的速度指导,避免车辆启停现象的发生;最后给出车路协同下双车道车辆换道规则完成换道。本发明解决了未来交通环境中车辆拥堵,路段阻塞点增多的问题。
Double-lane vehicle lane changing guiding method under vehicle-road cooperation
一种车路协同下双车道车辆换道指引方法
2021-01-12
Patent
Electronic Resource
Chinese
IPC: | G08G Anlagen zur Steuerung, Regelung oder Überwachung des Verkehrs , TRAFFIC CONTROL SYSTEMS / G06F ELECTRIC DIGITAL DATA PROCESSING , Elektrische digitale Datenverarbeitung / G06N COMPUTER SYSTEMS BASED ON SPECIFIC COMPUTATIONAL MODELS , Rechnersysteme, basierend auf spezifischen Rechenmodellen |
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