The invention discloses a method for setting a pedestrian crossing ferry vehicle driving passage at an intersection in an automatic driving environment. An automatic driving pedestrian crossing ferryvehicle is provided, parking points of the pedestrian crossing ferry vehicle are arranged at all corners of the intersection in the automatic driving environment, and pedestrians with crossing requirements are conveyed to cross the street by taking the ferry vehicle. In order to control the pedestrian crossing ferry vehicle to pass through the interior of the intersection, a driving passage is setfor the pedestrian crossing ferry vehicle, inner and outer boundary equations of a driving path of the pedestrian crossing ferry vehicle in the passage are determined through a mathematical model, the running time between the parking points is determined according to the length of the path and the running speed and acceleration of the ferry vehicle, and the number of passengers getting on and offand the intersection entering moment are determined. According to the invention, the pedestrian crossing ferry vehicle is controlled to run in the set passage, so that the total delay of all crossingpedestrians is minimized.
本发明公开了一种自动驾驶环境下交叉口行人过街摆渡车行驶通道的设置方法,提出一种自动驾驶行人过街摆渡车,在自动驾驶环境下交叉口各角落设置行人过街摆渡车的停靠点,有过街需求的行人通过乘坐摆渡车运送过街,为了控制行人过街摆渡车在交叉口内部通行,本发明面向行人过街摆渡车设置行驶通道,并通过数学模型,确定行人过街摆渡车在通道内行驶的路径内、外边界方程,根据路径的长度以及摆渡车的行驶速度、加速度确定停靠点之间的运行时间,确定上下客人数及进入交叉口时刻。本发明通过控制行人过街摆渡车在设置的通道内运行,使得所有过街行人的总延误最小。
Method for setting pedestrian crossing ferry vehicle driving passage at intersection in automatic driving environment
一种自动驾驶环境下交叉口行人过街摆渡车行驶通道的设置方法
2021-01-22
Patent
Electronic Resource
Chinese
IPC: | G08G Anlagen zur Steuerung, Regelung oder Überwachung des Verkehrs , TRAFFIC CONTROL SYSTEMS |
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