The invention designs an automatic driving intersection traffic control method for optimal entrance lane selection for a plane intersection under an automatic driving condition. The method comprises the following steps: firstly, collecting the number of inlet and outlet lanes of an intersection, dividing the internal space of the intersection, and collecting the inlet direction and outlet direction of vehicles, the current inlet lane number and the predicted time of reaching the intersection; secondly, calculating a driving track of the vehicle in the intersection; and thirdly, separating conflicts of the vehicles in the intersection, calculating the potential lane changing times of the vehicles selecting different entrance lanes, and performing traffic control on all the automatic drivingvehicles reaching the intersection by using a lane changing penalty term and taking the minimum weighted total delay as an objective function. Compared with the prior art, the optimal entrance lane selection of the automatic driving vehicle can be considered, and the traffic control of the automatic driving intersection is realized.
本发明面向自动驾驶条件下的平面交叉口,设计了一种最佳进口车道选择的自动驾驶交叉口交通控制方法。首先,采集交叉口进出口车道数,划分交叉口内部空间,采集车辆的进口方向、出口方向、当前所在进口车道编号以及到达交叉口的预计时刻;其次,计算车辆在交叉口内部的行驶轨迹;再次,分离车辆在交叉口内部的冲突,计算车辆选择不同进口车道的潜在换道次数,使用换道惩罚项,以加权总延误最小为目标函数,对到达交叉口的所有自动驾驶车辆进行交通控制。与现有技术相比,本发明可以考虑自动驾驶车辆的最佳进口车道选择,实现自动驾驶交叉口的交通控制。
Automatic driving intersection traffic control method for optimal entrance lane selection
一种最佳进口车道选择的自动驾驶交叉口交通控制方法
2021-02-02
Patent
Electronic Resource
Chinese
IPC: | G08G Anlagen zur Steuerung, Regelung oder Überwachung des Verkehrs , TRAFFIC CONTROL SYSTEMS |
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