The invention discloses a key conflict point determination method for guaranteeing traffic safety of an automatic driving intersection, and belongs to the field of intelligent traffic control. The method comprises the steps of under the condition that no signal control exists at the automatic driving intersection, avoiding conflicts by an automatic driving vehicle by calculating the time for reaching conflict points on a path, determining key conflict points for the conflict points on the path, and controlling the vehicle according to the key conflict points; firstly, obtaining intersection information, establishing a rectangular coordinate system, and calculating an equation and conflict point coordinates of each path in an intersection; updating the time of the conflict points after thevehicle passes through the conflict points, and performing iterative screening according to the updated time and the positions of the conflict points to obtain a screened conflict point set; and selecting a reference point in the set, judging whether the intersection passes through each conflict point at the fastest speed starting from the reference point moment, updating the reference point moment according to the passing condition, and determining the point at the last reference point updating moment as the key conflict point, so that the control efficiency is improved on the premise of ensuring the traffic safety of the intersection.
本发明公开了一种保障自动驾驶交叉口通行安全的关键冲突点确定方法,属于智能交通控制领域。在自动驾驶交叉口无信号控制情况下,自动驾驶车辆通过计算到达路径上冲突点的时间避免冲突,针对路径上冲突点确定关键冲突点,车辆根据关键冲突点进行控制;首先获取交叉口信息,建立直角坐标系,计算交叉口内部每条路径的方程、冲突点坐标;车辆经过冲突点后更新冲突点时刻,根据更新后的时刻和冲突点位置进行迭代筛选,得到筛选后冲突点集合;在集合内选取基准点,判断从基准点时刻出发以最快速度是否通过每个冲突点,根据通过情况更新基准点时刻,确定最后一次更新基准点时刻的点为关键冲突点,本发明在确保交叉口通行安全的前提下提高控制效率。
Key conflict point determination method for guaranteeing traffic safety of automatic driving intersection
一种保障自动驾驶交叉口通行安全的关键冲突点确定方法
2021-02-12
Patent
Electronic Resource
Chinese
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