The invention discloses an automatic driving intersection vehicle entering moment and driving track control method and belongs to the field of intelligent transportation. In an automatic driving environment, the basic information of an intersection and vehicles is collected, a rectangular coordinate system is established, and a path equation and conflict point coordinates of the vehicles in the intersection are determined; a vehicle speed control area is set for each vehicle, and the vehicle speed is adjusted in the speed control area; for different types of vehicles, the real-time distance function and speed function of each vehicle are finally obtained by adjusting the speed to optimize the driving track of the vehicle according to the time of the conflict point or the restriction of thetime and speed of the preceding vehicle entering the intersection, and safe and efficient shuttle driving of the vehicle at the automatic driving intersection without signal control is realized. Compared with the prior art, the method for controlling the entering moment and the driving track is provided for the automatic driving vehicle at the intersection, and the optimal driving track is calculated for the automatic driving vehicle passing through the intersection.
本发明公开了一种自动驾驶交叉口车辆进入时刻与行驶轨迹控制方法,属于智能交通领域。在自动驾驶环境下,采集交叉口和车辆的基本信息,建立直角坐标系,确定车辆在交叉口内部的路径方程及冲突点坐标;针对每辆车设置车速控制区域,在速度控制区域内调整车速;针对不同类型车辆分别考虑,根据冲突点的时刻或前车进入交叉口的时刻及速度的制约,通过调整速度优化车辆的行驶轨迹,最终获得每辆车实时的距离函数和速度函数,实现在无信号控制的自动驾驶交叉口,车辆安全、高效的穿梭行驶。与现有技术相比,本发明针对交叉口自动驾驶车辆,提出进入时刻与行驶轨迹控制方法,为通过交叉口的自动驾驶车辆计算最佳行驶轨迹。
Automatic driving intersection vehicle entering moment and driving track control method
一种自动驾驶交叉口车辆进入时刻与行驶轨迹控制方法
2021-02-19
Patent
Electronic Resource
Chinese
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