The invention discloses an automatic driving vehicle road section driving track optimization method considering energy consumption, and the method comprises the steps: collecting the lane number of a road section and the length of an automatic driving vehicle, and collecting the current lane where the automatic driving vehicle is located, the current driving speed, the current distance to a stop line of an intersection, and the moment when the automatic driving vehicle enters the intersection; secondly, according to the current distance between each automatic driving vehicle and a stop line of the intersection and the moment when each automatic driving vehicle enters the intersection, determining a relational expression between the driving distance and the driving time of the automatic driving vehicle on the road section, and determining the speed and the acceleration of the automatic driving vehicle in each time step; and finally, establishing an automatic driving vehicle road section driving track optimization model considering energy consumption. The method can be applied to the future automatic driving environment, the road section driving track is planned for the automatic driving vehicle, it is ensured that the automatic driving vehicle arrives at and enters the intersection on time, and meanwhile the energy consumption of the vehicle can be reduced.
本发明公开了一种考虑能耗的自动驾驶车辆路段行驶轨迹优化方法,首先,采集路段车道数、自动驾驶车辆长度,采集自动驾驶车辆当前所在车道、当前行驶车速、当前距离交叉口停车线的距离以及自动驾驶车辆进入交叉口的时刻;其次,根据每辆自动驾驶车辆当前距离交叉口停车线的距离和进入交叉口的时刻,确定自动驾驶车辆在路段上的行驶距离和行驶时间之间的关系式,确定自动驾驶车辆在每个时间步长内的速度和加速度;最后,建立考虑能耗的自动驾驶车辆路段行驶轨迹优化模型。本发明方法能应用于未来自动驾驶环境下,为自动驾驶车辆规划路段行驶轨迹,确保自动驾驶车辆准时到达并进入交叉口的同时,还能降低车辆的能耗。
Automatic driving vehicle road section driving track optimization method considering energy consumption
一种考虑能耗的自动驾驶车辆路段行驶轨迹优化方法
2021-12-28
Patent
Electronic Resource
Chinese
IPC: | B60W CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION , Gemeinsame Steuerung oder Regelung von Fahrzeug-Unteraggregaten verschiedenen Typs oder verschiedener Funktion |
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