The invention relates to a continuous signal lamp road vehicle optimal passing speed planning method and system and a medium; wherein the method comprises the steps: obtaining all signal lamp information on a determined driving path of a vehicle, and the information comprises the time sequence and position information of signal lamps, and the road speed limiting information; calculating an average driving speed range of the vehicle on each road section according to the signal lamp information, searching a green light time window of the vehicle passing through each intersection, and determining all possible driving paths; and according to all the possible driving paths, establishing a continuous signal lamp road vehicle passing speed planning optimal control problem model, solving an optimal control problem, determining an optimal driving path, and recording a vehicle speed curve and a driving and braking system control command corresponding to the optimal driving path. According to the invention, the energy economy and driving comfort of the whole vehicle can be improved, the passing time is saved, and the passing efficiency of vehicles on continuous signal lamp roads is improved. The method can be widely applied to the field of intelligent auxiliary driving of automobiles.
本发明涉及一种连续信号灯道路车辆最优通行速度规划方法、系统及介质,其包括:获取车辆的确定行驶路径上所有信号灯信息,该信息包括信号灯的时序和位置信息,以及道路限速信息;根据所述信号灯信息计算所述车辆在各个路段上的平均行驶速度范围,搜索车辆通过各个路口的绿灯时间窗口,确定所有可能的行驶路径;根据所述所有可能的行驶路径,建立连续信号灯道路车辆通行速度规划最优控制问题模型,求解最优控制问题,确定最优行驶路径,记录该最优行驶路径对应的车速曲线和驱动和制动系统控制命令。本发明能提高整车能量经济性和驾驶舒适性;节约通行时间,提高车辆在连续信号灯道路的通行效率。本发明能广泛在汽车智能辅助驾驶领域中应用。
Continuous signal lamp road vehicle optimal passing speed planning method and system and medium
连续信号灯道路车辆最优通行速度规划方法、系统及介质
2022-01-21
Patent
Electronic Resource
Chinese
IPC: | G08G Anlagen zur Steuerung, Regelung oder Überwachung des Verkehrs , TRAFFIC CONTROL SYSTEMS / G06Q Datenverarbeitungssysteme oder -verfahren, besonders angepasst an verwaltungstechnische, geschäftliche, finanzielle oder betriebswirtschaftliche Zwecke, sowie an geschäftsbezogene Überwachungs- oder Voraussagezwecke , DATA PROCESSING SYSTEMS OR METHODS, SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL, SUPERVISORY OR FORECASTING PURPOSES |
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