The invention discloses an ecological driving method for an automatic driving vehicle to pass through a signalized intersection, which comprises the following steps: collecting road traffic information and self information through a V2V/V2I technology to obtain a control condition, then judging that the automatic driving vehicle can pass through a signalized intersection at a constant speed according to the current state of a signal lamp, and if so, passing through a signalized intersection area at a constant speed; and otherwise, carrying out ecological driving control on the automatic driving vehicle, in an ecological driving control stage, constructing an automatic driving vehicle motion state equation and a cost function, and respectively carrying out optimal control track solving on the intersection upstream region and the intersection downstream region by utilizing a Pontryagin minimum value principle. Enabling the automatic driving vehicle to pass through the signal intersection area according to the optimal track; the method has the advantages that the real driving requirement of a driver can be met, the actual road traffic environment condition is met, the control process is simple, the calculated amount is small, and the control real-time performance can be guaranteed, so that the energy consumption of the automatic driving vehicle is effectively reduced, the travel efficiency is improved, and the pressure caused to each vehicle-road device is reduced.
本发明公开了一种自动驾驶车辆通过信号交叉口生态驾驶方法,通过V2V/V2I技术收集道路交通信息和自身信息,得到控制条件,然后根据当前信号灯状态判断能够匀速通过,若能,则匀速通过信号交叉口区域,否则对自动驾驶车辆进行生态驾驶控制,在生态驾驶控制阶段,构建自动驾驶车辆运动状态方程以及成本函数,利用庞特里亚金极小值原理分别对交叉口上游区域和交叉口下游区域进行最优控制轨迹求解,使自动驾驶车辆按照最优轨迹通过信号交叉口区域;优点是能够满足驾驶员真实行驶需求,符合实际道路交通环境条件,并且控制过程简单,计算量小,控制实时性能够得到保证,从而有效降低自动驾驶车辆能耗,提高出行效率,减少对各车‑路设备造成的压力。
Ecological driving method for autonomous vehicle to pass through signalized intersection
一种自动驾驶车辆通过信号交叉口生态驾驶方法
2022-04-12
Patent
Electronic Resource
Chinese
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