The invention relates to a road confluence area cooperative confluence control method based on an automatic driving vehicle queue. The method comprises the following steps: firstly, acquiring driving states of main road vehicles and ramp vehicles; secondly, judging whether the target vehicle to be converged conflicts with the vehicle on the main road in the next time step or not according to conflict occurrence conditions, and if not, executing the step 4; if conflicts exist, grouping main road vehicles including the target vehicle and main road vehicles and ramp vehicles behind the target vehicle in the control area, regarding each vehicle group as a vehicle, constructing a cooperative control traffic efficiency function, and optimizing by using a swarm intelligence algorithm to obtain an optimal sequence of the vehicle groups passing through the confluence point; and finally, virtually mapping the ramp vehicles to the main road according to the sequence, and enabling all the vehicles on the main road to follow according to a vehicle following model CACC until the vehicles smoothly pass through the confluence point. The traffic efficiency is taken as a target, and the road traffic capacity is improved.
本发明为基于自动驾驶车辆队列的道路合流区协作汇入控制方法,首先采集主路车辆和匝道车辆的行驶状态;其次,根据冲突发生条件判断待合流的目标车辆与主路车辆在下一时间步是否存在冲突,若不存在冲突执行步骤四;若存在冲突则将控制区内包括目标车辆在内以及位于目标车辆后方的主路车辆和匝道车辆进行分组,将每个车辆组视为一辆车并构建协作控制通行效率函数,利用群智能算法进行优化,得到车辆组通过汇入点的最优顺序;最后,按照顺序将匝道车辆虚拟映射到主路中,使主路上的所有车辆按照车辆跟驰模型CACC进行跟驰,直至顺利通过汇入点。以通行效率为目标,提高了道路通行能力。
Road confluence area cooperative confluence control method based on automatic driving vehicle queue
基于自动驾驶车辆队列的道路合流区协作汇入控制方法
2022-06-24
Patent
Electronic Resource
Chinese
Confluence area vehicle queue cooperative control strategy design method based on IVCPS
European Patent Office | 2024
|European Patent Office | 2025
|Vehicle-road cooperative control method and system for highway ramp confluence area
European Patent Office | 2022
|Risk prediction and control method for automatic driving vehicle confluence area
European Patent Office | 2024
|