The invention discloses a multi-vehicle cooperative lane changing control method for a crossroad without signal lamps among building groups, and aims to establish a control strategy by defining a multi-vehicle cooperative passing problem facing the crossroad as a centralized optimal control problem under vehicle kinematics constraint, collision constraint, space constraint and boundary value constraint aiming at the fact that vehicles at the crossroad are all CAVs. According to the method, the limitation problem of traditional CAV control is overcome, the intersection passing task is described as a centralized optimal control problem, the optimal intersection passing track can be obtained, and the road space is fully utilized.
本发明公开了一种建筑群间无信号灯十字路口多车协同换道控制方法,针对十字路口的车辆均为CAV,将面向十字路口的多车协同通行问题定义为受车辆运动学约束、碰撞约束、空间约束和边值约束的集中最优控制问题,由此建立控制策略。本发明克服了传统CAV控制的局限性问题,将路口通行任务描述为集中式最优控制问题,可获得最优的路口通行轨迹,使道路空间得到充分利用。
Multi-vehicle cooperative lane changing control method for crossroad without signal lamp among building groups
建筑群间无信号灯十字路口多车协同换道控制方法
2022-07-22
Patent
Electronic Resource
Chinese
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