The invention relates to a joint optimization method for the position of an automatic driving vehicle lane and intersection signal timing during man-machine mixed driving, and the method comprises the following steps: S1, dividing an urban road network into basic road segment elements, interweaving segment elements and intersection queuing segment elements, and abstracting the elements into a directed network graph; s2, establishing a travel time calculation formula of the basic road section, the interleaving section and the intersection queuing section; s3, establishing a mixed traffic flow distribution model considering the position of the exclusive lane of the automatic driving vehicle and intersection signal timing; s4, establishing an automatic driving vehicle special lane position and intersection signal timing decision model; and S5, solving to obtain an automatic driving vehicle special lane position and intersection signal timing optimization scheme. According to the invention, based on lane-level road network modeling, the road network basic road section, the interleaving section and the intersection queuing section are divided, the interaction relationship between the transverse position of the automatic driving vehicle special lane and the intersection signal timing is inspected, and a new and scientific quantitative decision-making method is provided for the urban road network automatic driving special lane.
本发明涉及一种人机混驾时自动驾驶车辆专用道位置与交叉口信号配时联合优化方法,包括以下步骤:S1、将城市路网分为基本路段、交织段、交叉口排队段元素,并抽象成有向网络图;S2、建立基本路段、交织段、交叉口排队段的行程时间计算式;S3、建立考虑自动驾驶车辆专用道位置与交叉口信号配时的混合交通流分配模型;S4、建立自动驾驶车辆专用道位置与交叉口信号配时决策模型;S5、求解得到自动驾驶车辆专用道位置与交叉口信号配时优化方案。本发明基于车道级路网建模,通过划分路网基本路段、交织段、交叉口排队段,考察自动驾驶车辆专用道横向位置与交叉口信号配时的交互关系,为在城市路网自动驾驶专用车道提供新的、科学的定量化决策方法。
Man-machine mixed driving automatic driving special lane position and intersection signal timing optimization method
人机混驾自动驾驶专用道位置与交叉口信号配时优化方法
2022-11-15
Patent
Electronic Resource
Chinese
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