The invention belongs to the technical field of traffic control, and particularly discloses a non-signalized intersection vehicle speed dynamic planning method based on roadside guidance, and the method comprises the following steps: S1, road right distribution problem modeling, S2, state transition equation construction and solving, and S3, vehicle speed guidance. The method has the advantages that the scale of a state space is reduced, the calculation complexity of model solving is reduced, and the solving speed is increased; the vehicle dynamics, the vehicle following behavior and the vehicle obstacle avoidance behavior are considered, and the safety of the road section and the intersection is considered while the vehicle driving behavior conforms to the actual situation; conditional automatic driving is realized to a certain extent by solving a time point and combining a speed guiding strategy, the control difficulty is reduced, and the safety of vehicle driving is improved.
本发明属于交通控制技术领域,具体公开了一种基于路侧导引的无信号交叉口车辆速度动态规划方法,包括如下步骤:S1路权分配问题建模,S2状态转移方程构建及求解,S3车辆速度引导;具有以下有点:缩小状态空间的规模,降低模型求解的计算复杂度,提升求解速度;考虑车辆动力学、车辆跟驰行为以及车辆避障行为,在使得车辆行驶行为符合实际情况的同时,兼顾路段及交叉口两个方面的安全性;通过求解时间点并结合速度引导策略来一定程度上实现有条件的自动驾驶,降低控制难度,提升车辆行驶的安全性。
Non-signalized intersection vehicle speed dynamic planning method based on roadside guidance
一种基于路侧导引的无信号交叉口车辆速度动态规划方法
2023-04-07
Patent
Electronic Resource
Chinese
IPC: | G08G Anlagen zur Steuerung, Regelung oder Überwachung des Verkehrs , TRAFFIC CONTROL SYSTEMS |
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