The invention discloses a non-signalized intersection multi-vehicle conflict driving behavior model based on a risk field, which is used for simulating a multi-vehicle conflict process in a non-signalized intersection and can provide theoretical basis and algorithm support for traffic simulation and path planning of an automatic driving system in the non-signalized intersection. On the basis of a risk balance theory and a preview following theory, a risk field model is established, risks borne by vehicles are quantified, so that a track conforming to driving behaviors and risk constraints is found, a non-signalized intersection multi-vehicle conflict driving behavior model based on the risk field is established, an algorithm for solving a deadlock condition is further included, and the risk field model is applied to the non-signalized intersection. The traffic flow is restarted by adjusting the acceptable risk level. Compared with the existing model, the risk of the vehicle in the process of passing through the non-signalized intersection is quantified, the driving behavior of the heterogeneous driver in the non-signalized intersection can be accurately described by setting different risk thresholds, and the deadlock condition at the intersection can be effectively solved.
本发明公开了一种基于风险场的无信号交叉口多车冲突驾驶行为模型,用于模拟无信号交叉口内的多车冲突过程,并能为交通仿真和自动驾驶系统在无信号交叉口内的路径规划提供理论基础和算法支持。本发明基于风险平衡理论和预瞄跟随理论,建立风险场模型,量化车辆所承受的风险,从而找到符合驾驶行为和满足风险约束的轨迹,构建了基于风险场的无信号交叉口多车冲突驾驶行为模型,其中还包含一个解决死锁情况的算法,通过调整可接受风险水平从而重新启动交通流。与已有模型相比,本发明量化了车辆在通过无信号交叉口过程中面临的风险,通过设置不同的风险阈值,可以准确地描述无信号交叉口内异质司机的驾驶行为,且能有效解决交叉口出现的死锁情况。
Non-signalized intersection multi-vehicle conflict driving behavior model based on risk field
一种基于风险场的无信号交叉口多车冲突驾驶行为模型
2023-07-14
Patent
Electronic Resource
Chinese
IPC: | G06Q Datenverarbeitungssysteme oder -verfahren, besonders angepasst an verwaltungstechnische, geschäftliche, finanzielle oder betriebswirtschaftliche Zwecke, sowie an geschäftsbezogene Überwachungs- oder Voraussagezwecke , DATA PROCESSING SYSTEMS OR METHODS, SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL, SUPERVISORY OR FORECASTING PURPOSES / G06F ELECTRIC DIGITAL DATA PROCESSING , Elektrische digitale Datenverarbeitung / G08G Anlagen zur Steuerung, Regelung oder Überwachung des Verkehrs , TRAFFIC CONTROL SYSTEMS |
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