The invention discloses an intersection safe passing method and a path planning system based on an unmanned vehicle, and the method comprises the steps: when a vehicle is about to arrive at an intersection without a signal lamp, the vehicle related information comprises the position, speed, acceleration, vehicle size and the like, and is transmitted to a control center at a road side; the control center determines priorities for the vehicles according to the time when the vehicles reach the intersection, and then detects collision and adjusts the vehicle speed according to the priority sequence, thereby improving the space utilization efficiency of the intersection and shortening the waiting time of the vehicles. A policy message is returned after determining a passing policy for the vehicle. And the vehicle strictly runs according to the strategy after receiving the strategy information returned by the control center, and returns confirmation information of the control center. And the vehicles which do not receive the strategy information cannot drive into the intersection. And sending leaving information to the strategy center when the vehicle leaves the intersection. According to the method and the system, the unmanned vehicle can safely and efficiently pass through the intersection without the signal lamp.

    本发明公开了一种基于无人车的交叉口安全通行方法与路径规划系统,车辆在即将到达无信号灯交叉口的时,车辆相关信息包括位置、速度、加速度、车辆尺寸等发送至路侧的控制中心。控制中心将根据车辆达到交叉口的时间为车辆确定优先级,然后依据优先级顺序检测碰撞、调整车辆速度,提高交叉路口的空间利用效率、缩短车辆等待时间。确定车辆的通过策略之后将策略消息返回。车辆收到控制中心返回的策略信息之后将严格按照策略行驶,并且返回控制中心确认信息。未收到策略信息的车辆将不能驶入交叉口内。在车辆离开交叉口时发送离开信息至策略中心。策略中心收到后删除相关车辆信息,减小计算压力,本发明使得无人车安全高效通过无信号灯的交叉口。


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    Title :

    Unmanned vehicle-based intersection safe passing method and path planning system


    Additional title:

    一种基于无人车的交叉口安全通行方法与路径规划系统


    Contributors:
    ZHENG XINMING (author) / LI YONG (author)

    Publication date :

    2023-07-14


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    G08G Anlagen zur Steuerung, Regelung oder Überwachung des Verkehrs , TRAFFIC CONTROL SYSTEMS / B60W CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION , Gemeinsame Steuerung oder Regelung von Fahrzeug-Unteraggregaten verschiedenen Typs oder verschiedener Funktion / G01C Messen von Entfernungen, Höhen, Neigungen oder Richtungen , MEASURING DISTANCES, LEVELS OR BEARINGS



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