The invention relates to an automatic driving vehicle ramp confluence control method and device, electronic equipment and a medium, and the method comprises the steps: judging whether a vehicle passes through a confluence point at the current moment or not according to the distance and speed between the vehicle and the confluence point at the previous moment and a time step length; under the condition that it is determined that the vehicles on the main line lane and the ramp do not reach the ramp confluence point at the current moment in the control area, the confluence speed at the current moment is determined according to the initial confluence speed and the speed of the vehicle reaching the confluence point fastest at the previous moment; and determining the speed of the vehicle which does not reach the ramp confluence point and the distance between the vehicle and the ramp confluence point according to the speed of the vehicle which reaches the ramp confluence point fastest at the last moment and the confluence speed at the current moment under the condition of determining that part of the vehicles on the main line lane and the ramp reach the ramp confluence point at the current moment in the control area. The speed of the vehicle is determined according to the dynamically changing confluence speed.

    本发明涉及一种自动驾驶车辆匝道合流控制方法、装置、电子设备及介质,其方法包括:根据上一时刻车辆与合流点的距离和速度以及时间步长判断当前时刻车辆是否通过合流点,在控制区内确定当前时刻主线车道和匝道上车辆均没有达到匝道合流点的情况下,根据初始合流速度、上一时刻最快到达合流点车辆的速度,确定当前时刻的合流速度;在控制区内确定当前时刻主线车道和匝道上车辆部分到达匝道合流点的情况下,根据上一时刻最快到达匝道合流点车辆的速度,根据当前时刻的合流速度确定未达到匝道合流点的车辆的速度以及与匝道合流点之间的距离。本发明根据动态变化的合流速度确定车辆的速度。


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    Title :

    Automatic driving vehicle ramp confluence control method and device, electronic equipment and medium


    Additional title:

    自动驾驶车辆匝道合流控制方法、装置、电子设备及介质


    Contributors:
    ZHAO XIN (author) / LIU ZHONGYUAN (author) / FENG LEI (author) / LIU BAOZHEN (author)

    Publication date :

    2023-08-18


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    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



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