The invention designs a behavior decision-making method for an intelligent vehicle passing intersection, and provides a behavior decision of the passing intersection for an intersection behavior decision-making mode of a behavior decision-making function of the intelligent vehicle. The behavior decision-making method comprises the steps of obtaining driving, road and signal lamp information, calculating the remaining time before the signal lamp turns red, judging whether a vehicle can pass through an intersection before the signal lamp turns red, issuing an intersection passing or deceleration parking instruction and the like. According to the method, the target speed during acceleration is determined according to the speed of the preceding vehicle and the road speed limit, and the acceleration strategy is formulated by comprehensively considering the safety during vehicle following and the comfort during acceleration. Under the condition that the signal lamp is shielded, whether the vehicle can pass through the intersection or not is judged according to the motion state of the surrounding vehicle, and an instruction of passing through the intersection or decelerating and parking is issued. A safe and reliable intersection passing behavior decision is provided for the intelligent vehicle in real time, the intersection passing efficiency of the intelligent vehicle is greatly improved, and the safety when the intelligent vehicle passes through the intersection is ensured.
本发明设计了一种智能车通行路口的行为决策方法,为智能车辆的行为决策功能的路口行为决策模式提供通行路口的行为决策。行为决策方法包括获取行车、道路和信号灯信息、计算信号灯变红前的剩余时间、判断自车能否在信号灯变红前通过路口、下发通过路口或减速停车指令等步骤。本发明根据前车速度和道路限速确定加速时的目标速度,并且综合考虑了跟车时的安全性和加速时的舒适性来制定加速策略。本发明还考虑了信号灯被遮挡的情况下,根据周围车辆的运动状态判断自车能否通过路口,并下发通过路口或减速停车指令。本发明实时为智能车辆提供安全可靠的通行路口行为决策,大大提高了智能车辆通行路口的效率,保证了智能车辆通行路口时的安全性。
Behavior decision-making method for intelligent vehicle passing intersection
一种智能车通行路口的行为决策方法
2023-08-18
Patent
Electronic Resource
Chinese
IPC: | G08G Anlagen zur Steuerung, Regelung oder Überwachung des Verkehrs , TRAFFIC CONTROL SYSTEMS |
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