The invention relates to a control method of an automatic driving bus with dynamic right of way priority, and belongs to the technical field of automatic driving control. According to the traffic light state of the front intersection, the current vehicle speed and the set distance, whether the automatic driving bus can pass through the front intersection without stopping according to the current vehicle speed is judged; and if not, carrying out priority control on the bus, so that the bus can pass through the intersection ahead without stopping. According to the invention, the intermittent bus lane is adopted, the resources of the entrance road are utilized, the queuing condition of the automatic driving bus at the intersection is reduced as much as possible, and the vehicle can pass through the intersection without stopping under most signal phases in a vehicle speed guiding form. Compared with a traditional fixed bus lane, the method has the advantages that the benefits of social vehicles can be guaranteed under the condition that the passing efficiency of the automatic driving bus is reduced, and the road space utilization rate is increased.

    本发明涉及一种动态路权优先的自动驾驶公交车辆的控制方法,属于自动驾驶控制技术领域。本发明根据前方路口的交通灯状态以及车辆当前的车速、设定距离判断该自动驾驶公交车辆按照当前车速是否可以不停车通过前方路口;若不可以,则对该公交车辆进行优先控制,使车辆可以不停车通过前方路口。本发明采用了间歇式公交专用道,利用了进口道路的资源,尽可能的减少自动驾驶公交车在交叉路口排队的情况,并通过车速引导的形式使车辆在大部分信号相位下能够不停车通过交叉路口。相比与传统固定式的公交专用道,本发明能够在降低自动驾驶公交车的通行效率的情况下保证了社会车辆的利益,提高了道路空间利用率。


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    Title :

    Control method of automatic driving public transport vehicle with dynamic road right priority


    Additional title:

    一种动态路权优先的自动驾驶公交车辆的控制方法


    Contributors:
    GAO JIANPING (author) / LI ZHENYAO (author) / LI ZHE (author) / LI QINGHUA (author) / YUAN SHUAI (author) / SHI ZHENNING (author)

    Publication date :

    2023-09-08


    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 / G08G Anlagen zur Steuerung, Regelung oder Überwachung des Verkehrs , TRAFFIC CONTROL SYSTEMS



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