The invention discloses a collaborative lane changing decision-making method for intelligent network connection vehicles under mixed traffic flow, and relates to the field of intelligent traffic control, and the method comprises the steps: obtaining the effective data of surrounding vehicles in a sensing radius and the effective data of road infrastructures; judging the lane changing behavior of the vehicle according to the type of the vehicle behind the target lane; if the rear vehicle is the intelligent network connection vehicle, a cooperative lane changing strategy is adopted, lane changing feasibility is judged, a lane changing request is sent to the rear vehicle of the target vehicle, feedback is received, and different coordination protocols are adopted according to the time when the target vehicle reaches the end point of the confluence lane; if the rear vehicle is a human driver, a single vehicle lane changing strategy is adopted, and different lane changing decisions are adopted by considering the heterogeneity of the driver. The method comprehensively considers the possibility of the intelligent network connection vehicle in the lane changing scene of the confluence area in the mixed traffic flow environment, and details the different scenes of the intelligent network connection lane changing, thereby providing a decision basis for the intelligent network connection vehicle lane changing algorithm, and providing guarantee for the traffic safety and high efficiency in the future.
本发明公开了一种混合交通流下智能网联车辆的协同换道决策方法,涉及智能交通控制领域,获取感知半径内周围车辆的有效数据和道路基础设施有效数据;根据目标车道后车车辆类型,判断车辆的换道行为;如果后车是智能网联车辆,则采取协同换道策略,判断换道可行性,与目标车辆后车发送换道请求并接收反馈,并根据目标车辆到达合流车道终点的时间采取不同的协调协议;如果后车是人类驾驶员,则采取单车换道策略,考虑驾驶员异质性采用不同的换道决策。本发明综合考虑混合交通流环境下,智能网联车辆在合流区换道场景的可能性,对智能网联换道的不同场景进行了详述,进而为智能网联车辆换道算法提供决策依据,为未来交通安全高效提供保障。
Collaborative lane changing decision-making method for intelligent network connection vehicles under mixed traffic flow
一种混合交通流下智能网联车辆的协同换道决策方法
2023-09-15
Patent
Electronic Resource
Chinese
IPC: | G08G Anlagen zur Steuerung, Regelung oder Überwachung des Verkehrs , TRAFFIC CONTROL SYSTEMS |
Collaborative lane changing decision-making method for intelligent network-connected motorcade
European Patent Office | 2023
|SAE Technical Papers | 2022
|European Patent Office | 2024
|British Library Conference Proceedings | 2022
|