The invention relates to a real-time adaptive confluence control method for autonomous vehicles, and belongs to the technical field of vehicle trajectory optimization methods. The method comprises the following steps: predicting a future vehicle track according to vehicle driving data; obtaining a target merging gap of vehicles at the entrance ramp with the minimum interference on the traffic of the main road; an entrance ramp vehicle non-stop confluence control scheme considering the lowest fuel consumption is designed; model predictive control is utilized to consider the trajectory of the entrance ramp vehicle in the future time step, and the entrance ramp vehicle control rate is solved online. According to the method, the target confluence gap is adaptively selected for the entrance ramp vehicles in real time by predicting the motion state of the future main road vehicles, and safe confluence of the entrance ramp vehicles is completed under the condition that it is guaranteed that main road traffic is not affected. Meanwhile, the motion state of the vehicles on the entrance ramp is considered, the confluence track of the entrance ramp is smoothed, and therefore the oil consumption of the entrance ramp is reduced.
本发明涉及一种自动驾驶车辆实时自适应合流控制方法,属于车辆轨迹优化方法技术领域;所述方法包括:根据车辆行驶数据对未来车辆轨迹进行预测;获取对主干道交通干扰最小入口匝道车辆的目标合并间隙;设计考虑燃油消耗最低的入口匝道车辆不停车合流控制方案;利用模型预测控制考虑入口匝道车辆未来时间步内轨迹,对入口匝道车辆控制率进行在线求解。本发明通过预测未来主干道车辆的运动状态,实时自适应地为入口匝道车辆选择目标汇入间隙,在保证不影响主路交通的情况下完成入口匝道车辆的安全合流。同时,发明考虑入口匝道车辆的运动状态,平滑了入口匝道的合流轨迹,从而降低了其油耗。
Automatic driving vehicle real-time adaptive confluence control method
一种自动驾驶车辆实时自适应合流控制方法
2023-10-17
Patent
Electronic Resource
Chinese
IPC: | G08G Anlagen zur Steuerung, Regelung oder Überwachung des Verkehrs , TRAFFIC CONTROL SYSTEMS |
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