The invention discloses a vehicle afflux decision-making method considering the equality of afflux motives. The method comprises the following steps: defining an action set of ramp vehicles in a ramp afflux area; adopting a quintic polynomial fitting method to plan a future trajectory of each action of the ramp vehicle; acquiring the position and speed of the main road vehicle from the roadside equipment, and predicting the future trajectory of the main road vehicle; establishing a ramp vehicle afflux motivation model, and establishing a ramp vehicle afflux motivation cost function according to the ramp vehicle afflux motivation model; establishing a collision risk model, and establishing a risk cost function and a risk equal cost function of a ramp vehicle; and calculating the total cost of each action of the ramp vehicle, and taking the action with the minimum total cost as a final decision action. According to the method, the risk conflict between the ramp vehicle and the surrounding traffic participants can be reduced, and the convergence efficiency of the ramp vehicle is improved.
本发明公开了一种考虑汇入动机的平等性的车辆汇入决策方法,包括:定义匝道车辆在匝道汇入区域的动作集合;采用五次多项式拟合方法规划匝道车辆的每个动作的未来轨迹;从路侧设备获取主道车辆的位置和速度,预测主道车辆的未来轨迹;建立匝道车辆汇入动机模型,并根据该匝道车辆汇入动机模型建立匝道车辆汇入动机代价函数;建立碰撞风险模型,并建立匝道车辆的风险代价函数和风险平等代价函数;计算匝道车辆的各个动作的总代价,将总代价最小的动作作为最终的决策动作。本发明方法能够降低匝道车辆与周围交通参与者的风险冲突,提高匝道车辆的汇入效率。
Vehicle afflux decision-making method considering equality of afflux motivation
一种考虑汇入动机的平等性的车辆汇入决策方法
2023-11-21
Patent
Electronic Resource
Chinese
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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