The invention is suitable for the technical field of automatic driving, and provides an intersection traffic control method in a networked automatic driving mixed driving environment, which comprises the following steps of: dividing functional areas and arranging road test facilities; generating a target vehicle set; organizing a mixed queue and optimizing distribution; hybrid queue formation control; performing conflict coordination control on the queue convergent roundabout; and optimizing the queue distributed trajectory in the roundabout. According to the invention, through the control strategy in the first stage, the mixed traffic flow is organized into a limited number of approximately completely controllable whole bodies, and the barrier that the track of the networked man-driven vehicle cannot be controlled is overcome by organizing the mixed queue; through the control strategy of the second stage, more conflict-free motorcades are organized to enter the roundabout within the same time, the track of each queue bypassing the roundabout is optimized in a distributed mode, and the throughput of the roundabout and the passing efficiency of the motorcades are greatly improved. The traffic capacity of the urban road traffic network can be improved.
本发明适用于自动驾驶技术领域,提供了一种网联自动驾驶混行环境下的交叉口通行控制方法,包括以下步骤:功能区划分及路测设施布设;生成目标车辆集合;混合队列组织及分布优化;混合队列编队控制;队列汇入环形交叉口冲突协调控制;环形交叉口内队列分布式轨迹优化。本发明通过第一阶段的控制策略,将混合交通流组织成有限个近似完全可控的整体,利用组织混合队列克服了网联人驾驶车辆轨迹不可控制的阻碍;通过第二阶段的控制策略,在相同的时间内组织更多无冲突的车队汇入环形交叉口并分布式地优化了每个队列绕行环形交叉口的轨迹,大大提高了环形交叉口的吞吐量和车队的通行效率。本发明能够提高城市道路交通网络的通行能力。
Intersection traffic control method in networked automatic driving mixed driving environment
一种网联自动驾驶混行环境下的交叉口通行控制方法
2024-02-27
Patent
Electronic Resource
Chinese
IPC: | G08G Anlagen zur Steuerung, Regelung oder Überwachung des Verkehrs , TRAFFIC CONTROL SYSTEMS |
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