The invention discloses a traffic light-free intersection vehicle passing method, device and equipment. The method comprises the following steps: determining vehicles in a sensing area based on intersection map data and determining a vehicle list of each lane; clearing the pre-occupancy table and the occupancy table, and updating the remaining back-off time of each lane and the occupancy time of the intersection; determining the vehicle with the highest priority according to the distance from the first vehicle in each vehicle list to the stop line and the vehicle speed, judging whether the vehicle meets the passing condition based on the steering constraint relation table and the remaining backoff time of the lane, and if yes, sending passing permission information according to the driving intention and updating the pre-occupation table or the occupation table; if not, passing non-permission information is sent to all the vehicles in the lane, the vehicle list of the lane is removed, and the execution is repeated until passing information transmission of all the vehicles is completed; and repeatedly executing each step until no vehicle exists in the sensing area. According to the invention, fair distribution of intersection space resources can be realized, and the intersection passing efficiency is high.

    本发明公开一种无信号灯交叉口车辆通行方法、装置及设备,方法包括:基于交叉口地图数据确定感知区域内的车辆并确定各车道的车辆列表;对预占用表和占用表进行清除处理,并更新各车道的剩余退避时间和交叉口占用时间;根据各车辆列表中第一辆车的距停止线距离和车速,确定优先级最高的车辆并基于转向约束关系表及车道的剩余退避时间判断其是否符合通行条件,若符合,则按照行驶意图发送允许通行信息并更新预占用表或占用表;若不符合,则向车道内所有车辆发送不允许通行信息并移除该车道的车辆列表,重复执行直至完成对各车辆的通行信息传递;重复执行各步骤直至感知区域内不存在车辆。本发明能实现交叉口空间资源的公平分配,交叉口通行效率高。


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    Title :

    Vehicle passing method, device and equipment at intersection without signal lamp


    Additional title:

    一种无信号灯交叉口车辆通行方法、装置及设备


    Contributors:
    WU DONGSHENG (author) / OUYANG HANG (author) / YUAN AIPING (author) / YANG JIE (author) / ZHANG FENG (author)

    Publication date :

    2024-03-01


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

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



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