The invention relates to an intersection right-turn trajectory planning method combined with digital traffic rules. The method comprises the following steps: dividing traffic rules related to right-turn vehicles into three types of turning, giving way and speed limiting; formalizing an expression mode of a traffic rule based on measurement time logic, quantifying key parameters by using a method of combining machine learning and statistical analysis, and digitalizing the traffic rule; constructing a right-turn trajectory planning model based on a sampling and numerical optimization method in combination with a digital traffic rule; and building a simulation platform, evaluating the right-turn trajectory planning model, selecting the optimal value of the key parameter, and simulating and verifying the effectiveness of the model based on the optimal value of the key parameter. Compared with the prior art, the method has the advantages of high safety, high rule adherence and the like.
本发明涉及一种结合数字化交通规则的交叉口右转轨迹规划方法,包括以下步骤:将右转车辆所涉及的交通规则分为转弯、让行、限速三类;基于度量时间逻辑形式化交通规则的表达方式,使用机器学习与统计分析相结合的方法量化关键参数,数字化交通规则;结合数字化交通规则,基于采样与数值优化方法,构建右转轨迹规划模型;搭建仿真平台,对右转轨迹规划模型进行评估,选取关键参数最优值,并基于关键参数最优值仿真验证模型有效性。与现有技术相比,本发明具有安全性高、规则遵守性强等优点。
Intersection right-turn trajectory planning method in combination with digital traffic rules
一种结合数字化交通规则的交叉口右转轨迹规划方法
2024-03-19
Patent
Electronic Resource
Chinese
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