The invention relates to a multi-vehicle cooperation speed optimization method fusing dynamic interaction safety, and the method comprises the following steps: obtaining the current position and driving parameters of each traffic participation vehicle at the current moment; planning a passing priority of vehicle driving according to the current position and the driving parameter of each traffic participating vehicle; dynamic interaction safety constraints and driving optimization problems are constructed, the constraints comprise hard constraints for preventing collision and soft constraints for representing vehicle interaction distances, the driving optimization problems are solved in sequence according to traffic priorities, and the optimal control quantity of each vehicle in a prediction time domain at the current moment is obtained; and applying the optimal control quantity in the prediction time domain to a vehicle driving system, optimizing the vehicle driving state, updating the position and driving parameters of each traffic participation vehicle at the current moment, and returning to the initial step to realize closed-loop control. Compared with the prior art, the method has the advantages of high safety, low calculation amount, high control efficiency, high portability and the like.
本发明涉及一种融合动态交互安全的多车协同速度优化方法,包括以下步骤,获取当前时刻各交通参与车辆的当前位置和行驶参数;根据各交通参与车辆的当前位置及行驶参数规划车辆行驶的通行优先级;构建动态交互安全的约束和行驶优化问题,约束包括防止碰撞的硬约束和表征车辆交互距离的软约束,根据通行优先级依次求解行驶优化问题,得到当前时刻各车辆在预测时域内的最优控制量;将预测时域内的最优控制量施加于车辆行驶系统,优化车辆行驶状态,更新当前时刻各交通参与车辆的位置和行驶参数后,返回初始步骤,实现闭环控制。与现有技术相比,本发明具有安全性高、计算量低、控制效率高、可移植性强等优点。
Multi-vehicle cooperation speed optimization method fusing dynamic interaction safety
一种融合动态交互安全的多车协同速度优化方法
2024-04-16
Patent
Electronic Resource
Chinese
IPC: | G08G Anlagen zur Steuerung, Regelung oder Überwachung des Verkehrs , TRAFFIC CONTROL SYSTEMS |
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