The invention discloses an intersection vehicle left turn path planning and control method and system, and the method comprises the steps: building an improved artificial potential field model which at least comprises a gravitational potential field model and an improved repulsive potential field model, the improved repulsive force potential field model at least comprises a repulsive force potential field model of a moving obstacle and a boundary repulsive force potential field model; a vehicle track prediction model is established, vehicle parameters of surrounding vehicles are predicted in real time based on the vehicle track prediction model, and the vehicle parameters at least comprise the speed, the steering angle and the position coordinates; based on the vehicle parameters, an improved artificial potential field model is adopted to perform path planning on the left-turn vehicle, when the path planned by the improved artificial potential field model falls into local optimum, the potential field constant of the gravitational potential field model is adjusted, and when the next position of the left-turn vehicle collides with surrounding vehicles, the potential field constant of the gravitational potential field model is adjusted; the potential field constant of the improved repulsive force potential field model is adjusted, and the overall traffic efficiency of the intersection is improved.

    本发明公开一种交叉口车辆左转路径规划及控制的方法、系统,方法包括:建立改进型人工势场模型,其中,改进型人工势场模型至少包括引力势场模型以及改进型斥力势场模型,改进型斥力势场模型至少包括移动障碍物的斥力势场模型以及边界斥力势场模型;建立车辆轨迹预测模型,基于车辆轨迹预测模型,实时预测周围车辆的车辆参数,其中,车辆参数至少包括速度、转向角度以及位置坐标;基于车辆参数,采用改进型人工势场模型对左转车辆进行路径规划,其中,当改进型人工势场模型规划的路径陷入局部最优时,调节引力势场模型的势场常数,当左转车辆的下一步位置与周围车辆相撞时,调节改进型斥力势场模型的势场常数,提高了交叉口整体通行效率。


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    Title :

    Method and system for planning and controlling left-turn path of vehicle at intersection


    Additional title:

    一种交叉口车辆左转路径规划及控制的方法、系统


    Contributors:
    ZHAO XIN (author) / LIU DEXIN (author) / QIAO XINGYU (author) / FAN TIANZAN (author) / LI XINPENG (author) / WU XIAOYUE (author) / LI DONGLIANG (author)

    Publication date :

    2024-04-26


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    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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