The invention relates to a distributed coordination control method for a networked automatic driving vehicle. The method comprises the following steps: acquiring states of all vehicles in a control range and communicating with the networked automatic driving vehicle; performing distributed single vehicle trajectory planning on each networked autonomous vehicle according to the vehicle state, establishing a mixed integer linear programming model, and determining the influence range of the networked autonomous vehicle through the mixed integer linear programming model; track prediction is carried out on the vehicle which is not influenced by the networked automatic driving vehicle; improving a mixed integer linear programming model by taking a trajectory prediction result as a constraint, so that the total delay of the networked automatic driving vehicle and the vehicle influenced by the networked automatic driving vehicle is minimum; and performing iterative optimization on the distributed trajectory planning result until the trajectories of the networked autonomous vehicles have no conflict and the influence range is overlapped and less than a threshold value. Compared with the prior art, the method has the advantages of being safe, balanced in calculation efficiency and calculation benefit, high in practical value and the like.

    本发明涉及一种网联自动驾驶车辆的分布式协调控制方法,包括以下步骤:获取控制范围内所有车辆状态并与网联自动驾驶车辆通信;根据车辆状态对每辆网联自动驾驶车辆进行分布式单车轨迹规划,建立混合整数线性规划模型,通过混合整数线性规划模型确定该网联自动驾驶车辆的影响范围;对于不受该网联自动驾驶车辆影响的车辆,进行轨迹预测;将轨迹预测结果作为约束,改进混合整数线性规划模型,使得网联自动驾驶车辆及其影响的车辆的总延误最小;对分布式轨迹规划结果进行迭代优化,直至各个网联自动驾驶车辆间轨迹无冲突且影响范围达到重叠小于阈值。与现有技术相比,本发明具有安全性、计算效率和计算效益平衡、实践价值高等优点。


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    Title :

    Distributed coordination control method for networked autonomous vehicle


    Additional title:

    一种网联自动驾驶车辆的分布式协调控制方法


    Contributors:
    ZHOU YUNCHONG (author) / WU JUNXIAN (author) / HUANG LEI (author) / XU WEIYI (author) / CHEN XIANGQUAN (author)

    Publication date :

    2024-04-30


    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 / G06N COMPUTER SYSTEMS BASED ON SPECIFIC COMPUTATIONAL MODELS , Rechnersysteme, basierend auf spezifischen Rechenmodellen / G06Q Datenverarbeitungssysteme oder -verfahren, besonders angepasst an verwaltungstechnische, geschäftliche, finanzielle oder betriebswirtschaftliche Zwecke, sowie an geschäftsbezogene Überwachungs- oder Voraussagezwecke , DATA PROCESSING SYSTEMS OR METHODS, SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL, SUPERVISORY OR FORECASTING PURPOSES




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