The invention discloses an intelligent vehicle motion planning and control method for a traffic light signal intersection, and belongs to the technical field of intelligent vehicle automatic driving track planning and motion control. According to the intelligent vehicle motion planning and control method for the traffic light signal intersection, the vehicle speed time-varying constraint condition of a vehicle is designed according to the relative position relation of the vehicle and the intersection and the signal lamp phase around the scene of the intersection with the traffic light. According to the invention, around the scene of the intersection with the traffic light, the time-varying constraint condition of the speed of the vehicle is designed according to the relative position relation of the vehicle and the intersection and the phase of the signal lamp, the constrained optimization problem is solved by using model prediction control, and a corresponding motion planner scheme is provided. A model predictive control trajectory tracking controller connected with an upper layer is designed, and the planned local reference information is stably tracked. According to the method, the state of the front vehicle and the real-time traffic light phase are taken into consideration, a vehicle speed constraint mode is adopted, more optimizable indexes are brought to the local trajectory planning problem, and the road traffic efficiency is improved while the driving safety is guaranteed.

    一种针对交通灯信号路口的智能车辆运动规划与控制方法,属于智能汽车自动驾驶轨迹规划与运动控制技术领域。本发明的目的是围绕着带交通灯路口这一场景,根据车辆、路口相对位置关系与信号灯相位,设计自车车速时变约束条件的针对交通灯信号路口的智能车辆运动规划与控制方法。本发明围绕着带交通灯路口这一场景,根据车辆、路口相对位置关系与信号灯相位,设计自车车速的时变约束条件,利用模型预测控制来求解带约束优化问题,提出相应的运动规划器方案,给出了与上层相衔接的模型预测控制轨迹跟踪控制器设计,对规划出的局部参考信息实现稳定跟踪。本发明将前车状态与实时交通灯相位纳入考虑之中,采用车速约束的方式,为局部轨迹规划问题带来更多可优化指标,在保证行驶安全性的同时,也提高了道路通行效率。


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    Title :

    Intelligent vehicle motion planning and control method for traffic light signal intersection


    Additional title:

    针对交通灯信号路口的智能车辆运动规划与控制方法


    Contributors:
    WANG PING (author) / ZHANG YICHI (author) / ZHANG YUANYUAN (author) / LI ZIHAN (author) / CHEN HONG (author) / HU YUNFENG (author) / YU DACHUAN (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 / 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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