The invention discloses an intersection traffic signal control method in a vehicle mixed traffic environment. The intersection traffic signal control method comprises the following steps: step S1, setting a sensing area PZ; s2, triggering a decision; the vehicle set N, the vehicle driving sequence I and the track information of each vehicle are updated, and the positioning errors of the vehicle networking communication vehicles and the automatic driving vehicles are reduced through a Kalman filter; s3, the double-layer planning model comprises an upper-layer planning model in the sub-step S31 and a lower-layer planning model in the sub-step S32; s31, solving a vehicle departure sequence J when the vehicle total delay minimization time minTD through an upper layer planning model; s32, optimizing the driving-away trajectory of the autonomous vehicle through a lower-layer planning model; s4, solving the bilevel planning model through a smart multi-fork search tree to obtain an optimal vehicle departure sequence J and an optimal vehicle departure track of the autonomous vehicle; s5, the vehicles in the sensing area PZ are released according to the step S4; and S6, waiting for triggering of the next round.
本发明公开一种车辆混合通行环境下交叉口交通信号控制方法,包括以下步骤:步骤S1:设定感知区PZ;步骤S2:触发决策;车辆集N、车辆驶入序列I和每辆车的轨迹信息更新,其中,车联网通信车辆、自动驾驶车辆通过卡尔曼滤波器降低定位误差;步骤S3:双层规划模型包括子步骤S31的上层规划模型和子步骤S32的下层规划模型;子步骤S31:通过上层规划模型求解出车辆总延误最小化时间minTD时的车辆驶离序列J;子步骤S32:通过下层规划模型对自动驾驶车辆驶离轨迹优化;步骤S4:通过智慧多叉搜索树对双层规划模型进行求解,得出最优的车辆驶离序列J和最优的自动驾驶车辆的车辆驶离轨迹;步骤S5:按照步骤S4放行感知区PZ车辆;步骤S6:等待下一轮触发。
Intersection traffic signal control method in vehicle mixed traffic environment
一种车辆混合通行环境下交叉口交通信号控制方法
2024-05-17
Patent
Electronic Resource
Chinese
IPC: | G08G Anlagen zur Steuerung, Regelung oder Überwachung des Verkehrs , TRAFFIC CONTROL SYSTEMS |
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