The invention discloses a non-signalized intersection vehicle passing sequence decision and trajectory optimization method and system. The method comprises the following steps: collecting information of all vehicles in a non-signalized intersection appearing area; all vehicles in the non-signalized intersection appearing area are sequenced according to the arrival order, and a virtual queue is formed; determining an optimal motorcade composition scheme and a conflict-free passing sequence, and planning the moment when each motorcade enters the non-signalized intersection confluence area and the allocated occupation time of the non-signalized intersection confluence area; and generating an optimal track for the intelligent network connection head vehicle through a nonlinear programming model, and giving a speed suggestion for the next time period for the network connection human driving head vehicle willing to comply with the speed suggestion through a speed suggestion model, so that the head vehicle drives the vehicle team to pass through the non-signalized intersection control area and the confluence area according to the plan. The system comprises a roadside sensing and communication device, a roadside computing unit and a vehicle-mounted unit. By adopting the method and the system, the vehicle passing efficiency at the non-signalized intersection can be effectively improved.
本发明公开一种无信号交叉口车辆通行顺序决策与轨迹优化方法及系统。该方法包括步骤:收集无信号交叉口出现区内所有车辆的信息;将无信号交叉口出现区内所有车辆按照到达次序进行排序,形成虚拟队列;确定最优车队组成方案以及无冲突的通行顺序,规划出各车队进入无信号交叉口汇流区的时刻以及所分配的无信号交叉口汇流区的占用时间;通过非线性规划模型为智能网联车头车生成最优轨迹,通过速度建议模型为愿意遵从速度建议的网联人类驾驶车辆头车给出下一时段的速度建议,使头车带领车队按照规划通过无信号交叉口控制区和汇流区。该系统包括路侧感知与通信设备、路侧计算单元、车载单元。采用该方法及系统能有效提高无信号交叉口车辆通行效率。
Non-signalized intersection vehicle passing sequence decision and trajectory optimization method and system
无信号交叉口车辆通行顺序决策与轨迹优化方法及系统
2024-06-21
Patent
Electronic Resource
Chinese
IPC: | G08G Anlagen zur Steuerung, Regelung oder Überwachung des Verkehrs , TRAFFIC CONTROL SYSTEMS |
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