The invention discloses an electric vehicle speed planning method and system in a dynamic traffic environment. The method comprises the following steps: acquiring road traffic information; static speed planning: calculating a speed curve according to the vehicle position and the road traffic information; performing long-term planning, converting a speed curve from a position domain to a time domain, and taking the speed curve as the input of a target green light phase of a next traffic signal lamp; adaptively selecting a target green light phase, and integrating the speed curve of the time domain to obtain the time required for the vehicle to arrive at the next traffic signal lamp; dynamic speed planning; performing short-term planning based on a preset rule; environmental prediction, calculation of a predicted speed of a preceding vehicle, generation of a space of a solution, and limitation of the position of the vehicle based thereon. The calculation complexity of the method is several orders of magnitude lower than that of two-dimensional discrete dynamic planning, and the method can be applied to a dynamic traffic scene by introducing short-term planning and is more in line with an actual road scene.
本发明公开了一种动态交通环境下的电动汽车速度规划方法及系统,包括以下步骤:获取道路交通信息;静态速度规划,根据车辆位置和道路交通信息计算速度曲线;长期规划,将速度曲线从位置域转换为时间域,并将其作为下一个交通信号灯的目标绿灯相位的输入;目标绿灯相位自适应选择,对时间域的速度曲线进行积分,得到车辆到达下一个交通信号灯所需时间;动态速度规划;基于预设规则的短期规划;环境预测,计算前车的预测速度,生成解的空间,并基于此限制汽车位置。本发明的计算复杂性相比于二维离散动态规划低了几个数量级,通过引入短期规划,可以应用于动态交通场景,更加符合实际道路场景。
Electric vehicle speed planning method and system in dynamic traffic environment
一种动态交通环境下的电动汽车速度规划方法及系统
2024-09-20
Patent
Electronic Resource
Chinese
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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