The invention relates to a multi-vehicle cooperation-oriented driving priority planning method and a reference vehicle speed planning method, and the method comprises the steps: obtaining the driving parameter data of vehicles under multi-vehicle cooperation, recognizing potential conflict points between the vehicles, and calculating the time limit of the vehicles driving to the potential conflict points, wherein the time limit comprises a time minimum value and a time maximum value; based on the time limit of the vehicle driving to the potential conflict point, a relaxation nonlinear programming problem is constructed and solved, an initial solving result is obtained, in the process of constructing the relaxation nonlinear programming problem, the vehicle passing priority p related to the potential conflict point and the time t of the vehicle arriving at the potential conflict point serve as optimization variables, and the initial solving result is obtained; a slack variable is introduced for the passing priority p of the vehicle; and performing iterative solution based on the initial solution result to obtain the optimal vehicle passing priority. Compared with the prior art, the method has the advantages that the calculation amount is reduced while the result optimality is kept, and the like.
本发明涉及一种面向多车协同的行驶优先权规划方法及参考车速规划方法,该行驶优先权规划方法包括:获取多车协同下车辆的行驶参数数据,识别车辆间的潜在冲突点并计算车辆行驶到潜在冲突点的时间限制,其中所述时间限制包括时间最小值和时间最大值;基于所述车辆行驶到潜在冲突点的时间限制,构建松弛非线性规划问题并求解,得到初始求解结果,其中在构建所述松弛非线性规划问题过程中,将潜在冲突点涉及到的车辆通行优先权p和车辆到达潜在冲突点的时间t作为优化变量,并针对所述车辆的通行优先权p引入松弛变量;基于所述初始求解结果,进行迭代求解,得到最优的车辆通行优先权。与现有技术相比,本发明具有保持结果最优性的同时减少计算量等优点。
Multi-vehicle cooperation-oriented driving priority planning method and reference vehicle speed planning method
面向多车协同的行驶优先权规划方法及参考车速规划方法
2024-11-05
Patent
Electronic Resource
Chinese
IPC: | G08G Anlagen zur Steuerung, Regelung oder Überwachung des Verkehrs , TRAFFIC CONTROL SYSTEMS |
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