The invention relates to a non-signalized intersection cooperative passing method based on IVCPS under passenger and freight mixed traffic, and belongs to the field of intelligent network connection vehicles. The method comprises the step of judging the vehicle density of a non-signalized intersection in an information space. When the vehicle density is low, a real vehicle model is constructed based on a rectangular model, modeling is performed on a non-signalized intersection through a three-vehicle model, meanwhile, modeling is performed on a vehicle track, and a track model is solved to obtain a vehicle passing sequence and a speed plan; when the vehicle density is high, vehicles in a non-signalized intersection area are formed, and cooperative control is carried out through a queue-based double-layer control planning method. According to the double-layer control planning method, the upper layer plans the passing sequence of the motorcade through an improved MCTS algorithm, and the lower layer plans the vehicle track through an MPC algorithm. According to the invention, the control scheme can be adaptively adjusted according to the vehicle density, the traffic efficiency of the non-signalized intersection is optimized, and the fuel consumption is reduced.
本发明涉及一种客货混行下基于IVCPS的无信号交叉口协同通行方法,属于智能网联车辆领域。该方法包括:在信息空间中对无信号交叉口的车辆密度进行判断。在低车辆密度时,基于矩形模型构建真实车辆模型,通过三车模型对无信号交叉口进行建模,同时对车辆轨迹进行建模,求解轨迹模型得到车辆通行次序和速度规划;在高车辆密度时,对无信号交叉口区域内的车辆进行编队,通过基于队列的双层控制规划方法进行协同控制。其中,双层控制规划方法中,上层通过改进MCTS算法规划车队的通行顺序,下层通过MPC算法规划车辆轨迹。本发明能够根据车辆密度自适应的调整控制方案,优化无信号交叉口的通行效率、降低燃油消耗。
IVCPS-based non-signalized intersection cooperative passing method under passenger and freight mixed traffic
一种客货混行下基于IVCPS的无信号交叉口协同通行方法
2024-12-13
Patent
Electronic Resource
Chinese
IPC: | G08G Anlagen zur Steuerung, Regelung oder Überwachung des Verkehrs , TRAFFIC CONTROL SYSTEMS |
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