The invention provides a dynamic control method, system and device for a special lane of an automatic driving vehicle and a medium, and belongs to the technical field of automatic driving, and the method comprises the following steps: dividing a control road section into a plurality of cells with the same length, constructing a cell updating model, obtaining vehicle passing demand flow data and vehicle lane changing demand flow data in the cells within the same time step length; according to the obtained data, the lane changing congestion influence condition of the control road section, the vehicle speed change rate of each lane and the vehicle speed variance value of each lane are obtained, the comprehensive state serves as a state space, whether the automatic driving vehicle special lane is opened or not on the control road section serves as an action space, and a reward function is set; training parameters of the deep reinforcement learning model by using the state space and the action space to obtain a special lane control model; according to the method, the road traffic data of the automatic driving vehicle special lane control road section are input into the special lane control model, and the opening and closing of the automatic driving vehicle special lane can be dynamically controlled.
本发明提供了一种自动驾驶车专用车道动态控制方法、系统、设备及介质,属于自动驾驶技术领域,其方法包括如下步骤:将控制路段划分为多个长度相等的元胞,构建元胞更新模型,获取相等时间步长内元胞内的车辆通过需求流数据和车辆变道需求流数据;根据得到的数据获取控制路段的换道拥堵影响情况、各车道车速变化率和各车道的车速方差值,并将其综合状态作为状态空间,将控制路段是否开放自动驾驶车专用车道作为动作空间,设置奖励函数;使用状态空间和动作空间对深度强化学习模型的参数进行训练,得到专用车道控制模型;本发明将自动驾驶车专用车道控制路段的道路交通数据输入专用车道控制模型,能够对自动驾驶车专用车道的开关进行动态控制。
Automatic driving vehicle special lane dynamic control method, system, equipment and medium
自动驾驶车专用车道动态控制方法、系统、设备及介质
2024-12-13
Patent
Electronic Resource
Chinese
IPC: | G08G Anlagen zur Steuerung, Regelung oder Überwachung des Verkehrs , TRAFFIC CONTROL SYSTEMS |
Vehicle automatic driving lane changing control method, device and equipment and storage medium
European Patent Office | 2024
|European Patent Office | 2025
|Directional ramp arrangement of automatic driving special lane and vehicle control method
European Patent Office | 2023
|Vehicle automatic lane changing control method and system, control equipment and medium
European Patent Office | 2020
|Lane-line-free automatic driving control method and system, storage medium and equipment
European Patent Office | 2024
|