The invention discloses a crossroad multi-vehicle double-layer scheduling method, and relates to the technical field of intelligent traffic, and the method comprises the steps: constructing a crossroad and vehicle motion model; an ATTD3 algorithm is established and trained, and an upper-layer scheduling strategy is designed by using the ATTD3 algorithm; after a feasible track of the networked autonomous vehicle is obtained according to an upper-layer scheduling strategy, track planning under a Frenet coordinate system is carried out, a human-driven vehicle or obstacle model is established by using a risk field, and a lower-layer local track re-planning strategy is designed; and carrying out crossroad multi-vehicle scheduling based on the upper-layer scheduling strategy and the lower-layer local trajectory re-planning strategy. According to the method, the ATTD3 algorithm is constructed when the upper-layer scheduling strategy is designed, the reasonable loss function is designed for the newly introduced attention network, the algorithm convergence speed is increased, meanwhile, the lower-layer local track re-planning strategy simulates human driving vehicles or obstacles through the risk field, and local re-planning can be accurately conducted on the vehicle driving track in real time.

    本发明公开了一种十字路口多车双层调度方法,涉及智能交通技术领域,该方法包括:构建十字路口和车辆运动模型;建立ATTD3算法并进行训练,利用ATTD3算法设计上层调度策略;在根据上层调度策略得到网联自动驾驶车辆的可行轨迹后,进行Frenet坐标系下的轨迹规划,并利用风险场建立人类驾驶车辆或障碍物模型,设计下层局部轨迹重规划策略;基于上层调度策略和下层局部轨迹重规划策略进行十字路口多车辆调度。本发明通过在设计上层调度策略时构建了ATTD3算法并为新引入的注意力网络设计合理损失函数,提高了算法收敛速度,同时下层局部轨迹重规划策略利用风险场来模拟人类驾驶车辆或障碍物,能实时准确地对车辆驾驶轨迹进行局部重规划。


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    Title :

    Crossroad multi-vehicle double-layer scheduling method


    Additional title:

    一种十字路口多车双层调度方法


    Contributors:
    LI PANSHUO (author) / DAI JUNHONG (author) / CHENG ZHIJIAN (author) / CAI QIANQIAN (author) / LU RENQUAN (author)

    Publication date :

    2024-12-17


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    G08G Anlagen zur Steuerung, Regelung oder Überwachung des Verkehrs , TRAFFIC CONTROL SYSTEMS



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