The invention discloses an intersection entrance lane mixed vehicle team cooperative guidance control method, which overcomes the problems of large calculation amount and difficulty in achieving a global optimal state in the prior art, and comprises the following steps: 1) obtaining road information; 2) dividing intelligent agents; and 3) establishing a multi-agent ecological cooperative control model of the intersection entrance lane mixed vehicle fleet: firstly, establishing a single-agent speed trajectory planning model, calculating an optimal passing trajectory of a single agent, and then establishing a multi-agent cooperative control model by taking the overall operation efficiency of the vehicle fleet as an optimization target on the basis of the optimal passing trajectory of the single agent, so as to realize the multi-agent ecological cooperative control of the intersection entrance lane mixed vehicle fleet. Cooperative control among a plurality of agents is realized, and a model is trained through a reinforcement learning method after model construction is completed; and 4) the controllable agents execute the optimized trajectory: issuing the established and trained model to each controllable agent, adopting a rolling time domain updating strategy, calculating the speed trajectory of each agent passing through the intersection by using road traffic information, and inputting the speed trajectory to a CAV controller for execution.
本发明公开了一种交叉口进口道混行车队协同引导控制方法,其克服了现有技术存在的计算量大且难以达到全局最优状态的问题,其步骤如下:1)获取道路信息;2)划分智能体;3)建立交叉口进口道混行车队多智能体生态协同控制模型:首先建立单智能体速度轨迹规划模型,计算单智能体自身最优通过轨迹,随后在此基础上以车队整体运行效率为优化目标,建立多智能体协同控制模型,实现多个智能体之间的协同控制,完成模型构建后通过强化学习方法对模型进行训练;4)可控智能体执行优化后的轨迹:将建立并训练完成的模型下发至各个可控智能体,采用滚动时域更新策略,利用道路交通信息计算每个智能体通过交叉口的速度轨迹,输入至CAV控制器执行。
Cooperative guidance control method for mixed vehicle fleet at entrance lane of intersection
交叉口进口道混行车队协同引导控制方法
2024-12-20
Patent
Electronic Resource
Chinese
IPC: | G08G Anlagen zur Steuerung, Regelung oder Überwachung des Verkehrs , TRAFFIC CONTROL SYSTEMS |
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