The invention discloses a network-connected automatic driving vehicle decision-making and planning method for an expressway shunting area. The method comprises the following steps: 1, establishing a basic scene of application of the method; 2, constructing a fuzzy logic reasoning system, outputting a lane changing willingness coefficient, and making a decision scheme; 3, performing risk assessment by adopting TTC (residual collision time); 4, introducing a risk field concept, performing modeling on a vehicle potential field, a road boundary potential field, a lane division line potential field and a static roadblock potential field, and further constructing a multi-source superposition risk potential field model in an expressway diversion area scene by superposing the risk potential fields; 5, generating a lane changing trajectory curve by adopting a quintic polynomial; and 6, constructing a multi-target comprehensive evaluation function considering safety, efficiency and comfort, and screening out an optimal lane changing track of the networked automatic driving vehicle. According to the method, the automatic driving vehicle can be endowed with intelligent decision-making ability and accurate path planning ability while dealing with variable traffic conditions, so that traffic congestion can be effectively relieved, and the traffic capacity of a road is improved.
本发明公开了一种快速路分流区网联自动驾驶车辆决策与规划方法,包括:1.建立方法应用的基本场景;2.构建模糊逻辑推理系统,输出换道意愿系数,进而制定决策方案;3.采用剩余碰撞时间TTC进行风险评估;4.引入风险场概念,对车辆势场、道路边界线势场、车道分割线势场、静态路障势场进行建模,进而通过叠加各风险势场,构建快速路分流区场景下的多源叠加风险势场模型;5.采用五次多项式生成变道轨迹曲线;6.构建考虑安全性、效率性、舒适性的多目标综合评价函数,并筛选出最优的网联自动驾驶车辆的变道轨迹。本发明能在应对多变的交通状况,赋予自动驾驶车辆以智能的决策力和精准的路径规划能力,从而能有效缓解交通拥堵,提高道路的通行能力。
Decision-making and planning method for network-connected automatic driving vehicle in expressway shunting area
一种快速路分流区网联自动驾驶车辆决策与规划方法
2024-12-27
Patent
Electronic Resource
Chinese
IPC: | G08G Anlagen zur Steuerung, Regelung oder Überwachung des Verkehrs , TRAFFIC CONTROL SYSTEMS |
Expressway automatic driving safety decision-making system
European Patent Office | 2024
|European Patent Office | 2023
|Expressway traffic accident emergency induction shunting discrimination method
European Patent Office | 2021
|European Patent Office | 2024
|Method and system for predicting lane changing behavior risk of expressway shunting area
European Patent Office | 2023
|