The invention discloses a multi-vehicle cooperative road changing right negotiation method in an intelligent network connection mixed traffic scene. The method comprises the following steps: if a main vehicle meets a lane changing condition; if yes, judging whether the adjacent lane right is sufficient; if not, the road right negotiation belongs to the current lane vehicle; if yes, whether multi-vehicle cooperative lane changing exists or not is judged; if not, the road right negotiation belongs to a lane changing vehicle; if yes, judging whether the time difference is smaller than a threshold value, and if yes, determining that the vehicle belongs to the current lane through right-of-way negotiation; if not, whether the time difference is within a certain range is judged, and if not, the road right negotiation vehicle belongs to a lane changing vehicle; if yes, whether the collision time and the time headway are both larger than a threshold value or not is judged, and if yes, the road right negotiation vehicle belongs to a lane changing vehicle; if not, judging whether the lane change risk is high or not, and if yes, determining that the vehicle belongs to the current lane through right-of-way negotiation; and if not, the road right negotiation belongs to the lane changing vehicle. According to the invention, negotiation judgment can be carried out on the right of road of multi-vehicle cooperative lane changing, traffic congestion is reduced, and the overall traffic capacity of the road is improved.
本发明公开了一种智能网联混合交通场景多车协同换道路权协商方法,包括:若主车满足换道条件;则判断相邻车道路权是否充足;若否,路权协商归属为当前车道车辆;若是,判断是否存在多车协同换道;若否,路权协商归属为换道车辆;若是,判断时间差是否小于阈值,若是,路权协商归属为当前车道车辆;若否,判断时间差是否在某个范围内,若否,则路权协商归属为换道车辆;若是,判断碰撞时间与车头时距是否均大于阈值,若是,则路权协商归属为换道车辆;若否,判断车道变换风险是否为高,若是,路权协商归属为当前车道车辆;若否,路权协商归属为换道车辆。本发明能够对多车协同换道的路权进行协商判定,减少交通拥堵,提高道路的整体通行能力。
Multi-vehicle collaborative road changing right negotiation method in intelligent network connection mixed traffic scene
智能网联混合交通场景多车协同换道路权协商方法
2025-01-07
Patent
Electronic Resource
Chinese
IPC: | G08G Anlagen zur Steuerung, Regelung oder Überwachung des Verkehrs , TRAFFIC CONTROL SYSTEMS |
European Patent Office | 2025
|European Patent Office | 2023
|European Patent Office | 2024
|Vehicle-road collaborative mixed traffic flow data fusion method
European Patent Office | 2024
|Vehicle collaborative decision-making method and device based on mixed traffic scene
European Patent Office | 2024
|