The invention discloses a multi-vehicle cooperative road changing right arbitration method in an intelligent network connection mixed traffic scene. The method comprises the following steps: S1, judging whether a main vehicle meets a lane changing condition or not; if yes, entering the step S2; s2, judging whether the right of road of adjacent lanes is sufficient or not; if yes, entering the step S3; if not, the right of way is arbitrated as the front space of the lane; s3, whether multi-vehicle cooperative lane changing exists or not is judged; if yes, entering the step S4; if not, arbitrating the right of way as the space in front of the target lane, and changing the lane; s4, judging whether road right conflicts exist or not; if yes, the right of way is arbitrated as the front space of the lane; and if not, performing road right arbitration according to the priority, performing road right arbitration as a space-time position corresponding to the target lane, and performing lane changing. According to the method, safe and efficient driving of vehicles in complex scenes of interlaced areas such as urban intersections and high-speed ramps can be guaranteed, and technical support is provided for passing efficiency, safety, comfort and the like in the multi-vehicle collaborative lane changing process.
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仲裁方法,包括:S1.判断主车是否满足换道条件;若是,则进入步骤S2;S2.判断相邻车道路权是否充足;若是,则进入步骤S3;若否,则路权仲裁为本车道前方空间;S3.判断是否存在多车协同换道;若是,则进入步骤S4;若否,则路权仲裁为目标车道前方空间,并进行换道;S4.判断路权是否存在冲突;若是,则路权仲裁为本车道前方空间;若否,根据优先权进行路权仲裁,路权仲裁为目标车道对应的时空位置,并进行换道。本发明能够保证城市路口、高速匝道等交织区域复杂场景下的车辆安全高效行驶,为多车协同换道过程中的通行效率和安全舒适等提供技术支撑。
Multi-vehicle cooperative road changing right arbitration 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仲裁方法
2025-01-07
Patent
Electronic Resource
Chinese
IPC: | G08G Anlagen zur Steuerung, Regelung oder Überwachung des Verkehrs , TRAFFIC CONTROL SYSTEMS |
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