The invention relates to an automatic driving vehicle green wave passing vehicle speed planning method and a vehicle control method, and the method comprises the steps: obtaining traffic information; based on the traffic information, constructing traffic light time sequence information under distance domain discretization; obtaining a traffic light window probability passing result based on the traffic light window prediction model; screening a potential passage route based on the traffic light window probability passage result; and in the potential passing routes, solving an optimal passing route and an optimal acceleration route and an optimal speed route corresponding to the optimal passing route. Compared with the prior art, the method has the advantages of low time complexity, high reliability, high online deployment speed, high safety and the like.
本发明涉及一种自动驾驶车辆绿波通行车速规划方法及车辆控制方法,其中,自动驾驶车辆绿波通行车速规划方法包括:获取交通信息;基于所述交通信息,构建距离域离散下的红绿灯时序信息;基于红绿灯窗口预测模型,获取红绿灯窗口概率通行结果;基于所述红绿灯窗口概率通行结果筛选潜在通行路线;在所述潜在通行路线中,求解最优通行路线及其对应的最优加速度路线和最优速度路线。与现有技术相比,本发明具有时间复杂度低、可靠性高、在线部署速度快、安全性高等优点。
Automatic driving vehicle green wave passing vehicle speed planning method and vehicle control method
一种自动驾驶车辆绿波通行车速规划方法及车辆控制方法
2025-01-10
Patent
Electronic Resource
Chinese
IPC: | G08G Anlagen zur Steuerung, Regelung oder Überwachung des Verkehrs , TRAFFIC CONTROL SYSTEMS |
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