The invention discloses an automatic driving vehicle trajectory planning method under the influence of an intersection accident, and belongs to the field of automatic driving vehicle trajectory planning control. The problem that the traffic efficiency of the intersection is low after an accident is solved. According to the method, the intersection environment after an accident is accurately sensed and analyzed, the driving risk field is constructed through the expected trajectory field, the accident rejection field and the vehicle motion field, the influence of various factors on the vehicle is quantified, and real-time path adjustment guidance can be provided for the automatic driving vehicle by calculating transverse and longitudinal driving force and acceleration; long-time detention and traffic jam of the vehicles caused by accidents are avoided, the vehicle passing efficiency under the intersection accident scene can be effectively improved, traffic delay is reduced, meanwhile, the driving safety is enhanced, it is ensured that the vehicles safely pass through in the complex intersection environment, and the risk of secondary occurrence of the accidents is reduced. The method can be applied to automatic driving vehicle trajectory planning under the influence of intersection accidents.
一种交叉口事故影响下的自动驾驶车辆轨迹规划方法,它属于自动驾驶车辆轨迹规划控制领域。本发明解决了事故后交叉口的通行效率低的问题。本发明通过准确感知和分析事故后交叉口环境,通过期望轨迹场、事故排斥场和车辆运动场构建行车风险场,量化各类因素对车辆的影响,通过计算横纵向的驱动力和加速度,能够为自动驾驶车辆提供实时的路径调整指引,避免了车辆因事故导致的长时间滞留和交通拥堵,能够有效提升交叉口事故场景下的车辆通行效率,减少交通延误,同时增强驾驶的安全性,确保车辆在复杂交叉口环境中安全通过,降低事故二次发生的风险。本发明方法可以应用于交叉口事故影响下的自动驾驶车辆轨迹规划。
Automatic driving vehicle trajectory planning method under influence of intersection accidents
一种交叉口事故影响下的自动驾驶车辆轨迹规划方法
2025-01-24
Patent
Electronic Resource
Chinese
IPC: | G08G Anlagen zur Steuerung, Regelung oder Überwachung des Verkehrs , TRAFFIC CONTROL SYSTEMS |
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