The invention belongs to the technical field of intelligent vehicle-road cooperative traffic control, and discloses an intersection vehicle trajectory control method and system in a low-proportion automatic driving environment, and the method comprises the steps: determining a CAV target control speed; defining a control area, evaluating whether the CAVs entering the control area can pass through the intersection in the latest green light period, and regarding the first CAV which cannot pass through the intersection as a guide CAV; a trajectory control strategy is designed according to the position of the guide CAV in the mixed traffic flow, trajectory control is conducted on the guide CAV, a shock wave spreading forwards is generated in a controlled vehicle queue behind the guide CAV, and the traffic flow state of vehicles behind the guide CAV is changed; and when the shock wave propagation reaches a set condition, the influence of the trajectory control on the state of the controlled vehicle behind disappears, and the traffic flow state is recovered to the state before the trajectory control is not carried out. According to the invention, under the scene of low CAV permeability, track guidance of the following manual driving vehicle is realized, the parking frequency of the vehicle at the intersection is reduced, and the passing efficiency is not sacrificed.

    本发明属于智能车路协同交通控制技术领域,公开了一种低比例自动驾驶环境下交叉口车辆轨迹控制方法及系统,包括确定CAV目标控制速度;划定控制区域,评估进入控制区域的CAV是否能在最近一个绿灯期间通过交叉口,将无法通过交叉口的第一辆CAV视为引导CAV;根据引导CAV在混行车流中的位置设计轨迹控制策略,对引导CAV进行轨迹控制,在引导CAV的后方受控车辆队列中产生一个向前传播的冲击波,改变后方车辆的交通流状态;当冲击波传播达到设定条件时,轨迹控制对后方受控车辆状态的影响消失,交通流状态恢复至未进行轨迹控制之前的状态。本发明在CAV渗透率较低场景下,实现对跟随人工驾驶车辆的轨迹引导,减少车辆在交叉口处的停车次数且不牺牲通行效率。


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    Title :

    Intersection vehicle trajectory control method and system in low-proportion automatic driving environment


    Additional title:

    低比例自动驾驶环境下交叉口车辆轨迹控制方法及系统


    Contributors:
    DAI RONGJIAN (author) / WANG XU (author) / LI YANZHEN (author) / WANG ZIHAN (author)

    Publication date :

    2025-02-07


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    G08G Anlagen zur Steuerung, Regelung oder Überwachung des Verkehrs , TRAFFIC CONTROL SYSTEMS



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