The invention discloses an emergency vehicle pre-emptying method suitable for large-flow highway traffic cloud control, and relates to the technical field of highway management and control. The method comprises the steps that a frame of an emergency lane pre-emptying double-layer model is adopted, a lane changing vehicle and the position of each step length of the lane changing vehicle are obtained through a lower-layer model and transmitted to an upper-layer model, and then the upper-layer model is solved to obtain the lane changing starting position of a vehicle in front of the emergency vehicle. A lower-layer model of the double-layer model obtains an optimal lane changing track by optimizing the lane changing track of the front vehicle to achieve the minimum cost of the space of the lane where the emergency vehicle is located as soon as possible; the lower-layer model is solved based on an improved A * algorithm so as to improve the calculation efficiency; the upper-layer model serves as a bounded convex function to obtain an optimal solution of the double-layer model. In this way, in the process that the emergency vehicle does not change the lane and runs at the speed close to the expected speed, the passing efficiency loss of the front vehicle is reduced to the minimum through lane changing, and the influence of the emergency vehicle on front traffic is minimum.

    本发明公开了一种适用于大流量高速公路通行云控的紧急车辆预清空方法,涉及高速公路管理与控制技术领域。本发明包括:紧急车道预清空双层模型的框架,通过下层模型得到换道车辆及其每个步长所在的位置传输到上层模型,再对上层模型求解得到紧急车辆前方车辆开始换道的位置。双层模型的下层模型以优化前方车辆的换道轨迹达到最快腾出紧急车辆所在车道的空间的成本最小为目标,得到最优换道轨迹;下层模型应用了基于改进A*算法进行求解以提高计算效率;上层模型作为有界凸函数得到了双层模型的最优解。这样解决了紧急车辆不换道且以接近期望速度行驶过程中,前方车辆通过换道将通行效率的损失降到最低,使紧急车辆对前方交通的影响最小。


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    Title :

    Emergency vehicle pre-emptying method suitable for large-flow highway traffic cloud control


    Additional title:

    一种适用于大流量高速公路通行云控的紧急车辆预清空方法


    Contributors:
    LIU XINJIAN (author) / LI HENGKUN (author) / GU JIANLING (author) / FU LIQIN (author) / LIU RUOXU (author) / LIU MINGMING (author) / WANG SHUQING (author) / WANG XIAOQIAN (author) / ZHANG YING (author) / HOU MENG (author)

    Publication date :

    2025-02-28


    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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