The invention discloses a ramp confluence area vehicle confluence trajectory planning method considering multi-objective optimization in a pure network connection environment, and the method comprises the steps: if a main line has a safety gap and a ramp vehicle can safely confluence into the safety gap, according to the positions and speeds of vehicles in front of and behind the safety gap and the starting point position of an acceleration lane, determining the vehicle confluence trajectory in the ramp confluence area; determining the position when the ramp vehicle enters the acceleration lane, sampling an afflux starting point and an afflux ending point, and calculating an afflux trajectory set according to the afflux starting point and the afflux ending point; selecting an afflux trajectory matched with the collision relational expressions of the ramp vehicle, the front vehicle, the rear vehicle and the tail end of the acceleration lane to obtain a safe trajectory set; and establishing a multi-objective optimization model of the afflux trajectory to calculate all trajectories of the safe trajectory set, and controlling the ramp vehicle to drive into the main line along the afflux trajectory with the minimum function value. According to the method, the safe vehicle confluence track in the ramp confluence area can be effectively planned, the traffic safety and the passing efficiency are greatly improved, and the method has corresponding practical value.
本发明公开了一种纯网联环境下考虑多目标优化的匝道合流区车辆汇入轨迹规划方法,步骤包括:若主线存在安全间隙且匝道车辆能安全汇入所述安全间隙,根据安全间隙前后车的位置和速度以及加速车道起点位置,确定匝道车辆进入加速车道时的位置并采样汇入起点和汇入终点,根据汇入起点和汇入终点计算汇入轨迹集;选取与匝道车辆与前车、后车以及加速车道末端的碰撞关系式均匹配的汇入轨迹得到安全轨迹集;建立汇入轨迹的多目标优化模型对安全轨迹集的所有轨迹进行计算,控制匝道车辆沿函数值最小的汇入轨迹驶入主线。本发明能够有效规划安全的匝道合流区车辆汇入轨迹,极大地提升交通安全性以及通行效率,具有相应的实用价值。
Ramp confluence area vehicle confluence trajectory planning method considering multi-objective optimization in pure network connection environment
一种纯网联环境下考虑多目标优化的匝道合流区车辆汇入轨迹规划方法
2025-02-28
Patent
Electronic Resource
Chinese
IPC: | G08G Anlagen zur Steuerung, Regelung oder Überwachung des Verkehrs , TRAFFIC CONTROL SYSTEMS |
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