The invention discloses an emergency vehicle road section priority passing control method considering a network-connected automatic driving special road, and the method comprises the steps: collecting the vehicle state information of an emergency vehicle and all vehicles of a target road section, and guiding the emergency vehicle to enter the network-connected automatic driving special road of the target road section if the emergency vehicle enters the target road section, calculating a dynamic emptying area in real time; a networked automatic driving vehicle in a dynamic emptying area is used as an optimized vehicle, and a multi-target optimization model which is established by taking minimum emergency vehicle delay and minimum interference to surrounding vehicles as targets is used for optimizing a speed change value and a lane changing decision of the optimized vehicle so as to control the optimized vehicle. Therefore, the networked automatic driving vehicle which affects passing in front of the emergency vehicle is emptied. According to the method, the longitudinal following and transverse lane changing decisions of the networked automatic driving vehicles in the social vehicles in the mixed traffic flow environment are optimized, and the influence on the social vehicles is reduced while the emergency vehicles are guaranteed to pass preferentially.
本发明公开了一种考虑网联自动驾驶专用道的应急车辆路段优先通行控制方法,步骤包括:采集应急车辆以及目标路段的所有车辆的车辆状态信息,若应急车辆进入目标路段,引导应急车辆驶入目标路段的网联自动驾驶专用道,并实时计算动态清空区域;将动态清空区域内的网联自动驾驶车辆作为优化车辆,使用以应急车辆延误最小及对周围车辆干扰最少为目标建立的多目标优化模型对优化车辆的速度变化值和换道决策进行优化后以此控制优化车辆,从而将应急车辆前方影响通行的网联自动驾驶车辆进行清空。本发明对混合交通流环境的社会车辆中的网联自动驾驶车辆的纵向跟驰和横向换道决策进行优化,在保证应急车辆优先通行的同时,减少对社会车辆的影响。
Emergency vehicle road section priority passing control method considering networked automatic driving exclusive lane
一种考虑网联自动驾驶专用道的应急车辆路段优先通行控制方法
2025-02-28
Patent
Electronic Resource
Chinese
IPC: | G08G Anlagen zur Steuerung, Regelung oder Überwachung des Verkehrs , TRAFFIC CONTROL SYSTEMS |
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