The invention discloses a multi-source data fusion signalized intersection vehicle trajectory reconstruction method in an intelligent network connection environment, which comprises the following steps: acquiring motion data, signal phase data and speed camera data of an intelligent network connection vehicle (CAV) and surrounding vehicles sensed by the intelligent network connection vehicle, and determining a signal period when the vehicle passes through an intersection according to the data; the vehicle with the same period as the vehicle with the known track passes through the intersection, and the track of a common vehicle (RV) in front of the vehicle can be reconstructed in sequence from back to front by applying a track reconstruction optimization model based on an intelligent driver model (IDM); when vehicles with known trajectories passing through the intersection in the same period as the RV exist in front of the RV, vehicle trajectories are sequentially reconstructed from front to back by applying a trajectory reconstruction method based on IDM and grid search; when there is no known track vehicle passing through the intersection in the same period as the RV in front of the RV, constructing a virtual vehicle to replace the CAV based on the signal phase data; and fusing the trajectory reconstruction results of the same vehicle by using a historical weight-based trajectory fusion algorithm.
本发明公开了智能网联环境下的一种多源数据融合的信号交叉口车辆轨迹重构方法,获取智能网联汽车(CAV)及其感知到的周围车辆运动数据、信号相位数据、速度摄像头数据,并根据这些数据确定车辆通过交叉口的信号周期;与已知轨迹的车辆相同周期通过交叉口且在其前方的普通车辆(RV)轨迹可以应用基于智能驾驶员模型(IDM)的轨迹重构优化模型从后往前依次重构;当RV前方存在与其相同周期通过交叉口的已知轨迹车辆时,应用基于IDM和网格搜索的轨迹重构方法从前往后依次重构车辆轨迹;当RV前方不存在与其相同周期通过交叉口的已知轨迹车辆时,基于信号相位数据构造虚拟车替代CAV;使用基于历史权重的轨迹融合算法将同一车辆的轨迹重构结果进行融合。
Signal intersection vehicle trajectory reconstruction method based on multi-source data fusion
一种多源数据融合的信号交叉口车辆轨迹重构方法
2025-03-04
Patent
Electronic Resource
Chinese
IPC: | G08G Anlagen zur Steuerung, Regelung oder Überwachung des Verkehrs , TRAFFIC CONTROL SYSTEMS |
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