The invention discloses a method for controlling running of a networked vehicle at a non-signal-lamp intersection by considering an input constraint, which solves the challenge confronted when an automatic driving vehicle safely and cooperatively passes through the non-signal-lamp intersection under the input constraint, and comprises the following steps: obtaining real-time state information and roadside environment information of the vehicle; establishing a vehicle dynamics model considering input constraints; a geometric topological structure is developed to model the passing relation of vehicles, then the communication topology of information exchange between the vehicles is defined, and the problem of vehicle coordination at the intersection is converted into the problem of consistency of conflicting vehicles through state conversion; a distributed control method is designed, and the global consistency and stability of the vehicle cooperative control system are ensured; and finally, a time-based triggering mechanism is provided, so that the vehicle passing efficiency and the driving safety are improved, and the operation load of the system is reduced.
本发明公开了一种考虑输入约束的网联车辆在无信号灯交叉口行驶控制方法,解决在输入约束下,自动驾驶车辆安全协同通过无信号灯交叉口面临的挑战,方法包括以下步骤:获取车辆的实时状态信息及路侧环境信息;建立考虑输入约束的车辆动力学模型;开发了一种几何拓扑结构建模车辆的通行关系,进而定义了车辆间信息交换的通信拓扑,通过状态转换,将交叉口车辆协调问题转化为冲突车辆的一致性问题;设计了分布式控制方法,保证车辆协同控制系统的全局一致性和稳定性;最后,提出基于时间的触发机制,提高了车辆通行效率和行驶安全性,降低了系统的操作负载。
Method for controlling running of networked vehicle at intersection without signal lamp by considering input constraint
考虑输入约束的网联车辆在无信号灯交叉口行驶控制方法
2025-03-21
Patent
Electronic Resource
Chinese
IPC: | G08G Anlagen zur Steuerung, Regelung oder Überwachung des Verkehrs , TRAFFIC CONTROL SYSTEMS |
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