A self-organizing control method for intersections for networked autonomous vehicles

Abstract

The invention relates to an intersection self-organizing control method for a networking automatic driving vehicle. The method comprises: according to flow directions of all entrance lanes of an intersection, grouping of all vehicles is carried out, wherein vehicles without any flow direction conflict are classified into one group; vehicles at all entrance lanes form one fleet by using a control unit as a center; first control units of all entrance lanes carry out communication to send respective states as application information to an intersection control center; the intersection control center determines a fleet passing by the intersection firstly and sends passing time to the corresponding control unit, and the intersection control center sends the passing time to the control unit which is capable of completing passing within the passing time and belongs to the same group as the fleet passing by the intersection firstly; and the control unit obtaining the passing time generates a driving track based on the passing time. Compared with the prior art, the method has the following beneficial effects: the vehicle driving autonomy can be improved; and the potential safety hazard, caused by the communication delay, of networking vehicle driving at an intersection can be eliminated.

Description

technical field [0001] The invention relates to the research field of road intersection vehicle control technology, in particular to an intersection self-organizing control method for networked automatic driving vehicles. Background technique [0002] With the continuous development of wireless communication technology and intelligent vehicle technology, the Internet of Vehicles has become the most active branch of the Internet of Things and has attracted much attention in the field of intelligent transportation. best means. [0003] In fact, a core issue that really restricts traffic efficiency and driving safety is the allocation of right of way at intersections. At present, there are corresponding control methods in foreign countries, but there are still control objects in the method, which are almost all bicycles; the controlled fleet lacks flexibility and autonomy, and has no power to independently plan the trajectory; less consideration is given to the variability of ...

AI Technical Summary

Problems solved by technology

At present, there are corresponding control methods in foreign countries, but there are still control objects in the method, which are almost all bicycles; the controlled fleet lacks flexibility and autonomy, and has no power to independently plan the trajectory; less consideration is given to the variability of traffic. question

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