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Linear planning optimizing method of unmanned vehicle lane level track

A technology of linear programming and optimization methods, applied in data processing applications, predictions, calculations, etc., can solve problems such as limiting the ability to model realistic traffic phenomena, large-scale calculation difficulties, and high computational requirements

Active Publication Date: 2018-07-31
SOUTHWEST JIAOTONG UNIV
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Problems solved by technology

[0009] The disadvantages of prior art 2 are: 1) It is difficult to express traffic flow propagation with convex constraints; 2) The number of solution variables and constraints is proportional to the network size, which brings computational difficulties to large-scale problems
This method is computationally demanding and limits the ability to model realistic traffic phenomena

Method used

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  • Linear planning optimizing method of unmanned vehicle lane level track
  • Linear planning optimizing method of unmanned vehicle lane level track
  • Linear planning optimizing method of unmanned vehicle lane level track

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Embodiment 2

[0132] This embodiment only describes the differences from Embodiment 1, and the similarities are not described;

[0133] [Model M2]

[0134]

[0135] As for the constraints, this model has the same constraints as the model M1, and the differences mainly exist in three aspects: (i) modifying the conflicting constraints to improve the solution efficiency without loss of generality; (ii) the lane that each vehicle leaves is no longer restricted; (iii) entry times and lanes are no longer restricted, so they can be optimized by the model solver. Specifically:

[0136] Vehicle running constraints, lane change constraints, variable consistency constraints and maximum and minimum running time constraints are the same as model M1

[0137] (1) Conflict constraints

[0138]

[0139]

[0140]

[0141] in is a binary parameter, indicating the sequence of vehicles c and c', the function of the parameter and the sequence indicator variable resemblance. For this problem, ...

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Abstract

The invention discloses a linear planning optimizing method of an unmanned vehicle lane level track. The method comprises the following steps: building a DTA model; setting a vehicle running constraint; setting conflict constraint; setting lane change constraint; setting variable consistence constraint; building primary and final states of the vehicles; setting the maximum and minimum running time; and setting pairing sequence variable. The method has the advantages that the departing time and route can be predicated through the DTA model; and the whole track of each vehicle on a highway can be adjusted; and thus the travel cost under the whole route can be minimized.

Description

technical field [0001] The invention relates to the technical field of trajectory optimization of unmanned vehicles, in particular to a linear programming optimization method for lane-level trajectories of unmanned vehicles. Background technique [0002] Fully automatic unmanned vehicle technology has been realized in the industrial field, and the fully automatic unmanned vehicle market will be greatly promoted in the next few years. However, in the process of development, application and promotion of unmanned vehicles, automatic vehicles are faced with traditional path planning. Important issues that are difficult to solve theoretically: the first level goal is safety, that is, identifying road static obstacles and dynamic traffic subjects, and completing travel safely; the second level goal is single-vehicle efficiency, that is, in a mixed environment, the delivery speed of unmanned vehicles is improved, The safety and efficiency game of a single unmanned vehicle and a sin...

Claims

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Application Information

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IPC IPC(8): G06Q10/04
CPCG06Q10/047
Inventor 刘晓波聂宇鲁工圆潘明轩
Owner SOUTHWEST JIAOTONG UNIV
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