Intersection free steering lane setting method under automatic driving

Abstract

The invention discloses an intersection free steering lane setting method under automatic driving, which belongs to the field of traffic information engineering and control and relates to a traffic control technology for automatic driving vehicles by urban roads so as to enable the automatic driving vehicle to drive left, straight and right at any approach in front of the intersection. At the intersection under automatic driving, a rectangular coordinate system is built, the inner space of the intersection is divided to a plurality of grids, and a coordinate range of each grid is determined. The planned arrival time and the target lane of the vehicle are inputted. The driving path equation of the vehicle in the intersection is determined in the coordinate system, the grid coordinates are combined to calculate the grid passed by the vehicle, and the occupied time of each grid is calculated. According to an objective function with the minimum total delay, the best time for each vehicle to enter the intersection is optimized and acquired. Thus, the automatic driving vehicle can select any lane for driving at the intersection approach and passes across the intersection in a mode with the minimum total delay, lane changing is not needed, and the traffic flow convenience is improved.

Description

technical field [0001] The invention belongs to the field of intelligent transportation, relates to the technical field of traffic management and control for automatic driving vehicles on urban roads, and more specifically relates to a method for setting free steering lanes at intersections under automatic driving. Background technique [0002] Autonomous driving has become a trend in the development of intelligent transportation. In March 2018, Shanghai issued license plates for autonomous driving road tests, marking that my country's autonomous driving vehicles have officially embarked on actual urban roads from closed parks. In the autonomous driving environment, through the real-time communication between vehicles and vehicles, vehicles and roadside intelligent units, vehicles can cooperate with each other and pass through the intersection, thus breaking through the existing intersection signal control mode, and no longer need traffic lights control. [0003] On the oth...

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Problems solved by technology

[0005] After searching the literature of the existing technology, it is found that there are already literatures on "automatic driving intersections", which mainly study the traffic control methods of intersections under the environment of automatic driving, and are all based on the existing lane division function control of the entrance road at the intersection. There is no relevant research literature on the setting of free-turning lanes at intersections

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