Intersection free steering lane setting method under automatic driving

A technology of automatic driving and intersection, applied in the field of intelligent transportation

Active Publication Date: 2018-10-02
CHANGSHA UNIVERSITY OF SCIENCE AND TECHNOLOGY
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

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 envir

Method used

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  • Intersection free steering lane setting method under automatic driving
  • Intersection free steering lane setting method under automatic driving
  • Intersection free steering lane setting method under automatic driving

Examples

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Comparison scheme
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Embodiment Construction

[0076] In conjunction with the accompanying drawings and embodiments, the technical solution of the present invention is described in detail as follows:

[0077] Example: Select a typical urban intersection as the research object. In the automatic driving environment, the real-time position of the arriving vehicle, the planned time of arriving at the stop line, and the turning direction can be known at any time. The embodiment randomly generates each entrance at a certain time. The planned time of driving the vehicle to the stop line and the direction of turning are as follows: Figure 4 and shown in Table 1.

[0078] Table 1 The planned time and turning direction of the self-driving vehicles at each entrance road to the stop line

[0079] entrance road

E1

E2

W1

W2

S1

S2

N1

N2

The planned time when the first vehicle arrives at the stop line at each entrance lane

2s

1s

0s

0s

2s

0s

0s

1s

direction

Turn l...

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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...

Claims

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Application Information

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IPC IPC(8): G08G1/0967
CPCG08G1/096725
Inventor 吴伟刘洋吴国弘龙科军
Owner CHANGSHA UNIVERSITY OF SCIENCE AND TECHNOLOGY
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