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Vehicle passing time modeling method based on intersection space discreteness under automatic drive mode

A technology of automatic driving and modeling method, applied in the field of intelligent transportation, to achieve the effect of improving safety and efficiency, and avoiding traffic conflicts

Active Publication Date: 2018-12-07
CHANGSHA UNIVERSITY OF SCIENCE AND TECHNOLOGY
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  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0005] According to the literature search of the prior art, it is found that there is currently no calculation method for accurately capturing the intersection space occupied by the self-driving vehicle at any time when the self-driving vehicle passes through the intersection, or the calculation method for the time when the self-driving vehicle passes through any area

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  • Vehicle passing time modeling method based on intersection space discreteness under automatic drive mode
  • Vehicle passing time modeling method based on intersection space discreteness under automatic drive mode
  • Vehicle passing time modeling method based on intersection space discreteness under automatic drive mode

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Embodiment Construction

[0084] In conjunction with the accompanying drawings and embodiments, the technical solution of the present invention is described in detail as follows:

[0085] Example: In the environment of automatic driving, the entrance lane and exit lane of vehicles arriving at the intersection can be known. The number of entrance lanes and exit lanes in each direction in the example is shown in Table 1. The width of the lane is l=3m, and M=1. Then it is calculated according to the formula (1) in step 11, d R = 3m. Set the speed v=36km / h=10m / s passing through the intersection, and the body length d of the self-driving vehicle c = 4.5m. In the embodiment, take: ① the straight path of the 4th lane of the west entrance, ② the straight path of the 2nd lane of the south entrance, and ③ the left turn of the 2nd lane of the east entrance, as examples. Figure 6 shown.

[0086] Table 1 The number of lanes at the entrance and exit of the intersection

[0087] direction

East E

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Abstract

The invention discloses a vehicle passing time modeling method based on intersection space discreteness under an automatic drive mode, and belongs to the intelligent traffic field; the method can accurately calculate the intersection space taken by an automatic driven vehicle at a random time, and comprises the following steps: firstly, discretizing the intersection internal space, splitting the intersection into a plurality of square grids of the same size, and setting each of all grids to be taken only by one vehicle at one time; secondarily, calculating all grids run over by the random vehicle passing the intersection, calculating intersection points between a vehicle passing path and the grids, and projecting grid vertexes run over by the vehicle to the outer boundary line of the driving path; finally, determining vehicle drive in points and drive out points on the grids, and calculating the moment at which the vehicle enters and leaves said grids. The method can determine the position and a taken area of the automatic driven vehicle in the intersection at a random time, thus improving the automatic driven vehicle passing safety and efficiency.

Description

technical field [0001] The invention belongs to the field of intelligent transportation, and relates to the technical field of traffic management and control for automatic driving vehicles at urban road intersections, and more specifically, relates to a vehicle transit time modeling method based on intersection space discretization under automatic driving. Background technique [0002] With the development of environment perception technology and vehicle control technology, autonomous driving technology is gradually becoming mature. Autonomous driving is the product of the deep integration of the automotive industry with new-generation information technologies such as artificial intelligence, the Internet of Things, and high-performance computing. Strategic commanding heights. From the perspective of traffic engineering, self-driving cars are mainly to serve traffic travel. Therefore, it is necessary to explore and solve traffic management problems under automatic driving fo...

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Application Information

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IPC IPC(8): G08G1/0967
CPCG08G1/096725
Inventor 吴伟刘洋杜荣华龙科军
Owner CHANGSHA UNIVERSITY OF SCIENCE AND TECHNOLOGY