Data-driven intelligent and robust vehicle speed real-time planning method and system
An intelligent, robust, data-driven technology, applied in the field of vehicle speed research, can solve problems such as the interference of vehicle speed planning accuracy, and achieve the effects of reducing energy consumption, reducing congestion, and reducing travel time.
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[0090] Step 1: Based on the information transmission link of traffic infrastructure-cloud-vehicle-people, the vehicle segment the target line, and obtain the necessary information for the vehicle driving in the section, such as the length of traffic lights, congestion degree, etc., to form historical data set.
[0091] Step 2: According to the data set obtained in step 1, get the random delay variable α for each road section i And calculate its probability density function f(α i ), combined with the signal light information to obtain the "prohibited driving time (OFF)" variable and probability distribution spectrum, the variables are updated with the data update.
[0092] Step 3: The complete vehicle controller (HCU) establishes the vehicle dynamics model and road model based on the information obtained in step 1, and constructs the optimal model with chance constraints based on the OFF, α, and f(α) variables in step 2. Optimal speed planning issues.
[0093] Step 4: HCU uses DP or ...
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