Speed ​​decision-making method of intelligent networked vehicles based on zoning of unsignaled intersections

Abstract

The invention relates to an intelligent network connection vehicle speed decision method based on an un-signalized intersection subarea, which is suitable for multi-vehicle speed decision problem of an un-signalized intersection in a V2X environment. The intelligent network connection vehicle speed decision method based on the un-signalized intersection subarea comprises the following steps of: 1)partitioning of the intersection, in which the intersection is partitioned into three types of areas; 2) setting of parameters, including a vehicle waiting time threshold; 3) setting of traffic speedin different areas; and 4) anti-collision speed setting of vehicles in the same lane. In the invention, only the vehicles in a parallel direction is allowed to pass at the same time, which avoids theestablishment of a complicated conflict point mathematical modeling, and does not need to consider complex path planning and optimization equation solving; through setting the waiting time thresholdof a single direction, long-term single-direction vehicle retention is avoided; and through partitioning the intersection, calculation can be performed in each subarea according to the actual trafficsituation. The intelligent network connection vehicle speed decision method based on the un-signalized intersection subarea has high robustness and simple operation, and can be directly operated on alow-cost roadside computing platform.

Description

technical field [0001] The invention relates to the field of control of intelligent networked vehicles, in particular to a speed decision method for intelligent networked vehicles based on division of unsignalized intersections. Background technique [0002] Intelligent decision-making at intersections is one of the core technologies of ICVs. The intersection intelligent decision-making scheme includes traffic signal control and no-traffic signal control decision-making. Compared with the traditional traffic signal control decision-making method, the non-traffic signal control decision-making method has more advantages in improving the intersection traffic efficiency of ICVs. With the continuous development of wireless communication technology, especially the development of 5G technology, intelligent networked vehicles can communicate with roadside facilities, communicate with other vehicles, and communicate with pedestrians, and finally realize Vehicle to everything (V2X) ...

AI Technical Summary

Problems solved by technology

However, certain assumptions need to be met, so the practical application is limited accordingly.

On the other hand, the existing decision-making method for intelligent networked vehicles at unsignalized intersections based on the acceptable gap theory model and its improved methods also lacks the consideration of the waiting time of vehicles in a single direction, which can coordinate the traffic of all intersections. direction of vehicle traffic and improve overall traffic efficiency

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