A speed collaborative optimization method for intelligent networked vehicles at intersections without signal lights

Abstract

The invention proposes a synergic optimization method for a speed of an intelligent connected vehicle at an intersection without a signal lamp. The synergic optimization method comprises the steps ofselecting each first vehicle, which is not subjected to synergic optimization, in all paths having conflict points with other paths in an intersection range from a start moment of a current synergic optimization period, solving a mixed integer linear planning problem according to respective position and initial speed information, and obtaining an expected passing speed of each vehicle and a relative passing sequence among vehicles; and planning the acceleration process of each selected vehicle, and ensuring that the vehicle on a turn drives to the intersection again after the vehicle on a previous turn leaves the intersection. In each turn of optimization, a sub-set is dynamically extracted as an optimization object by the method, the vehicle relatively far away from the intersection is indirectly deleted, and the efficiency loss is prevented. By the method, it can be ensured that the scale of problem solving is limited to the number of controlled lanes, so that the calculation capability and the communication frequency requirement of a server are reduced, and the method is applicable to an intersection scene in and out of which the vehicle dynamically drives.

Description

technical field [0001] The invention belongs to the technical field of vehicle cooperative control at traffic intersections, and particularly relates to a speed cooperative optimization method for intelligent networked vehicles at intersections without signal lights. Background technique [0002] The development of vehicle intelligence and networking technology can help reduce accidents and improve efficiency at traffic intersections. When all the vehicles passing at the intersection are intelligent networked vehicles, the traffic lights can be cancelled at the intersection, and with the help of the networked vehicle-road coordination technology, conflict-free and efficient traffic can be carried out. Ensuring safety and improving efficiency is the key to vehicle coordination technology at intersections without signal lights; at the same time, practical applications put forward real-time requirements for this technology. [0003] The existing vehicle coordination methods at...

AI Technical Summary

Problems solved by technology

The first type of method only restricts simple rules at the level of traffic sequence, and does not plan the vehicle speed in real time, so the improvement of efficiency is limited; the second type of method can theoretically obtain the optimal efficiency, but its problem scale is relatively large , it is difficult to guarantee real-time

In addition, since the vehicle group at the intersection is essentially a dynamically changing collection, the variables included in the optimization problem are also changing, so it is difficult to apply in practice

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