A mixed traffic horizontal and vertical coupling control method based on vehicle-road coordination

Abstract

The invention discloses a mixed traffic horizontal and vertical coupling control method based on vehicle-road coordination, S1: acquire the initial moment historical track point of the second vehicle; S2: collect the driving state of the second vehicle in real time and transmit it to the first vehicle; S3 : Judging whether the current driving state of the first vehicle reaches a certain error range of the first historical track point of the second vehicle, if yes, then proceed to S4, if not, then proceed to S5; S4: update the historical motion state of the second vehicle Matrix and pass to the first vehicle, enter S5; S5: Calculate the expected acceleration and expected angular velocity of the first vehicle; S6: The first vehicle travels with the expected acceleration and expected angular velocity, and return to S2. The invention ensures the consistency of the following distance and the speed of the connected smart car and the front manually driven vehicle, and simultaneously realizes the cooperative motion control among vehicles of different intelligent levels.

Description

technical field [0001] The present invention relates to the field of control of network-connected smart vehicles, in particular to a method for controlling horizontal and vertical coupling of mixed traffic based on vehicle-road coordination. Background technique [0002] With the rapid development of communication, sensing, machinery manufacturing, automation and other technologies, the emerging autonomous driving technology applied to real vehicles has been continuously improved, and the transportation system is also continuously upgraded towards intelligence. Therefore, when the old and new driving modes alternate, it is inevitable that self-driving vehicles will mix with traditional people on the same traffic road. In order to ensure traffic safety and traffic efficiency in this situation, it is necessary to use the perception and communication capabilities of roadside equipment to build a simple collaborative control system between autonomous vehicles and traditional hum...

AI Technical Summary

Problems solved by technology

However, this method needs to be conditioned on the extremely high monitoring accuracy of the on-board sensing equipment during the turning process. At the same time, it must be ensured that there are no obstacles such as mountains and trees between the target vehicle and the vehicle in front during the turning process. Therefore, the practical application of this method is difficult.

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