An Iterative Algorithm for Intersection Traffic Control in Autonomous Driving Environment
A technology of automatic driving and iterative algorithm, applied in traffic control system, traffic control system of road vehicles, traffic signal control, etc., can solve problems such as inability to obtain traffic control, long solution time, poor model stability, etc.
Active Publication Date: 2021-01-12
CHANGSHA UNIVERSITY OF SCIENCE AND TECHNOLOGY
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[0005] Technical issues: In an autonomous driving environment, intersections do not require signal control, and vehicles pass through each other, which can improve the efficiency of intersections. However, when the number of vehicles arriving at the intersection is large, the control complexity increases and the number of model calculations increases sharply. Existing control models have problems such as long solution time, unsatisfactory timeliness, and sometimes even a feasible solution for traffic control cannot be obtained within the specified time, and the model stability is poor
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[0046] combined with Figure 1~4 And embodiment, technical scheme of the present invention is described in detail as follows:
[0047] An iterative algorithm for intersection traffic control under an automatic driving environment, the steps are as follows:
[0048] Step 1: Collect the information of the intersection and the information of each position of the self-driving vehicle at the intersection, divide the time window, and determine the initial traffic plan of the vehicle in the intersection according to the first-come-first-served rule to avoid conflicts;
[0049] Step 2: In each time window, further optimize the traffic plan of each vehicle through an iterative algorithm to reduce the control delay of vehicles at the intersection.
[0050] Step 1 collects the information of intersections and vehicles as the input conditions of the model. Considering that vehicles arrive at the intersection without interruption, discretizing the continuous traffic flow is a common metho...
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The invention discloses an iterative algorithm for intersection traffic control in an automatic driving environment. At an automatic driving intersection, in order to achieve effective traffic control, it is necessary to calculate a separate traffic plan for each automatic driving vehicle. The traffic control system The high computational complexity will lead to a sharp increase in the computational load of the traffic control model. Therefore, a mechanism to gradually reduce the step size is designed, and the iterative optimization algorithm for updating the iterative step size is designed. First, the time window is divided according to the collected vehicle arrival information. In the same time window, the time that the vehicle occupies each grid can be Determine whether there is a conflict at the intersection, obtain the control scheme and calculation time of each vehicle, and gradually reduce the step size for iterative calculations until the optimal control scheme is obtained or all the time in the time window is used up. The invention performs iterative control by updating the iterative step size, which can improve the calculation efficiency of the control model, so as to meet the control requirements under any traffic volume.
Description
technical field [0001] The invention belongs to the field of intelligent traffic control, relates to the technical field of traffic management and control for automatic driving vehicles at urban road intersections, and more specifically relates to an iterative algorithm for traffic control at intersections in an automatic driving environment. Background technique [0002] On July 31, 2020, the Beidou-3 global satellite navigation system was officially launched. With the development of Beidou satellite navigation system, millimeter wave radar and other technologies, precise control of vehicles can be realized. In an autonomous driving environment, intersections can no longer need to be assigned the right of way to vehicles through signal lights. To ensure that vehicles do not conflict at intersections, there are many studies, such as Transportation Research Part C: Emerging Technologies (2017, Vol.85:528-547), Transportation Research Part C-Emerging Technologies (2019, Vol.10...
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IPC IPC(8): G08G1/01G08G1/08G06Q10/04G06Q50/30
CPCG06Q10/04G06Q50/30G08G1/0145G08G1/08
Inventor 吴伟刘洋蒋林锡
Owner CHANGSHA UNIVERSITY OF SCIENCE AND TECHNOLOGY