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Automatic driving intersection vehicle entering moment and driving track control method

A technology of driving trajectory and automatic driving, which is applied in the traffic control system of road vehicles, traffic control system, traffic flow detection, etc.

Active Publication Date: 2021-02-19
CHANGSHA UNIVERSITY OF SCIENCE AND TECHNOLOGY
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

Existing research rarely optimizes the control of the vehicle's driving trajectory

Method used

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  • Automatic driving intersection vehicle entering moment and driving track control method
  • Automatic driving intersection vehicle entering moment and driving track control method
  • Automatic driving intersection vehicle entering moment and driving track control method

Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0113] Step 1: Collect intersection information as the input condition of the control model, including the type and size of the intersection, the number of lanes of entrance and exit lanes in each direction, and lane width; collect vehicle information, including the current location of the vehicle to stop at the intersection line distance s c , where c represents the vehicle, c∈C, C represents the set of vehicles, the speed of the vehicle at the current moment, according to s c Sorting the order in which vehicles enter the intersection, the vehicles enter the intersection in order according to the first-come-first-served rule;

[0114] Step 2: Establish a Cartesian coordinate system at the intersection, determine the position point coordinates of the vehicle passing through the entrance road and the exit road, and establish an equation to describe the driving path of the vehicle inside the intersection according to the position point of the entrance road and the exit road. Th...

Embodiment 2

[0133] Said step 4 comprises the following steps:

[0134] Step 41: According to whether there is a vehicle ahead in the same lane, divide the vehicles into two categories. The first category, when there is no vehicle ahead in the same lane, that is, when the vehicle is the first vehicle in the current lane, only the time of the conflict point restricts the vehicle. When the time when the vehicle arrives at the conflict point is greater than or equal to the time of the conflict point, the vehicle can pass the conflict point smoothly, otherwise, the vehicle cannot pass the conflict point smoothly, and the vehicle needs to adjust the speed or stop and wait according to the time of the conflict point; the second type, on the same lane When there is a vehicle in front, it is necessary to consider the constraints of the vehicle in front and the conflict point when controlling the vehicle trajectory;

[0135] Step 42: For the case of no vehicle in front, that is, the vehicle is the ...

Embodiment 3

[0198] Said step 5 includes the following steps:

[0199] Step 51: For the situation of the vehicle in front, the vehicle in front restricts the vehicle behind. Since the vehicle does not change lanes in the speed control area, it is impossible for the vehicle behind to pass the vehicle in front and enter the intersection ahead of time, so first consider the vehicle in front to restrict the vehicle behind; Indicates that the nth car travels from the stop line to the conflict point p j The time of is calculated by formula (27):

[0200] (27)

[0201] when , it means that the moment when the n-1th vehicle arrives at the conflict point is greater than or equal to the time of the conflict point , the n-1th car can pass the conflict point smoothly. At this time, in order to improve the traffic efficiency and reduce the control delay, the nth car in the same lane should try to catch up with the n-1th car. When the rear of the car enters the traffic lane, it reaches the sto...

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Abstract

The invention discloses an automatic driving intersection vehicle entering moment and driving track control method and belongs to the field of intelligent transportation. In an automatic driving environment, the basic information of an intersection and vehicles is collected, a rectangular coordinate system is established, and a path equation and conflict point coordinates of the vehicles in the intersection are determined; a vehicle speed control area is set for each vehicle, and the vehicle speed is adjusted in the speed control area; for different types of vehicles, the real-time distance function and speed function of each vehicle are finally obtained by adjusting the speed to optimize the driving track of the vehicle according to the time of the conflict point or the restriction of thetime and speed of the preceding vehicle entering the intersection, and safe and efficient shuttle driving of the vehicle at the automatic driving intersection without signal control is realized. Compared with the prior art, the method for controlling the entering moment and the driving track is provided for the automatic driving vehicle at the intersection, and the optimal driving track is calculated for the automatic driving vehicle passing through the intersection.

Description

technical field [0001] The invention belongs to the field of intelligent traffic control, and relates to the technical field of urban road traffic control for automatic driving vehicles passing through intersections, and more specifically, relates to a method for controlling the entry time and driving trajectory of automatic driving vehicles at intersections. Background technique [0002] Autonomous driving technology was first applied in the U.S. military field in the 1990s. After years of development, it has become the trend of intelligent transportation development. Draft of national standard for approval. It can be seen that my country attaches great importance to autonomous driving technology. The development of autonomous driving technology can greatly change the control method of intersections. Existing intersections mostly use signal control. Many studies have shown that in an autonomous driving environment, the efficiency of vehicles passing through each other at i...

Claims

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Application Information

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IPC IPC(8): B60W30/14B60W40/00B60W40/105B60W60/00G08G1/01G08G1/052G08G1/056G08G1/0967
CPCB60W30/143B60W40/00B60W40/105B60W60/00G08G1/0125G08G1/052G08G1/056G08G1/096725
Inventor 刘洋吴伟龙科军
Owner CHANGSHA UNIVERSITY OF SCIENCE AND TECHNOLOGY
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