Venue automatic driving vehicle centralized control method based on Petri network

Abstract

The invention discloses a venue automatic driving vehicle centralized control method based on a Petri network. The method comprises the following steps of: S1, determining the actual size of a venue, the number of seats, the construction condition of supporting facilities and the traffic condition of surrounding roads; S2, according to the actual visitor flow rate of the venue, calculating the stop capacity of a PRT station by using the road traffic capacity (HCM), simulating the arrival time of the visitor flow by using Poisson distribution, determining the required maximum throughput, and designing a station style; S3, establishing a non-signalized crossing control model based on a time-assigned Petri network, and dividing modeling for a station into two parts: modeling for a parking process of each lane and modeling for distribution control of public resources; and S4, performing vehicle centralized control by using a central control station control mode. The method belongs to the field of automatic driving control, reasonably designs the number of PRT stations through an optimization algorithm, and achieves the maximum utilization of resources on the basis of guaranteeing the service quality.

Description

technical field [0001] The invention relates to the field of automatic driving control, in particular to a Petri net-based centralized control method for automatic driving vehicles in venues. Background technique [0002] With the development of unmanned vehicle technology, unmanned vehicles are more and more applied to various occasions because of their safety, stability, and convenience. National and international large-scale competitions have the characteristics of large instantaneous flow of people, frequent gatherings and dispersal, and relatively concentrated people, things, and wealth. However, if these crowds cannot be scientifically and effectively guided and managed, it will inevitably hinder the smooth holding of the event, and even cause vicious incidents that will damage the life and property safety of the audience and participants. [0003] Personal rapid transit system (Personal Rapid Transit, PRT) is a personal rapid public transportation system, using small...

AI Technical Summary

Problems solved by technology

[0005] The setting of the PRT station has a great impact on the overall performance of the PRT system. If the scale is too small, passengers will get off slowly, which will easily cause traffic congestion, which is not conducive to the timely entry of spectators and participants, and may even cause delays in the event; if the scale is too large Large, requires a lot of construction and maintenance costs, and is likely to cause waste of resources

[0006] There is no mature solution to the problem of PRT station design and control at the present stage. The present invention proposes a PRT station and a method for controlling unmanned vehicles, which effectively solves this problem

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