Signal-lamp-free intersection intelligent vehicle passing decision-making method based on constraint tree

Abstract

The invention provides a signal-lamp-free intersection intelligent vehicle passing decision-making method based on a constraint tree, and the method comprises the steps: 1, receiving vehicle information through a vehicle infrastructure interconnection system (V2I), building a connection between a roadside intelligent agent arranged at the accessory of an intersection and a vehicle when the intelligent network connection vehicle drives into a communication region, and enabling the vehicle to pass through the road side intelligent agent through the vehicle infrastructure interconnection system (V2I), wherein the motion state information comprises the position xi (t) and the speed vi (t) of the vehicle when the vehicle enters the communication area; 2, determining a passing sequence of all N vehicles in the communication area; 3, determining a target equation of each vehicle; and 4, combining the node distribution obtained in the step 2 with the target equation obtained in the step 3 to form the constraint tree of the traffic decision result of the intersection without the signal lamp. The signal-lamp-free intersection intelligent vehicle passing decision-making method based on the constraint tree can adapt to a scene of time-varying traffic flow, a complex optimization solution method is avoided, and high efficiency of the decision-making process is guaranteed.

Description

technical field [0001] The invention relates to a passing method of an intelligent vehicle, in particular to a decision-making method for passing an intelligent vehicle at an intersection without signal lights based on a constraint tree. Background technique [0002] Unsignalized intersections represented by township road interchanges are prone to traffic accidents. The difficulty lies in how to make vehicles cooperate with each other to achieve safe passage. With the development and implementation of intelligent network technology, smart vehicles can use the vehicle-to-vehicle and vehicle infrastructure interconnection system communication technology to provide the possibility to realize multi-vehicle coordination at intersections without signal lights. [0003] Traffic decision-making is the main problem of multi-vehicle coordination at unsignalized intersections. The purpose of traffic decision-making is to obtain the control target for subsequent vehicle control. Existi...

AI Technical Summary

Problems solved by technology

Existing research can be divided into two categories. One is to regard all the vehicles heading to the intersection as the same virtual queue, and the decision result obtained is a unified expected inter-vehicle distance. This kind of method is not suitable for the scene of traffic flow change. For example, when the initial distance between vehicles is too large, setting a uniform expected distance between vehicles will cause unnecessary chasing by the following vehicles; the second is to optimize and adjust the expected arrival time of all vehicles without conflict, so as to avoid the time delay of vehicles occupying conflict areas. Overlapping, such methods rely on centralized optimization, have a large communication burden and computational burden, and are difficult to deploy in actual scenarios

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