A control method for vehicle conflict separation at autonomous driving intersections
A technology of automatic driving and control methods, which is applied in the traffic control system of road vehicles, traffic control systems, control devices, etc., can solve the problems of high algorithm complexity and low solution efficiency, and achieve the goal of reducing traffic delays and improving collaboration efficiency Effect
Active Publication Date: 2021-09-21
CHANGSHA UNIVERSITY OF SCIENCE AND TECHNOLOGY
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Problems solved by technology
The complexity of the former is not high, but it does not get an optimal solution, while the latter can get the best solution, but the algorithm complexity is high and the solution efficiency is low
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[0087] combined with Figure 1~3 And embodiment, technical scheme of the present invention is described in detail as follows:
[0088] According to step 1, collect the number of lanes at the intersection, the width of the lane, the number of vehicles in each direction, the arrival time and the speed of the vehicle; select as figure 2The intersection shown is the research object, the intersection is two-way four-lane, and the width of the lane is 3 meters. Divide the inner area of the intersection into 64 grids. In the case that the direction of entry and exit of the vehicle has been determined, each vehicle has 16 paths to choose from. The vehicle's import and export directions and theoretical arrival time are shown in Table 1.
[0089] Table 1 The theoretical arrival time of the vehicle and the direction information table of entering and exiting the intersection
[0090] serial number O D t c (s)
[0091] According to step 11, the entrance direction of ...
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The invention discloses a control method for vehicle conflict separation at an automatic driving intersection. Aiming at the intersection under the automatic driving environment, the number of lanes, the width of the lane, the number of vehicles, the theoretical arrival time and the speed of the vehicle are collected at the intersection, and the vehicle is calculated at the intersection. In and out moments of the inner grid. According to the time of entry and exit of vehicles in the internal grid of the intersection, conflict separation is performed between vehicles in the same direction based on first-come-first-served, and a safety time interval is determined for vehicles in different directions, and the difference between theoretical arrival times is within the safety time interval interval , and other compared vehicles, respectively establish conflict separation models between vehicles. The present invention solves the problem of conflicts between passing vehicles at intersections in an automatic driving environment. By establishing a grid-based vehicle conflict separation method, conflicts between vehicles are avoided, delays of vehicles passing at intersections are reduced, and the calculation efficiency of control models is improved. .
Description
technical field [0001] The invention belongs to the field of traffic control, and relates to the research field of coordinated control of automatic driving vehicles at urban road intersections, and more specifically, relates to a control method for vehicle conflict separation at automatic driving intersections. Background technique [0002] Most studies have shown that in a fully automatic driving environment, intersections do not need to be controlled by signal lights, and vehicles can pass through the intersection through mutual communication and interspersed with higher efficiency. The traffic strategy to ensure that vehicles pass through the intersection safely and quickly is an important and difficult point in the research of intersection control. For this reason, scholars have proposed many control methods, such as first come first served (FCFS) (Tsz-Chiu Au and Peter Stone.Motion planning algorithms for autonomous intersection management.In Bridging the Gap Between Ta...
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IPC IPC(8): G08G1/01G08G1/052G08G1/0967G08G1/123G08G1/16B60W50/00
CPCB60W50/0098B60W2556/65G08G1/0125G08G1/0137G08G1/052G08G1/096725G08G1/123G08G1/166
Inventor 吴伟刘璐刘洋邢璐
Owner CHANGSHA UNIVERSITY OF SCIENCE AND TECHNOLOGY