CAV lane changing decision-making method for off-ramp diversion area of expressway based on automatic driving special lane deployment scene

Abstract

The invention discloses a CAV lane change decision-making method for an off-ramp diversion area of an expressway based on an automatic driving special lane deployment scene. The method comprises the following steps: a forced lane change scene is constructed; the existence probability of the four types of vehicles when the mixed traffic flow is in a balanced state is calculated, the traffic volume of the automatic driving special lane and the traffic volume of the universal lane are calculated based on a lane management strategy, and mixed traffic flow operation conditions are constructed; and the CAV selects to change the lane when the cost function value J of the CAV lane change model is minimum. According to the CAV lane change decision-making method, the influence of CAV driving away from the CAV-L on the traffic state is analyzed, the CAV lane-changing intention generation point position and the lane-changing decision-making model are established, and the research result provides important technical guidance for future expressway mixed traffic flow management, and a theoretical basis is provided for deployment and landing of the automatic driving special lane of the expressway.

Description

Technical field [0001] The invention belongs to the field of intelligent transportation technology, involving the deployment of CAV-based autopilot freeway off-ramp lanes at the scene shunt region lane change decision making. Background technique [0002] In recent years, as the technology has become more sophisticated artificial intelligence, automated driving technology developed by pure research gradually turned to theoretical research and the specific combination of real tests, which means that future vehicle travel mode of transport will enter the CAV driving a vehicle with a manual (Human Manual Vehicles, HMV) mixed phase line. However, the popularity of autopilot technology subject to more constraints, such as the acceptance of the audience, matching the degree of road infrastructure, and other relevant laws and regulations, the technology has reached maturity during the traffic patterns still need to go through a longer period of CAV mixed with HMV phase line. Further, si...

AI Technical Summary

Problems solved by technology

However, the popularization of autonomous driving technology is limited by many factors, such as audience acceptance, matching degree of road infrastructure, relevant laws and regulations, etc., and the traffic mode still needs to experience a long period of mixed CAV and HMV in the process of technology maturity. stage of row

In addition, due to the mixed traffic flow (referring to the mixed traffic flow of CAV and HMV) and its safety are not yet clear

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