Expressway double-lane cooperative control method in mixed traffic scene

Abstract

The invention discloses an expressway double-lane cooperative control method in a mixed traffic scene, which comprises two lanes of an expressway in the same driving direction, and the two lanes comprise a first lane and a second lane; a plurality of HVs (human driving vehicles) and a plurality of CAVs (networked automatic vehicles) run on the two lanes, and the method is characterized by comprising the following steps: S1, defining an expressway mixed traffic sub-motorcade; S2, performing communication topology of the networked automatic vehicles in the sub-vehicle teams; S3, constructing a networked automatic vehicle control strategy and a human driving model; and S4, adopting a two-lane mixed traffic group control method based on spatial distribution. The invention provides a method for dividing mixed traffic sub-motorcades according to the physical space positions of the networked automatic vehicles and the human driving vehicles on the road, and constructs a new networked automatic vehicle control algorithm based on the method, so that the control algorithm of the networked automatic vehicles in a mixed traffic scene is easier to implement.

Description

technical field [0001] The invention belongs to the control field of network-linked intelligent vehicles, and mainly solves the cooperative control method for the mixed driving of different types of vehicles in two lanes of an expressway section in an expressway scene in a targeted manner. Background technique [0002] With the rapid development of communication technology and automation technology, the transportation system is also continuously upgraded towards intelligence. In order to improve traffic safety and traffic efficiency under existing road conditions, autonomous vehicles have become a current research hotspot. In the foreseeable future, more and more autonomous vehicles will be on the road. However, due to economic and technical constraints, it is inevitable that self-driving vehicles will mix with traditional human vehicles on the same traffic road. Therefore, in order to ensure traffic efficiency and safety under mixed traffic conditions, it is necessary to ...

AI Technical Summary

Problems solved by technology

However, this method needs to show its superiority when the penetration rate of connected autonomous vehicles is high, and it is unreasonable to allocate dedicated lanes for connected autonomous vehicles when the penetration rate of connected autonomous vehicles is low.

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