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Unmanned vehicle group self-coordination model construction method in closed scene

A technology of unmanned driving and construction methods, which is applied in the direction of program control design, program control devices, instruments, etc., and can solve problems such as traffic light interference

Active Publication Date: 2021-12-03
TONGJI UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0002] Although unmanned driving in closed scenarios does not have the interference of many factors in highway and urban road scenarios, due to the changes in the internal nodes of the vehicle group itself, and the interweaving of different vehicle groups generated according to different tasks, and the possible The interference of traffic lights will also cause a variety of evolution events in the life cycle of the unmanned vehicle swarm, including the departure and joining of unmanned vehicle nodes at the micro level, and the departure and entry of unmanned vehicle swarms at the macro level. events such as mergers and splits

Method used

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  • Unmanned vehicle group self-coordination model construction method in closed scene
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  • Unmanned vehicle group self-coordination model construction method in closed scene

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Embodiment Construction

[0046] The concrete implementation process of the present invention is as Figure 27 As shown, including the following five aspects:

[0047] ①Related definitions

[0048] ②Dynamic evolution algorithm of unmanned vehicle group

[0049] ③ Vehicle group self-co-evolution model based on finite state machine

[0050] ④Multi-objective optimization of self-association model for unmanned vehicles

[0051] ⑤Simulation experiment verification

[0052] ①

[0053] related definition

[0054] The main symbols that need to be used in the construction of the unmanned vehicle group self-cooperation model in the closed scene of the present invention, and the specific meanings are shown in Table 1.

[0055] In order to study the self-coordination model construction method of unmanned vehicles in closed scenes, the relevant definitions are as follows:

[0056] (1) Self-Association within the Group of Unmanned Vehicles

[0057] Definition 13 The self-co-evolution model of unmanned vehi...

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Abstract

The invention relates to the field of unmanned driving, and provides an unmanned vehicle group self-coordination model construction method in a closed scene. The method specifically comprises the following steps: step 1, related definition is established; step 2, a dynamic evolution algorithm is carried out on the unmanned vehicle group; step 2.1, evolution in the unmanned vehicle group is carried out; step 2.2, evolution among unmanned vehicle groups is carried out; step 3, a finite-state machine-based vehicle group auto-co-evolution model is established; step 3.1, an in-group self-cooperation model of the unmanned vehicle is established; step 3.2, an inter-group self-coordination model of the unmanned vehicle is established; and step 4, multi-objective optimization of the self-coordination model of the unmanned vehicle group is carried out. By means of the method, it can be guaranteed that the unmanned vehicle group always keeps stable and ordered movement behaviors to be intelligently, autonomously and collaboratively, and therefore the unmanned vehicle group can be applied and popularized in a closed scene.

Description

technical field [0001] The invention relates to the field of unmanned driving, in particular to a method for constructing an autonomous vehicle group self-cooperation model in a closed scene. Background technique [0002] Although unmanned driving in closed scenarios does not have the interference of many factors in highway and urban road scenarios, due to changes in the internal nodes of the vehicle group itself, as well as the interweaving of different vehicle groups generated according to different tasks, and the possible The interference of traffic lights will also cause a variety of evolution events in the life cycle of the unmanned vehicle swarm, including the departure and joining of unmanned vehicle nodes at the micro level, and the departure and entry of unmanned vehicle swarms at the macro level. events such as mergers and splits. Therefore, how to analyze the dynamic evolution behavior of the unmanned vehicle group, reveal the general rules of the internal change...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G06F30/20G06F30/18G06F9/448G06F111/04G06F111/06
CPCG06F30/20G06F30/18G06F9/4498G06F2111/04G06F2111/06Y02T10/40
Inventor 程久军魏超毛其超原桂远周爱国
Owner TONGJI UNIV