Rule-based automatic driving intersection vehicle lane changing control method

Abstract

The invention discloses a rule-based automatic driving intersection vehicle lane changing control method, and belongs to the field of intelligent traffic control. Firstly, a rectangular coordinate system is established, the state of a vehicle is determined, a target lane is input, and the minimum vehicle following distance of the vehicle on the same lane, the minimum safety interval of lane changing of adjacent lanes and the boundary of the vehicle running speed and acceleration are determined. The method comprises the following steps: determining an iterative step length, in the iterative step length, sequencing according to the distance between a vehicle and a parking line, sequentially judging whether lane changing is needed according to the sequence, establishing an evaluation model, evaluating the effectiveness of a lane changing gap according to the speed and the position of the lane changing vehicle, the distance between front and rear vehicles of an adjacent lane and the like, and completing lane changing according to fixed acceleration and deceleration if lane changing conditions exist. Otherwise, continuously driving on the current lane, recording the speed, position and other information of each vehicle after each step of iteration is finished, and continuing the next iteration. The rule-based lane changing control model can realize the control of changing the vehicle from the current lane to the optimal entrance lane at the entrance lane.

Description

technical field [0001] The invention belongs to the field of intelligent traffic control, and relates to the technical field of cooperative lane-changing of automatic driving vehicles at intersection entrance lanes, and more specifically, relates to a rule-based automatic driving vehicle lane-changing control method at intersections. Background technique [0002] The development of urban transportation in my country is in a critical period of transformation from traditional transportation to intelligent transportation, from the pursuit of speed and scale to the emphasis on quality and efficiency. The "Outline for Building a Powerful Transportation Country" clearly points out that smart transportation should be vigorously developed. Under the trend of vehicle intelligence and networking, actively respond to the national strategic requirements, and deeply explore new traffic control technologies for intelligent networking and automatic driving environments, which will help impr...

AI Technical Summary

Problems solved by technology

[0007]Technical issues: the existing decision-making method for changing lanes is relatively complicated, difficult to realize in actual control, and cannot meet real-time requirements in complex environments and is easy to fall into local The purpose of this invention is to provide a rule-based lane-changing control method for automatic driving vehicles at intersections. Considering the cooperative lane change of automatic driving vehicles at the entrance of the intersection, it can cooperate with the best entrance and exit of existing automatic driving vehicles. Simultaneously optimize vehicle trajectories at intersections using a road optimization model

Images