Coordinated optimization method and system for dynamic variable lanes at entrance and exit of intersection in mixed driving environment of automatic driving and manual driving

By setting up a left-turn entrance lane to the left of the exit lane at the intersection and introducing dynamically variable entrance and exit lanes, and by using nonlinear programming and genetic algorithms to optimize lane functions and vehicle allocation, the problem of insufficient lane resource utilization in a mixed environment of autonomous and manual driving is solved, and efficient synchronous release and passage of vehicles is achieved.

CN121366491APending Publication Date: 2026-01-20YANGZHOU UNIV
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Patent Information

Application Number
CN202511539942.1
Authority / Receiving Office
CN · China
Patent Type
Applications(China)
Current Assignee / Owner
Filing Date
2025-10-27
Publication Date
2026-01-20

AI Technical Summary

Technical Problem

At intersections where autonomous and manual driving coexist, existing technologies cannot effectively utilize lane resources, leading to increased vehicle waiting times and low traffic efficiency. In particular, when traffic demand is unbalanced, lane oversaturation or resource waste can easily occur.

Method used

By setting the left-turn entrance lane to the left of the exit lane and setting dynamic variable lanes at the entrance and exit of the intersection, the nonlinear programming model and genetic algorithm are used to optimize lane functions and vehicle allocation, so as to achieve the same-phase release of left-turning and oncoming straight-through vehicles, dynamically adjust lane functions and stop line positions, and optimize the utilization of lane resources.

Benefits of technology

It reduces fleet waiting time, improves lane utilization and intersection efficiency, adapts to the characteristics of mixed fleets under different levels of autonomous driving penetration, and achieves seamless vehicle passage and efficient synchronous release.

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Abstract

The invention discloses an intersection entrance and exit dynamic variable lane coordination optimization method and system in an automatic driving and manual driving mixed driving environment, and the method comprises the steps: setting a left-turn entrance lane at the left side of an exit lane, and enabling left-turn and opposite straight vehicles to pass at the same time; and setting entrance and exit dynamic variable lanes, enabling a lane of an entrance lane of a left-turn motorcade to be used as an exit lane of an opposite straight motorcade at the same time, and obtaining the functions of each lane at the intersection, the stop line position of a conflict lane and the number of vehicles in each lane by solving a nonlinear programming model with the minimum intersection passing time as a target. The left-turn entrance lane is arranged on the left side of the exit lane, so that left-turn and opposite straight-going motorcades can be simultaneously released in the same phase, the number of conflicts and phases is reduced, and the waiting time of vehicles is shortened. Meanwhile, an entrance and exit dynamic variable lane is arranged, so that a left-turn motorcade can enter the intersection through the lane, an opposite straight lane can leave the intersection through the lane, and efficient utilization of lane resources is achieved.
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