The invention relates to an automatic driving fleet formation method in a slow lane of a road circular curve section. Attribute basic information of an automatic driving vehicle team and an interactive vehicle, preliminary information of an automatic driving vehicle team formation scheme, road alignment design and environment information and weather environment information are obtained and are used as input information, and scenes are divided and analyzed into automatic driving vehicle team sight distance failure and interactive vehicle sight distance failure according to risk scene types; a virtual test method is adopted to obtain the available sight distance of the pilot vehicle and the interactive vehicle in the analysis scene, a database of link input information and the available sight distance is constructed, and an optimal automatic driving fleet formation scheme is further determined according to the sight distance safety and speed coordination principle. According to the method, road environment conditions and automatic driving level factors of the road circular curve section can be comprehensively considered, a formation scheme meeting safe driving of an automatic driving team is effectively provided, and a reliable technical means is provided for actual safe operation of the automatic driving team.
本发明涉及一种公路圆曲线段慢车道内自动驾驶车队编队方法。通过获取自动驾驶车队与交互车属性基础信息、自动驾驶车队编队方案初步信息、公路线形设计及环境信息、天气环境信息并作为输入信息,根据风险场景类型划分分析场景为自动驾驶车队视距失效与交互车视距失效,采用虚拟测试方法分别获取分析场景中的领航车与交互车可获取视距,构建链接输入信息与可获取视距的数据库,进一步根据视距安全及速度协调性原则确定最优自动驾驶车队编队方案。本发明能够综合考虑公路圆曲线段道路环境条件与自动驾驶等级因素,有效提出满足自动驾驶车队安全行驶的编队方案,为其实际安全运营提供可靠的技术手段。
Automatic driving fleet formation method in slow lane of road circular curve section
一种公路圆曲线段慢车道内自动驾驶车队编队方法
12.09.2023
Patent
Elektronische Ressource
Chinesisch
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