The invention relates to a vehicle green wave passing planning method and device, electronic equipment and a storage medium, and the method comprises the steps: predicting the maximum queuing vehicle condition formed in the future in front of an intersection stop line and the queuing dissipation time on the basis of fully utilizing a cloud control system and urban road side equipment on the basis of considering the lane changing behavior of each vehicle; a prediction result is combined, on the premise of safe driving, a multi-objective optimization problem is constructed through green wave passing, driving time, driving comfort and energy consumption, an optimal decision sequence is solved, and a planned vehicle speed sequence output by an execution algorithm is issued; meanwhile, in order to ensure robustness in a real traffic environment with strong time-varying characteristics, a green wave vehicle speed sequence is solved by iteratively predicting a traffic vehicle state and utilizing a rolling distance domain dynamic planning strategy. Therefore, the problems that in the prior art, the real-time performance and precision requirements of online calculation cannot be met, real traffic with extremely high time-varying characteristics is difficult to adapt, and massive traffic data resources collected by roadside equipment are idle are solved.
本申请涉及一种车辆绿波通行规划方法、装置、电子设备及存储介质,其中,方法包括:充分利用云控系统和城市道路路侧设备,在考虑每个车辆换道行为的基础上,预测交叉口停止线前未来形成的最大排队车辆情况与排队消散所需时间,并结合预测结果,在安全行驶前提下,以绿波通行、行驶时间、驾驶舒适性、能耗构建多目标优化问题,求解最优决策序列,并下发执行算法输出的规划车速序列;同时为保证在时变性较强真实交通环境中的鲁棒性,通过迭代预测交通车辆状态并利用滚动距离域动态规划策略求解绿波车速序列。由此,解决了现有技术无法满足在线计算的实时性和精度需求,难以适应时变性极强的真实交通,闲置了路侧设备收集的海量交通数据资源等问题。
Vehicle green wave passing planning method and device, electronic equipment and storage medium
车辆绿波通行规划方法、装置、电子设备及存储介质
26.04.2024
Patent
Elektronische Ressource
Chinesisch
IPC: | G08G Anlagen zur Steuerung, Regelung oder Überwachung des Verkehrs , TRAFFIC CONTROL SYSTEMS |
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