The invention discloses an unmanned vehicle group dynamic evolution and cooperation method based on process mining in an expressway scene. The method comprises the following steps: step 1, related definition; step 2, a dynamic evolution event of the unmanned vehicle group; step 3, a dynamic evolution method of an unmanned vehicle group; and step 4, an unmanned vehicle group cooperation method. A node adding algorithm, a node leaving algorithm, a vehicle group merging algorithm, a vehicle group splitting algorithm and a vehicle group reconstruction algorithm are further given by the unmanned vehicle group construction method based on flow mining in the highway scene. Defining a vehicle group state, a dynamic evolution event triggering condition and a state transfer function, and giving an unmanned vehicle group dynamic evolution algorithm; an unmanned vehicle group cooperation model is given, and an unmanned vehicle group cooperation algorithm is given on the basis of the unmanned vehicle group cooperation model; evaluation indexes such as vehicle group extinction frequency, node participation rate, node dependency degree, vehicle group average survival duration and average cooperation duration proportion are given, and a simulation experiment is constructed to perform stability verification on the proposed unmanned vehicle group.
高速公路场景下基于流程挖掘的无人驾驶车群动态演化及协同方法,包括:步骤1.相关定义;步骤2.无人驾驶车群动态演化事件;步骤3.无人驾驶车群动态演化方法;步骤4.无人驾驶车群协同方法。基于高速公路场景下基于流程挖掘的无人驾驶车群构建方法进一步给出节点加入算法、节点离开算法、车群合并算法、车群分裂算法和车群重构算法;对车群状态、动态演化事件触发条件和状态转移函数进行定义,并给出无人驾驶车群动态演化算法;给出无人驾驶车群协同模型,在此基础上,给出了无人驾驶车群协同算法;给出了车群消亡次数、节点参与率、节点依赖度、车群平均生存时长和平均协同时长占比等评价指标,构建仿真实验对提出的无人驾驶车群进行了稳定性验证。
Unmanned vehicle group dynamic evolution and collaboration method based on process mining in highway scene
高速公路场景下基于流程挖掘的无人驾驶车群动态演化及协同方法
15.11.2024
Patent
Elektronische Ressource
Chinesisch
IPC: | G08G Anlagen zur Steuerung, Regelung oder Überwachung des Verkehrs , TRAFFIC CONTROL SYSTEMS |
Unmanned vehicle group construction method based on process mining in highway scene
Europäisches Patentamt | 2024
|Highway maintenance method based on unmanned aerial vehicle technology
Europäisches Patentamt | 2022
|Vehicle control method and system used in highway scene
Europäisches Patentamt | 2023
|