The invention provides an intersection-oriented anti-interruption formation driving method, which comprises the following steps of: enabling a plurality of following vehicles to follow a leading vehicle to form a motorcade; acquiring and storing vehicle running states in upstream and downstream ranges of the road intersection, running states of vehicles in the formation and state information of the inductive traffic lights; establishing a coordinate system, and performing state variable substitution under spatial domain modeling; solving an optimal control instruction of each controlled vehicle in the formation in a spatial domain through a controlled system according to the historical state information, and transmitting the optimal control instruction to each controlled vehicle; and executing the optimal control instruction. According to the invention, by establishing the controlled system comprising the formation integrated control system and the vehicle crossing passing probability system in the spatial domain, the green light passing probability of each vehicle in the automatic driving formation is optimized in real time, the integrity of the formation when passing through the crossing is ensured, the driving stability, continuity and safety are improved, and the driving safety is improved. The method can be widely applied to intelligent network connection motorcades of any scale.
本发明提出一种面向交叉口的防打断编队驾驶方法,包括步骤:将若干跟驰车跟随一辆领航车,组成车队;获取路面交叉口上下游范围内车辆运行状态、编队内各车辆运行状态和感应式交通信号灯状态信息并保存;建立坐标系,进行空间域建模下状态变量代换;根据历史状态信息,通过受控系统,在空间域中求解编队内各受控车辆的最优控制指令,将其传递至各受控车辆;执行最优控制指令。本发明通过建立包含空间域下的编队集成控制系统和车辆通过交叉口概率系统的受控系统,实时优化自动驾驶编队内各车辆绿灯通过概率,保证了编队在通过交叉口时的完整性,提高驾驶稳定性、连续性和安全性,可广泛应用于任意规模的智能网联车队。
Intersection-oriented anti-interruption formation driving method
一种面向交叉口的防打断编队驾驶方法
15.04.2025
Patent
Elektronische Ressource
Chinesisch
IPC: | B60W CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION , Gemeinsame Steuerung oder Regelung von Fahrzeug-Unteraggregaten verschiedenen Typs oder verschiedener Funktion / G05D SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES , Systeme zum Steuern oder Regeln nichtelektrischer veränderlicher Größen / G08G Anlagen zur Steuerung, Regelung oder Überwachung des Verkehrs , TRAFFIC CONTROL SYSTEMS |
Intersection multi-object participation-oriented automatic driving decision-making method
Europäisches Patentamt | 2022
|Abnormal interruption processing system in automatic driving
Europäisches Patentamt | 2023
|Iterative algorithm oriented to intersection traffic control in automatic driving environment
Europäisches Patentamt | 2020
|TWO-GEAR VARIABLE-SPEED BRIDGE DRIVING SYSTEM WITHOUT DRIVING FORCE INTERRUPTION
Europäisches Patentamt | 2021
|