The invention discloses a collaborative decision planning method for a mixed traffic ramp scene, and the method comprises the steps: building a highway ramp combination scene, formulating a road right distribution scheme based on vehicle information and constraint conditions, obtaining the time when a vehicle passes through a combination region under an ideal condition, and carrying out the calculation of the time when the vehicle passes through the combination region; and establishing an optimal control problem to obtain a control scheme and a prediction track of all vehicles, and updating the driving track of each vehicle in the highway ramp combined scene by using an event-driven track re-planning method in combination with the real-time driving state of the vehicle and the actual road condition. And obtaining a collaborative decision planning scheme of the highway ramp combination scene under the mixed traffic, and controlling the driving of all vehicles in the highway ramp combination scene. According to the method, the vehicle driving track planning is driven based on the track deviation event, and the self-adaptive deviation threshold is combined, so that the decision making efficiency is improved, the computing power consumption is reduced, and the making of an intelligent driving decision in a mixed traffic scene is guided.

    本发明公开了一种用于混合交通下匝道场景的协同决策规划方法,该方法通过构建高速公路匝道合并场景,基于车辆信息和约束条件制定路权分配方案,获取理想条件下车辆通过合并区的时刻,建立最优控制问题得到所有车辆的控制方案和预测轨迹,结合车辆的实时行驶状态和实际道路情况,利用事件驱动的轨迹重规划方法更新高速公路匝道合并场景中各车辆的行驶轨迹,得到混合交通下高速公路匝道合并场景的协同决策规划方案,控制高速公路匝道合并场景中所有车辆的行驶。该方法基于轨迹偏差事件驱动车辆行驶轨迹规划,结合自适应偏差阈值,提升了决策制定效率,降低了算力消耗,有利于指导混合交通场景中智能驾驶决策的制定。


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    Titel :

    Collaborative decision planning method and model for mixed traffic off-ramp scene


    Weitere Titelangaben:

    用于混合交通下匝道场景的协同决策规划方法及模型


    Beteiligte:
    ZHANG HONGJUN (Autor:in) / GAO JIANGUO (Autor:in) / LI KAI (Autor:in) / LIU FUBING (Autor:in) / ZHAO GANG (Autor:in) / ZHOU WEI (Autor:in) / YUAN YE (Autor:in) / QI YULIANG (Autor:in) / SUN WENPENG (Autor:in) / YANG GUANGYAO (Autor:in) ... [mehr]

    Erscheinungsdatum :

    27.05.2025


    Medientyp :

    Patent


    Format :

    Elektronische Ressource


    Sprache :

    Chinesisch


    Klassifikation :

    IPC:    G08G Anlagen zur Steuerung, Regelung oder Überwachung des Verkehrs , TRAFFIC CONTROL SYSTEMS



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