The invention discloses a distributed control method and system for efficient driving of intelligent vehicles at an intersection without signal lamps. The distributed control method comprises the steps: receiving vehicle information corresponding to surrounding vehicles; judging whether the own vehicle conflicts with surrounding vehicles or not; determining each conflict time of the own vehicle and the surrounding vehicles; obtaining bids of surrounding vehicles at each conflict time, a time sequence of each conflict time and corresponding priorities; determining a judgment sequence based on the time sequence and the priority of each conflict time, and sequentially judging whether the bid corresponding to each conflict time of the surrounding vehicles is greater than or equal to a preset demand bid threshold of the own vehicle or not based on the judgment sequence; determining a control instruction for controlling surrounding vehicles; sending the vehicle state and the control instruction of the vehicle to surrounding vehicles; and controlling the surrounding vehicle and the own vehicle to run according to the control instruction, so that the own vehicle and the surrounding vehicle do not conflict with each other. The traffic efficiency of the intersection without the signal lamp can be improved.
本发明公开了一种无信号灯交叉口下智能车辆高效行驶的分布式控制方法及系统,包括:接收周围车辆对应的车辆信息;判断自身车辆与周围车辆是否存在冲突;确定自身车辆与周围车辆的各个冲突时间;获取周围车辆在各个冲突时间的出价、各个冲突时间的时间序列及其对应的优先级;基于各个冲突时间的时间序列及优先级确定判断次序,并基于判断次序依次判断周围车辆在各个冲突时间对应的出价是否大于或等于自身车辆预设的需求出价阈值;确定用于控制周围车辆的控制指令;发送自身车辆的车辆状态和控制指令给周围车辆;以及按照控制指令控制周围车辆和自身车辆进行行驶,使得自身车辆和周围车辆不会发生冲突。本发明可以提高无信号灯路口的通行效率。
Distributed control method and system for efficient driving of intelligent vehicles at intersection without signal lamps
一种无信号灯交叉口下智能车辆高效行驶的分布式控制方法及系统
2021-04-13
Patent
Electronic Resource
Chinese
IPC: | G08G Anlagen zur Steuerung, Regelung oder Überwachung des Verkehrs , TRAFFIC CONTROL SYSTEMS |
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