The invention discloses a control method for vehicle conflict separation at an automatic driving intersection, and the method comprises the steps: collecting the number of lanes, the width of the lanes, the number of vehicles, the theoretical arrival time and the vehicle speed of the intersection for the intersection in an automatic driving environment, and calculating the entering and exiting time of the vehicles at an internal grid of the intersection; performing conflict separation on vehicles in the same direction on the basis of first arrival and first service according to the entering and exiting moments of the vehicles in an internal grid of an intersection, determining a safety time interval for the vehicles in different directions, and respectively establishing conflict separation models of the vehicles according to comparison vehicles in and out of the safety time interval according to the difference of theoretical arrival moments. According to the method, the problem of conflict between vehicles passing through the intersection in an automatic driving environment is solved, the conflict between the vehicles is avoided by establishing a vehicle conflict separation method based on the grid, the delay of the vehicles passing through the intersection is reduced, and the calculation efficiency of a control model is improved.
本发明公开了一种自动驾驶交叉口车辆冲突分离的控制方法,针对自动驾驶环境下交叉口,采集交叉口的车道数、车道宽度,车辆的数量、理论到达时刻与车速,计算车辆在交叉口内部网格的进出时刻。根据车辆在交叉口内部网格的进出时刻,对于同方向车辆间基于先到先服务进行冲突分离,对于不同方向车辆,确定一个安全时间间隔,根据理论到达时刻之差在该安全时间间隔区间内、外的比较车辆,分别建立车辆间的冲突分离模型。本发明解决自动驾驶环境下交叉口通行车辆间的冲突问题,通过建立基于网格的车辆冲突分离方法,避免了车辆间冲突,降低了交叉口通行车辆的延误,并提高了控制模型的计算效率。
Control method for vehicle conflict separation at automatic driving intersection
一种自动驾驶交叉口车辆冲突分离的控制方法
2021-07-20
Patent
Electronic Resource
Chinese
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