The invention discloses a traffic-light-free intersection vehicle scheduling method for multiple virtual motorcades based on conflict points, and relates to the field of automatic driving, an integral system composed of multiple virtual motorcades is constructed based on multiple conflict points of an intersection, and the conflict relation of vehicles at the intersection is converted into the distance relation in the virtual motorcades, so that the traffic light-free intersection vehicle scheduling method is realized. And the throughput of the intersection is converted into the size of the maximum enclosing rectangle in the multiple virtual motorcades, so that the conflict-free optimal scheduling problem of the two-dimensional intersection without the signal lamp is converted into the one-dimensional boxing problem through the multiple virtual motorcades. The method is oriented to the intersection without the signal lamp, and the optimal vehicle scheduling strategy for maximizing the throughput of the intersection without the signal lamp is found on the premise of ensuring the driving safety.
本发明公开了一种基于冲突点的多虚拟车队的无信号灯路口车辆调度方法,涉及自动驾驶领域,基于路口的多个冲突点构建了由多个虚拟车队组成的整体系统,将车辆在路口的冲突关系转化为了所述虚拟车队中距离关系,将所述路口的吞吐量大小转化为多虚拟车队中的最大外接矩形大小,进而将二维的无信号灯路口的无冲突最优调度问题通过多虚拟车队转化为一维的装箱问题。本发明面向无信号灯路口,在保证行车安全的前提下,找到最大化无信号灯路口吞吐量的最优车辆调度策略。
Method for scheduling vehicles at intersection without signal lamps of multiple virtual motorcades based on conflict points
一种基于冲突点的多虚拟车队的无信号灯路口车辆调度方法
2022-05-13
Patent
Electronic Resource
Chinese
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