The invention discloses a driverless vehicle route searching method based on urban roads in a network connection environment, and the method comprises the steps: constructing a road network topological map based on a V2X environment region, measuring the average driving speed of vehicles on each road path on the road of the road network topological map based on V2X road test equipment, and constructing a cost matrix; detecting the number of connecting edges of road nodes in the road network topological map to obtain node degrees, and selecting key feature nodes based on the node degrees; taking the key feature node as a current node; searching for the current node to obtain a next node connected with the current node; adjusting the pheromone concentration of a path between the current node and the next node connected with the current node; and searching a path from the starting point to the ending point according to a probability jump function and a pheromone updating formula, and updating in real time according to the change of the road cost matrix. According to the invention, under the network connection environment of considering traffic jam, an optimized route is provided for the unmanned vehicle and the search efficiency is improved.

    本申请公开了一种网联环境中基于城区道路的无人驾驶汽车路线搜索方法,包括:基于V2X环境区域构建路网拓扑地图,基于V2X路测设备测量路网拓扑地图道路上各道路路径上车辆的平均行驶速度并构建代价矩阵;检测路网拓扑地图中道路节点的连接边数量得到节点度数,基于节点度数选取关键特征节点;将关键特征节点作为当前所在节点;针对当前所在节点搜索得到当前所在节点相连的下一个节点;调整当前所在节点与当前所在节点相连的下一个节点之间路径的信息素浓度;根据概率跳转函数和信息素更新公式搜索出由起点到终点的路径并根据道路代价矩阵变化实时更新。本申请在考虑交通拥堵的网联环境下,为无人驾驶汽车提供优化的路线并提高搜索效率。


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    Title :

    Unmanned vehicle route searching method based on urban road in network connection environment


    Additional title:

    网联环境中基于城区道路的无人驾驶汽车路线搜索方法


    Contributors:
    ZHENG RUI (author) / LENG XINLI (author) / WU XIANG (author) / MA XIAOLU (author) / ZHU ZHIWEI (author) / ZHANG CHENGLONG (author) / WANG QIANG (author)

    Publication date :

    2024-08-23


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

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



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