The invention provides a vehicle-road collaborative lane changing decision and control method based on potential conflict analysis. The method specifically comprises the following steps: S1, collecting and processing vehicle and surrounding environment information; s2, starting lane changing decision calculation; s3, calculating a lane changing influence range; s4, lane changing conflict vehicles are screened; analyzing the relationship among the vehicles in the lane changing influence range of each lane changing vehicle, and judging whether potential conflicts exist among the lane changing vehicles or not; s5, calculating the lane changing priority; and S6, lane changing execution. According to the invention, the potential lane changing conflict risk can be effectively reduced, and the vehicle lane changing efficiency is improved; by considering the arrival randomness and space-time evolution characteristics of the lane changing vehicle, the dynamic change rule of the lane changing process of the vehicle can be reflected more objectively to adapt to different lane changing scenes and lane changing requirements, and the method has important theoretical significance and practical application value for promoting the application of a vehicle-road cooperation technology and improving traffic safety.
本发明提出一种基于潜在冲突分析的车路协同换道决策与控制方法,具体包括以下步骤:S1、采集和处理车辆和周围环境信息;S2、启动换道决策计算;S3、计算换道影响范围;S4、换道冲突车辆筛选;对每一换道车换道影响范围内车辆间的关系进行分析,判断换道车辆间是否存在潜在冲突;S5、计算换道优先度;S6、换道执行。本发明能够有效降低潜在的换道冲突风险,提高车辆换道效率;通过考虑换道车辆的到达随机性和时空演变特性,能够更加客观地反映车辆换道过程的动态变化规律以适应不同的换道场景与换道需求,对于推进车路协同技术应用与提高交通安全具有较为重要的理论意义和实际应用价值。
Vehicle-road collaborative lane changing decision and control method based on potential conflict analysis
一种基于潜在冲突分析的车路协同换道决策与控制方法
2025-02-18
Patent
Electronic Resource
Chinese
IPC: | G08G Anlagen zur Steuerung, Regelung oder Überwachung des Verkehrs , TRAFFIC CONTROL SYSTEMS |
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