The invention relates to an unprotected left turn method for an intelligent network connection fleet, and the method comprises the following steps: 1, determining conflicting vehicles in opposite straight traffic flow when the fleet enters an intersection and starts to turn left; 2, according to the historical operation data of the conflicting vehicles, the driving behaviors of the conflicting vehicles are identified, and a conflicting vehicle driving behavior model is obtained; 3, building a model prediction control problem according to the real-time state of the motorcade and the driving behavior model of the conflicting vehicles, and solving to obtain a motorcade left-turn track; and 4, driving each vehicle in the vehicle team according to the left-turn track of the vehicle team. Compared with the prior art, the method has the advantages of improving the safety and efficiency of left turning of the motorcade and the like.
本发明涉及一种面向智能网联车队的无保护左转方法,方法包括以下步骤:步骤1:车队进入交叉口开始左转时,确定对向直行车流中的冲突车辆;步骤2:根据冲突车辆的历史运行数据,辨识冲突车辆的驾驶行为,得到冲突车辆驾驶行为模型;步骤3:根据车队实时状态和冲突车辆的驾驶行为模型,构建模型预测控制问题,求解得到车队左转轨迹;步骤4:车队内各个车辆按照车队左转轨迹行驶。与现有技术相比,本发明具有提高车队左转的安全和效率等优点。
Unprotected left turn method for intelligent network connection motorcade
一种面向智能网联车队的无保护左转方法
2025-04-11
Patent
Electronic Resource
Chinese
IPC: | G08G Anlagen zur Steuerung, Regelung oder Überwachung des Verkehrs , TRAFFIC CONTROL SYSTEMS |
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