The invention relates to an urban road section multi-vehicle cooperative trajectory planning method based on roadside guidance, and belongs to the technical field of intelligent traffic. The technical problem that in the prior art, single vehicle track planning passing efficiency is not high is solved, and the technical scheme is characterized in that a network connection vehicle control instruction is generated through a multi-vehicle cooperative track planning algorithm deployed on a roadside cooperative control unit and is issued to a vehicle end to be executed. Specifically, according to a multi-vehicle cooperative trajectory planning algorithm, vehicles in a cooperative range are projected into a relative coordinate system, trajectory planning is decomposed into two processes of path planning and speed planning, and information of cooperative driving rules, strategies, cooperative groups, surrounding vehicle states and the like of the vehicles is comprehensively considered in a regulation and control stage. And a multi-vehicle cooperative optimal track meeting the requirements of safety, comfort, high efficiency and the like is obtained. According to the invention, cooperative trajectory planning of the networked vehicles in a mixed traffic environment can be realized, and the method has high practicability and wide commercial application scenarios.

    本发明涉及一种基于路侧引导的城市路段多车协同轨迹规划方法,属于智能交通技术领域。解决了现有技术下单车轨迹规划通行效率不高的技术问题,其技术方案要点是通过部署在路侧协同控制单元的多车协同轨迹规划算法生成网联车辆控制指令,并下发到车端执行。具体来说,多车协同轨迹规划算法是将协作范围内的车辆投影至相对坐标系中,再将轨迹规划分解为路径规划和速度规划两个过程,在调控阶段综合考虑了车辆的协同驾驶规则、策略、协作群体、周围车辆状态等信息,获取满足安全性、舒适性、高效性等要求的多车协同最优轨迹。本发明能够实现在混行交通环境下网联车辆的协同轨迹规划,具有很强的实用性以及广阔的商业应用场景。


    Access

    Download


    Export, share and cite



    Title :

    Urban road section multi-vehicle cooperative trajectory planning method based on roadside guidance


    Additional title:

    基于路侧引导的城市路段多车协同轨迹规划方法


    Contributors:
    HUANG XIN (author) / WANG XIAOYANG (author) / LEE YOUNG BOK (author) / ZHAO HANG (author)

    Publication date :

    2025-04-11


    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



    Multi-vehicle game lane changing trajectory planning method based on roadside cooperative control unit

    YE QING / WU YAJIE / WANG SHAOFEI et al. | European Patent Office | 2024

    Free access

    Vehicle-road cooperative intelligent roadside detection system

    SHE HONGYAN / WANG LIANG / MA XUGUANG et al. | European Patent Office | 2022

    Free access


    Urban road section traffic guidance method and apparatus based on vehicle-road collaboration

    WANG PANGWEI / WANG LI / ZHAO HEFENG et al. | European Patent Office | 2015

    Free access

    Scale test evaluation method applied to vehicle-road cooperative roadside system

    ZU HUI / CHEN XINHAI / WANG BOSI et al. | European Patent Office | 2020

    Free access