The invention discloses a highway vehicle ramp convergence decision-making method and system based on an insertable gap, and relates to the technical field of intelligent traffic control. According to the method, an expressway vehicle ramp confluence scene is constructed, a to-be-planned automatic driving vehicle is selected as a main vehicle, vehicle information of all vehicles and the main vehicle on a lane outside a main road in the expressway vehicle ramp confluence scene is acquired, and the main vehicle confluence process is divided into two stages. According to the method, a main vehicle confluence trajectory planning scheme is formulated by combining whether a main vehicle triggers a preset cut-in condition or not, a longitudinal trajectory planning scheme before the main vehicle cuts into a ramp opening from a confluence lane and a two-dimensional trajectory planning scheme when the main vehicle cuts into the ramp opening are obtained, and the main vehicle is guided to safely confluence into a lane on the outer side of an expressway from the ramp. The problems that the lane changing space of the automatic driving vehicle is narrow, the safety is low and the influence on the traffic flow is large when the vehicle is converged at the highway ramp are effectively solved, and the driving safety of the vehicle when the highway ramp is cut in is ensured.

    本发明公开了一种基于可插入间隙的高速公路车辆匝道汇入决策方法及系统,涉及智能交通管控技术领域。本发明方法通过构建高速公路车辆匝道汇入场景,选取待规划自动驾驶车辆作为主车,获取高速公路车辆匝道汇入场景中主路外侧车道上所有车辆和主车的车辆信息,通过将主车汇入过程划分为两个阶段,结合主车是否触发预设的切入条件,进行主车汇入轨迹规划方案制定,得到主车从汇入车道切入匝道口前的纵向轨迹规划方案以及主车切入匝道口时的二维轨迹规划方案,指导主车从匝道安全汇入高速公路外侧车道中,有效解决了高速公路匝道处汇车时自动驾驶车辆换道空间狭小、安全性低、对交通流影响大的问题,保障了高速公路匝道切入时车辆的行驶安全。


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    Title :

    Expressway vehicle ramp convergence decision-making method and system based on insertable gap


    Additional title:

    基于可插入间隙的高速公路车辆匝道汇入决策方法及系统


    Contributors:
    ZHANG HONGJUN (author) / SUN WENPENG (author) / GAO JIANGUO (author) / LI KAI (author) / LIU FUBING (author) / ZHAO GANG (author) / ZHOU WEI (author) / QI YULIANG (author) / WU WEI (author) / SHI ZHAONIAN (author)

    Publication date :

    2025-04-25


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B60W CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION , Gemeinsame Steuerung oder Regelung von Fahrzeug-Unteraggregaten verschiedenen Typs oder verschiedener Funktion / G08G Anlagen zur Steuerung, Regelung oder Überwachung des Verkehrs , TRAFFIC CONTROL SYSTEMS / G06F ELECTRIC DIGITAL DATA PROCESSING , Elektrische digitale Datenverarbeitung



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