Signalized intersection cooperative passing strategy for autonomous vehicle

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Signalized intersection cooperative passing strategy for autonomous vehicle

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LIU MIAOMIAO / LI PENGRUI / LIU YIQI

The invention provides a signal intersection cooperative passing strategy for an automatic driving automobile. According to the method, firstly, intersection environment information is obtained through an advanced communication technology, functional area division is carried out on an intersection entrance lane, a track route is generated, and various selection spaces are provided for automatic driving vehicles to pass through an intersection; then calculating conflict point busy time, and generating a corresponding conflict resolution scheme of each track route according to cooperative passage constraint conditions of an optimal speed constraint, a conflict resolution constraint, a car-following collision avoidance constraint and a signal timing constraint; and finally, calculating and comparing the vehicle average delay in the sensing decision-making area of each conflict resolution scheme, and determining the final driving track of the vehicle, thereby realizing the cooperative passing of the automatic driving vehicle at the signalized intersection, and improving the vehicle passing efficiency.

本发明提出了一种面向自动驾驶汽车的信号交叉口协同通行策略。该方法首先通过先进的通信技术获取交叉口环境信息，对交叉口进口道进行功能区域划分并生成轨迹路线，为自动驾驶车辆通过交叉口提供多种选择空间；然后计算冲突点繁忙时间，依据最优速度约束、冲突消解约束、跟车避撞约束与信号配时约束的协同通行约束条件，生成各轨迹路线的对应冲突消解方案；最后计算比较各冲突消解方案的感知决策区内车均延误，确定车辆最终的行驶轨迹，从而实现自动驾驶车辆在信号交叉口的协同通行，提高车辆通行效率。