Advanced degree-based intersection cooperative passing strategy for autonomous vehicle

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Advanced degree-based intersection cooperative passing strategy for autonomous vehicle

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LIU MIAOMIAO / LI PENGRUI / ZHU MINGYUE / TANG RENJING / WEI ZEPING

The invention provides an automatic driving automobile intersection cooperative passing strategy based on a prevailing degree. The method comprises the following steps: firstly, based on space-time coupling constraints of different track routes of an intersection, obtaining an actual conflict point sequence corresponding to the vehicle through a safe time headway condition of the intersection; secondly, proposing the occupation degree to describe the occupation degree of the automatic driving vehicle at the actual conflict point, and optimizing the passing order of the vehicle based on the occupation degree; then calculating the conflict resolution target speed of each actual conflict point on the selectable trajectory, and completing conflict resolution of the conflict point sequence of the whole trajectory route through speed control; and finally, calculating and comparing the passing time of the automatic driving vehicle on each track route, and determining a final passing track of the vehicle, so that the cooperative passing of the automatic driving vehicle at the signalized intersection is realized.

本发明提出了一种基于占先度的自动驾驶汽车交叉口协同通行策略。该方法首先基于交叉口不同轨迹路线的时空耦合约束，通过交叉口安全车头时距条件，获得该车对应的实际冲突点序列；然后提出了占先度来描述自动驾驶车辆在实际冲突点的占先程度，并基于占先度优化车辆的通行次序；接着计算可选择轨迹上的每个实际冲突点冲突消解目标速度，通过速度控制完成整条轨迹路线冲突点序列的冲突消解；最后计算比较自动驾驶车辆在各轨迹路线上的通行时间，确定车辆最终通行轨迹，从而实现自动驾驶车辆在信号交叉口的协同通行。