CN108877268A - One kind is towards unpiloted no traffic lights crossroad intelligent dispatching method - Google Patents
One kind is towards unpiloted no traffic lights crossroad intelligent dispatching method Download PDFInfo
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- CN108877268A CN108877268A CN201810893061.3A CN201810893061A CN108877268A CN 108877268 A CN108877268 A CN 108877268A CN 201810893061 A CN201810893061 A CN 201810893061A CN 108877268 A CN108877268 A CN 108877268A
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/09—Arrangements for giving variable traffic instructions
- G08G1/0962—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages
- G08G1/0967—Systems involving transmission of highway information, e.g. weather, speed limits
- G08G1/096708—Systems involving transmission of highway information, e.g. weather, speed limits where the received information might be used to generate an automatic action on the vehicle control
- G08G1/096725—Systems involving transmission of highway information, e.g. weather, speed limits where the received information might be used to generate an automatic action on the vehicle control where the received information generates an automatic action on the vehicle control
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/16—Anti-collision systems
- G08G1/164—Centralised systems, e.g. external to vehicles
Abstract
One kind includes the following steps towards unpiloted no traffic lights crossroad intelligent dispatching method：Step 1：It sets up and area is avoided based on crossroad access manager and dispatch area and division collision, establish using Traffic controller as collaborative vehicle and communicate, plan the center control administrative mechanism of vehicle scheduling；Step 2：Traffic controller receives the running data for entering dispatch area vehicle, and is returned to scheduling information of the vehicle by crossroad；Step 3：According to the guidance of scheduling information, automatic driving vehicle, which adjusts accordingly, passes through crossroad；It is the zone of intersection in the crossroad lane Liang Tiao that the collision, which avoids area, and collision avoids area from being divided into 16 square conflict areas of the same area, and the same square conflict area can only at most be occupied by a vehicle；Avoid the automatic driving car in area need to be with same constant speed and by set direction running into the collision.
Description
Technical field
The invention belongs to vehicle networking technical field, it is related to being based in status information vehicle control strategy towards crossing traffic most
The method of excellent vehicle scheduling and capacity optimization.
Background technique
With the development of wireless communication, automatic driving vehicle can be realized vehicle using dedicated short-range communication (DSRC) technology
With the communication connection and information exchange between vehicle, vehicle and infrastructure etc..These nothings interconnected by wireless communication
People drives vehicle and can reduce traffic system major part collision accident, reduce traffic delays, largely improve traffic administration
Efficiency and it is capable of providing the functions such as Infotainment and telematics.Therefore the automatic driving vehicle of interconnection is for improving
Transportation system management ability has a very high potential, and they the advantages of become grinding for current vehicle networking technical field
Study carefully one of hot spot.
And the traditional traffic lights dispatching method for managing traffic intersection at present is so realization:When one section fixed
Between interval open portion crossing allow vehicle pass-through, remaining crossing direction vehicle stop and wait.Traditional traffic lights scheduling
Method can adjust crossing traffic flow to a certain extent, but there is also following many defects：It cannot flexibly intelligently
Adapt to Real-Time Traffic Volume；Lack and carries out communication coordinated function with automatic driving vehicle；Not can solve due to vehicle flowrate increase and
Bring traffic congestion and safety issue；It is difficult to improve the handling capacity and traffic administration efficiency of entire traffic system.In intelligence
On the basis of the progress and development of energy traffic system, the method for traditional crossroads traffic light scheduling has gradually been modified and has been possible to
It is replaced by other dispatching methods, to carry out effective traffic intersection management in the environment of car networking communication coordinated technology,
And further adapt to the development and application of interconnection automatic driving car.
By the retrieval discovery to existing literature, K.Pandit et al. and A.A.Zaidi et al. respectively at 2013
《IEEE Transactions on Vehicular Technology (IEEE Vehicle Technology journal)》With 2016《IEEE
Transactions on Intelligent Transportation Systems (IEEE intelligent transportation system journal)》Upper hair
Entitled " Adaptive traffic signal control with vehicular ad hoc networks (the vehicle connection of table
The control of net self-adapting traffic signal light) " and " Back-pressure traffic signal control with fixed
And adaptive routing for urban vehicular networks (towards city vehicle-mounted net network have it is fixed and
The back pressure Traffic signal control of adaptive routing) " article.These articles are all based on dynamic self-adapting control system, propose
Intelligent traffic light administrative skill and mechanism towards Real-Time Traffic Volume.Although intelligent traffic light traffic system can improve biography
System traffic lights dispatch stiff inflexible disadvantage and improve crossroad access managerial ability, but vehicle collision is avoided
And for maximizing crossroad handling capacity these two aspects problem, they are also difficult to meet the following interconnection automatic driving vehicle friendship
The requirement of logical scheduling.
It also found through retrieval, in order to advanced optimize the crossroad efficiency of management, what K.Zhang et al. was delivered in 2015
Entitled " State-driven priority scheduling mechanisms for driverless vehicles
Approaching intersections (the priority scheduling machine of the crossroad state-driven towards automatic driving vehicle
System) " article in, propose a kind of dispatching method based on vehicle-state priority under the traffic scene of no traffic lights.It is logical
It crosses and distributes the scheme that contradiction region avoids between successive grade and combination different vehicle driving trace, this method energy for vehicle
Enough it is effectively prevented the collision of vehicle in crossroad.In addition, it has also been found that, P.Lin et al. was in 2017 through retrieval《IEEE
Intelligent Transportation Systems Magazine (IEEE intelligent transportation system magazine)》On delivered topic
For " Autonomous vehicle-intersection coordination method in a connected vehicle
The article of environment (automatic Pilot vehicle crossroad dispatching method under car networking environment) ".This article uses buffer area
The principle of allocation schedule mode guides the vehicle according to set regular safety crossroad, but due to entirely dispatching
Process needs constantly to change vehicle acceleration by control to adjust vehicle driving trace, therefore it is required that automatic driving vehicle is always
The connection communicated is kept with control centre.
In conclusion problem of the existing technology is：(1) the intelligent traffic light scheduling system after improving is unable to fully
Improve traffic administration ability using the advantages of interconnection automatic driving car.(2) most of without the novel scheduling under traffic lights scene
Algorithm function is single, and is confined to regular (3) pole during adjusting vehicle running state of the specific vehicle driving of its institute
Degree relies on the reliability of communication and the stability of unmanned technology.The meaning for solving above-mentioned technical problem is：Based on current
The development of wireless communication technique and the progress of unmanned technology, the Dispatch system of ITS of more high efficient and reliable help to subtract
Few security of system problem and raising vehicle scheduling efficiency provide new thinking simultaneously for the planning and design of the following crossroad
And promote the application and development of the car networking field communication technology and vehicle control management strategy.
Summary of the invention
In view of the problems of the existing technology, object of the present invention is to mention on the basis of avoiding crossroad vehicle collision
Supply one kind towards unpiloted no traffic lights crossroad intelligent dispatching method.
What the object of the invention was realized in, one kind is towards unpiloted no traffic lights crossroad intelligent scheduling side
Method includes the following steps：
Step 1：It sets up and area is avoided based on crossroad access manager and dispatch area and division collision, establish with traffic
Manager is communicated as collaborative vehicle, the center of planning vehicle scheduling controls administrative mechanism；
Step 2：Traffic controller receives the running data for entering dispatch area vehicle, and returns to vehicle and pass through four crossway
The scheduling information of mouth；
Step 3：According to the guidance of scheduling information, automatic driving vehicle, which adjusts accordingly, passes through crossroad.
Crossroad access management (coordination) device is made of roadside unit and data center's two parts component, and roadside is single
Member is communicated to connect for establishing with automatic driving vehicle, and the crossroad collision that enters that data center is used to calculate vehicle is kept away
At the time of exempting from area.
Right-turn lane is independent collisionless lane, and the no traffic lights scheduling scenario is one comprising left turn lane and directly walks
The two-way four-lane traffic intersection model in lane represents left turn lane with odd lane, and even number lane represents right-turn lane.
It is the zone of intersection in crossroad (in length and breadth) two lanes that the collision, which avoids area, and collision avoids area from being divided into 16
Square conflict area of the same area, the same square conflict area can only at most be occupied by a vehicle；It is touched into described
It hits and avoids the automatic driving car in area that from need to facilitating the complexity of reduction system with same constant speed and by set direction running
And improve the safety of whole system.
The intelligent dispatching algorithm scheduler object i.e. vehicle avoided based on collision includes individual automatic driving car
And the fleet as composed by the vehicle with identical driving information.
The crossroad intelligent traffic dispatching method is to establish nobody using dedicated short-range communication (DSRC) technology and drive
The communication connection between vehicle and Traffic controller is sailed, and realizes freely distributing for traffic on this basis.
Information exchange in the step 2 between Traffic controller and automatic driving vehicle need to execute following steps：
Step (2.1)：At the time of being transmitted into dispatch area to Traffic controller when automatic driving vehicle enters dispatch area
And its current initial velocity；
Step (2.2)：Traffic controller by received data plan vehicle scheduling scheme and return vehicle into
Enter at the time of collision avoids area and avoids the travel speed in area in collision.
The crossroad access intelligent dispatching method only needs automatic driving vehicle to be believed twice with traffic coordinating device
Breath interaction, it is not required that the two maintains to communicate to connect always, can greatly avoid since packet loss or communication delay are to entire
System bring influences.
Compared with prior art, beneficial effects of the present invention:Firstly, should be towards unpiloted no traffic lights crossroad
Intelligent dispatching method can be effectively prevented from the collision between vehicle and maximize the traffic throughput of crossroad；Secondly,
Be made of automatic driving car fleet (uniformly through equidirectional several vehicles can be incorporated to fleet give it is identical scheduling refer to
Enable) scheduling scheme be one of outstanding contributions of the invention；Again, any by being added without during crossroad in vehicle
Ad hoc rules, reduces the degree of dependence to communication, largely improves the robustness of entire traffic system.
The present invention is based on the development of car networking vehicle communication coordination technique, discloses one kind towards unpiloted without red
Green light crossroad intelligent dispatching method provides a safe and efficient scheduling solution party for future crossroad access management
Case.Dispatching method includes：Setting up based on crossroad access manager and dispatch area and collision avoid the division in area, establish
The center that vehicle scheduling is communicated, planned using Traffic controller as collaborative vehicle controls administrative mechanism；Traffic controller receive into
Enter the running data of dispatch area vehicle, and returns to scheduling information of the vehicle by crossroad；According to drawing for scheduling information
It leads, automatic driving vehicle, which adjusts accordingly, passes through crossroad.Compared to traditional traffic lights vehicle dispatching manner, the present invention
On the basis of avoiding automatic driving vehicle from colliding, crossroad vehicle handling capacity can be farthest improved, improves cross
Crossing traffic efficiency.
Detailed description of the invention
Fig. 1 is no traffic lights crossroad scene figure used by the embodiment of the present invention.
Fig. 2 is Traffic controller of embodiment of the present invention scheduling automatic driving vehicle step schematic diagram.
Fig. 3 is that the embodiment of the present invention is that vehicle allocation most preferably enters moment algorithm realization block diagram.
Fig. 4 is provided in an embodiment of the present invention based on the intelligent dispatching algorithm under the conditions of average vehicle flow and traditional traffic lights
Method crossroad handling capacity comparison schematic diagram.
Fig. 5 is provided in an embodiment of the present invention green based on the intelligent dispatching algorithm under the conditions of non-average vehicle flow and conventional red
Lamp method crossroad handling capacity comparison schematic diagram.
Specific embodiment
In order to make the objectives, technical solutions, and advantages of the present invention clearer, below in conjunction with attached drawing to of the invention
Embodiment elaborates：The present embodiment is implemented under the premise of the technical scheme of the present invention, gives detailed implementation
Mode and specific operating process.It should be appreciated that specific example described herein is only used to explain the present invention, but the present invention
Protection scope be not limited to the following embodiments.
Embodiment
The present embodiment using Fig. 1 without traffic lights crossroad scene, propose it is a kind of based on collision avoid towards
Automatic driving car intelligent dispatching method.First under the traffic scene, need to set up Traffic controller at the parting of the ways.Traffic pipe
Reason device is made of roadside unit and data center's two parts, and roadside unit is used to establish with automatic driving vehicle and communicate to connect, number
It is used to calculate at the time of entering crossroad of vehicle according to center.Then entire crossroad is divided into collision and avoids area
With two regions of dispatch area.It is the nucleus of crossroad that collision, which avoids area, and the automatic driving vehicle positioned at this region needs
It is travelled with fixed speed (including direction, determine its direction in the lane position of dispatch area)；Dispatch area is avoided close to collision
Area, and within the communication range in Traffic controller, the vehicle into this region receives it and avoids area into collision
Scheduling scheme.
The elementary object of the present embodiment is by realizing vehicle at the parting of the ways using dedicated short-range communication (DSRC) technology
Free traffic scheduling on the basis of collisionless.In order to reduce the calculation amount of data center to the full extent, Traffic controller is only needed
It collects at the time of automatic driving vehicle enters dispatch area and the initial velocity at their this moment.Automatic driving vehicle is existed
Collision avoids the travel speed in area from being set as a considerations of fixed value is the complexity for the system of reduction and improves security of system.
The center control administrative mechanism that vehicle scheduling is communicated, planned using Traffic controller as collaborative vehicle realizes step such as
Shown in Fig. 2：When an automatic driving car enters dispatch area, moment and present speed are transmitted into Traffic controller；?
It calculates after completing feasible scheduling scheme, Traffic controller returns to vehicle scheduling information, including avoids area into collision
At the time of and collision avoid area travel constant speed；Finally according to the guidance of scheduling information, automatic driving vehicle adjustment
Its corresponding speed simultaneously follows specific entry time and passes through crossroad.The characteristics of above-mentioned vehicle scheduling mechanism is, vehicle
Only need to distribute the time that area is avoided into collision when into buffer area for it, and the traffic intelligent dispatching method only needs
Vehicle and traffic coordinating device carry out information exchange twice, it is not required that the two maintains to communicate to connect always, can greatly avoid
Since packet loss or communication delay are influenced to whole system bring, the stability of system is improved.
Crossroad collision avoidance model can be considered as to time occupation problem in the present embodiment.Consider that right-turn lane is
Independent collisionless lane, this is the two-way four-lane for including left turn lane and directly walking lane without intelligent traffic light scheduling scenario
Traffic intersection model, odd lane represent left turn lane (such as L1), even number lane represents right-turn lane (such as L2).In this Shen
Please in, right-turn lane considers it for an independent lane, and will not collide with the vehicle on other lanes (in fact can will
The model of this patent regards three lanes of one direction as, that is, turns left, directly walks and turn right, since right-turn lane is an independent vehicle
Road does not just draw right-turn lane.Collision avoids area from being divided into 16 identical square conflict areas in equal size, is based on these
The division of square conflict area, we can analyze different vehicle driving trace at the parting of the ways in occupied identical portions
Point.Such as the automatic driving vehicle for being located at lane 2 and lane 5, the part of their tracks overlapping are conflict area 15.It is all
The conflict area that lane occupies jointly is as shown in table 1：
Table 1：Conflict area and occupancy lane
| Conflict area | Occupy the conflict area lane | Conflict area | Occupy the conflict area lane |
| 1 | Lane 4, lane 8 | 9 | Lane 1, lane 8 |
| 2 | Lane 4, lane 7 | 10 | Lane 1, lane 3, lane 7 |
| 3 | Lane 1, lane 4 | 11 | Lane 1, lane 5, lane 7 |
| 4 | Lane 4, lane 6 | 12 | Lane 6, lane 7 |
| 5 | Lane 5, lane 8 | 13 | Lane 2, lane 8 |
| 6 | Lane 3, lane 5, lane 7 | 14 | Lane 2, lane 3 |
| 7 | Lane 1, lane 3, lane 5 | 15 | Lane 2, lane 5 |
| 8 | Lane 3, lane 6 | 16 | Lane 2, lane 6 |
In order to avoid the same conflict area is occupied by different vehicles, need to calculate each automatic driving car every
The holding time of a conflict area.It is w that collision, which avoids the length in area, therefore the length of each conflict area is w/4.Ordinary circumstance
Under, vehicle has straight trip and turning two ways by conflict area.For the vehicle of straight trip, the rail in the part of particular conflict region
Mark length is w/4；For the vehicle turned in conflict area, path length is about the circumference being made of using w/4 radius
1/4, i.e. π w/16.Assuming that avoiding the speed of area's vehicle in collision
It is fixed as v, then the holding time in conflict area through vehicles isThe holding time of turning vehicle isThen, it definesIndicate L1,…,L8Automatic driving car enters collision and avoids area on corresponding lane
At the time of and define σi,kIndicate the holding time k-th of conflict area on the lane i.Such as σ5,15=(t5,t5+ t] meaning
Taste be t at the time of vehicle enters conflict area 15 (k) on the 5th (i) lane5(ti), it is t at the time of leaving conflict area 155+
T, total holding time T.It is nonoverlapping using identical conflict area holding time in conjunction with the particular track of vehicle on each lane
Method can prevent from colliding between vehicle.L indicates lane.
Still by taking conflict area 15 as an example, lane 2 collides with the vehicle on lane 5 in order to prevent, can obtain as
It is lower to collide the expression formula avoided：σ2,15∩σ5,15=(t2+2t,t2+3t]∩(t5,t5+ t]=φ.The expression formula is in mathematical time
The distance between two holding time section intermediate points are equivalent in meaning in reference axis not less than each accounting for time gap one
The sum of half, i.e., | (t2+2.5t)-(t5+ 0.5t) |=| t2-t5+ 2t | >=0.5t+0.5t=t.Similarly, by using above-mentioned skill
The skilful and conflict area time occupies nonoverlapping method, we can avoid the collision of the crossroad vehicle and fleet turning
Change a series of absolute value inequality constraints expression formulas into.
Since the elementary object towards unpiloted no traffic lights crossroad intelligent dispatching method is built upon vehicle
Collision farthest improves crossroad handling capacity on the basis of avoiding, therefore the objective function of the present embodiment is expressed as institute
There is on lane vehicle enter minimum value at the time of collision avoids area, is write as min (t with mathematic(al) representation1+…t8).In view of when exhausted
Exhaustive search is unrealistic when especially big to value inequality constraints quantity, present embodiments provides on a different lanes vehicle most
The good solution into moment algorithm：First for will enter on a certain lane collision avoid the vehicle allocation one in area most preferably into
Enter the moment, according still further to lane order-assigned other
The entrance moment of vehicle on lane, to the last until a vehicle.For lane 1, i.e., it will enter collision and avoid area
Vehicle and other lanes on the vehicle at the allocated mistake into moment have following constraint inequality：
At the time of referring to that the vehicle for being located at i-th assigned scheduling scheme on jth lane enters collision and avoids area.Its
Middle ij=1 ..., Nj(j=1 ..., 8), NjVehicle is the vehicle that moment maximum value is dispensed on the lane j.Use rectangular
Formula | t1e+b1|≥c1 To indicate above-mentioned absolute value inequality, m1Value be equal to absolute value inequality number.
The absolute value inequality in other lanes can be expressed as in the same way | tje+bj|≥cj If jth
The initial time that vehicle on lane enters dispatch area is t0, is in the most short running time of dispatch areaIt, can be with for lane 1
Obtaining one condition of constraint isMeanwhileCan be avoided the vehicle that will be dispatched on lane 1 with
The collision between the vehicle of allocation schedule time of this lane, safety time ts=(s+h)/v, s between vehicle safety away from
From h is Vehicle length.The scheduling problem of the above analysis, every one vehicle of sub-distribution provided in this embodiment can be write as：
|tje+bj|≥cj
It enablesThe scheduling problem is equivalent to：
min tj
s.t.tj≥tgj,
|tje+bj|≥cj
Solve the best as shown in Figure 3 into moment algorithm of the above problem：By bjAnd cjK-th of component be expressed as
bj(k) and cj(k), absolute value inequality constraints condition can be write as tj≥cj(k)-bj(k) or tj≤-cj(k)-bj(k)；It enables
The initial value solved is tgj, as k=1, show that meeting the inequality minimum enters the moment；The m that works as k=2 ...jWhen, obtain satisfaction
The minimum of -1 inequality of current inequality and kth enters the moment；The value that iteration is finally obtained just is the final of the algorithm
Solution at the time of the minimum for currently needing to dispatch buses avoids area into collision, and is added to and calculates other at this moment
Vehicle on lane enters collision and avoids among the calculating process in area.
In order to make the present embodiment have more intuitive and relatively most preferably into the property of moment algorithm and traditional traffic lights algorithm
Energy superiority and inferiority, Fig. 4 illustrate them and are based on handling capacity comparison schematic diagram under the conditions of all lane average vehicle flows.The magnitude of traffic flow in figure
It is divided into three kinds of situations, i.e., slight traffic, moderate traffic and moderate traffic.It is apparent that in moderate traffic and severe
In the case where traffic, most preferably into the handling capacity of moment algorithm close to twice of traffic lights algorithm.This is because working as crossroad
When the magnitude of traffic flow is gradually increased, conventional method easily reaches the traffic capacity upper limit, and most preferably entering moment algorithm can pass through
Allow the vehicle in all lanes while traveling to effectively improve traffic conditions, improves traffic efficiency.Fig. 5 is provided based on non-flat
Two kinds of dispatching algorithm handling capacity comparison schematic diagrams under the conditions of equal vehicle flowrate.Without loss of generality, by North and South direction vehicle flowrate in figure
It is set as slight traffic, east-west direction vehicle flowrate is set as severe traffic.East-west direction most preferably enters gulping down for moment algorithm as seen from the figure
The amount of spitting and four crossway total throughout are much higher than traditional traffic lights algorithm, illustrate that the present embodiment most preferably enters moment algorithm
With high fairness.
The foregoing is merely illustrative of the preferred embodiments of the present invention, is not intended to limit the invention, all in essence of the invention
Made any modifications, equivalent replacements, and improvements etc., should all be included in the protection scope of the present invention within mind and principle.
Claims (8)
1. one kind is towards unpiloted no traffic lights crossroad intelligent dispatching method, it is characterised in that：It is described to be based on collision
The intelligent dispatching method avoided includes the following steps：
Step 1：It sets up and area is avoided based on crossroad access manager and dispatch area and division collision, establish with traffic administration
Device is communicated as collaborative vehicle, the center of planning vehicle scheduling controls administrative mechanism；
Step 2：Traffic controller receives the running data for entering dispatch area vehicle, and is returned to vehicle and passes through four crossway
The scheduling information of mouth；
Step 3：According to the guidance of scheduling information, automatic driving vehicle, which adjusts accordingly, passes through crossroad；
The crossroad access manager is made of roadside unit and data center's two parts component, and roadside unit is used for and nothing
People drive vehicle establish communication connection, data center be used for calculate vehicle into crossroad collision avoid area when
It carves；
Right-turn lane is independent collisionless lane, and the no traffic lights scheduling scenario is one comprising left turn lane and directly walks lane
Two-way four-lane traffic intersection model, left turn lane is represented with odd lane, even number lane represents right-turn lane；
To avoid area be the zone of intersection of two lanes crossroad for the collision, collision avoid area be divided into 16 it is of the same area
Square conflict area, the same square conflict area can only at most be occupied by a vehicle；Area is avoided into the collision
Automatic driving car need to be with same constant speed and by set direction running.
2. one kind as described in claim 1 is towards unpiloted no traffic lights crossroad intelligent dispatching method, feature
It is：Described based on the intelligent dispatching algorithm scheduler object that avoids of collision includes individual automatic driving vehicle and by with identical
Fleet composed by the vehicle of driving information.
3. one kind as described in claim 1 is towards unpiloted no traffic lights crossroad intelligent dispatching method, feature
It is：The crossroad intelligent traffic dispatching method is to establish automatic driving car using dedicated short-range communication (DSRC) technology
Communication connection between Traffic controller, and freely distributing for traffic is realized on this basis.
4. one kind as described in claim 1 is towards unpiloted no traffic lights crossroad intelligent dispatching method, feature
It is：Information exchange in the step 2 between Traffic controller and automatic driving vehicle need to execute following steps：
Step (2.1)：At the time of being transmitted into dispatch area to Traffic controller when automatic driving vehicle enters dispatch area and
Its current initial velocity；
Step (2.2)：Traffic controller plans vehicle scheduling scheme by received data and returns to vehicle entrance and touches
It hits at the time of avoiding area and avoids the travel speed in area in collision.
5. one kind as described in claim 1 is towards unpiloted no traffic lights crossroad intelligent dispatching method, feature
It is：The crossroad access intelligent dispatching method only needs automatic driving vehicle and traffic coordinating device to carry out information friendship twice
Mutually, it is not required that the two maintains to communicate to connect always, can greatly avoid since packet loss or communication delay are to whole system
Bring influences.
6. one kind as described in claim 1 is towards unpiloted no traffic lights crossroad intelligent dispatching method, feature
It is：In order to avoid the same conflict area is occupied by different vehicles, need to calculate each automatic driving car each
The holding time of conflict area；It is w that collision, which avoids the length in area, therefore the length of each conflict area is w/4；Vehicle passes through punching
There are straight trip and turning two ways in prominent region, and for the vehicle of straight trip, path length is w/4 in the part of particular conflict region；
For the vehicle turned in conflict area, path length is about using the 1/4 of the w/4 circumference being made of radius, i.e. π w/
16；Assuming that avoiding the speed of area's vehicle from being fixed as v in collision, then the holding time in conflict area through vehicles is
The holding time of turning vehicle is
DefinitionAt the time of respectively corresponding that automatic driving car enters impact zone on lane 1 to lane 8, Yi Jiding
Adopted σi,kIndicate the holding time k-th of conflict area on the lane i；σ5,15=(t5,t5+ t] mean vehicle on the 5th lane
It is t at the time of into conflict area 155(ti), it is t at the time of leaving conflict area 155+ t, the t of small letter are a fixed values, always
Holding time is that T is equal to t5+t；In conjunction with the particular track of vehicle on each lane, do not weighed using identical conflict area holding time
Folded method can prevent from colliding between vehicle.
7. one kind as claimed in claim 6 is towards unpiloted no traffic lights crossroad intelligent dispatching method, feature
It is：If lane 2 collides with the vehicle on lane 5 in order to prevent by taking conflict area 15 as an example, can be touched as follows
Hit the expression formula avoided：σ2,15∩σ5,15=(t2+2t,t2+3t]∩(t5,t5+ t]=φ；The expression formula is in mathematical time coordinate
Be equivalent in meaning on axis the distance between two holding time section intermediate points not less than each account for time gap half it
With that is, | (t2+2.5t)-(t5+ 0.5t) |=| t2-t5+ 2t | >=0.5t+0.5t=t；Similarly, by using above-mentioned conflict area
Time occupies nonoverlapping method, and the collision of the crossroad vehicle and fleet is avoided to be converted into a series of absolute value inequality
Constraint expression formula.
8. one kind as claimed in claim 6 is towards unpiloted no traffic lights crossroad intelligent dispatching method, feature
It is：Constraint expression formula objective function is expressed as vehicle on all lanes and enters minimum value at the time of collision avoids area, uses mathematics
Expression formula is write as min (t1+…t8)；In view of when absolute value inequality constraints quantity is especially big, exhaustive search is unrealistic, first
Avoid the vehicle allocation one in area from most preferably entering the moment for collision will be entered on a certain lane, according still further to lane order-assigned its
The entrance moment of vehicle on his lane, to the last until a vehicle；For lane 1, i.e., the vehicle in area will be avoided into collision
With the vehicle at the allocated mistake into moment has following constraint inequality on other lanes：
At the time of referring to that the vehicle for being located at i-th assigned scheduling scheme on jth lane enters collision and avoids area.Wherein ij
=1 ..., Nj(j=1 ..., 8), NjVehicle is the vehicle that moment maximum value is dispensed on the lane j；Use matrix formTo indicate above-mentioned absolute value inequality, m1Value be equal to absolute value inequality number；With
The absolute value inequality in other lanes is expressed as by same modeIf on jth lane
Vehicle enter dispatch area initial time be t0, it is in the most short running time of dispatch areaFor lane 1, it is available about
One condition of beam isMeanwhileIt can be avoided the vehicle that will be dispatched on lane 1 and this lane
The collision between the vehicle of allocation schedule time, safety time tsThe safe distance of=(s+h)/v, s between vehicle, h are
Vehicle length；The scheduling problem of every one vehicle of sub-distribution is write as：
|tje+bj|≥cj
It enablesThe scheduling problem is equivalent to：
min tj
s.t.tj≥tgj,
|tje+bj|≥cj
It solves the best of the above problem and enters moment algorithm：By bjAnd cjK-th of component be expressed as bj(k) and cj(k), absolutely
Value inequality constraints condition is write as：
tj≥cj(k)-bj(k) or tj≤-cj(k)-bj(k)；Enabling solved initial value is tgj, as k=1, show that satisfaction should
Inequality minimum enters the moment；The m that works as k=2 ...jWhen, show that meeting the minimum of -1 inequality of current inequality and kth enters
Moment；The value that iteration is finally obtained just is the last solution of the algorithm, i.e., the current minimum for needing to dispatch buses is kept away into collision
At the time of exempting from area, and by this moment be added to calculate other lanes on vehicle enter collision avoid area calculating process it
In.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN201810893061.3A CN108877268B (en) | 2018-08-07 | 2018-08-07 | Unmanned-oriented traffic-light-free crossroad intelligent scheduling method |
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| CN201810893061.3A CN108877268B (en) | 2018-08-07 | 2018-08-07 | Unmanned-oriented traffic-light-free crossroad intelligent scheduling method |
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| Publication Number | Publication Date |
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