CN108932856A - Intersection weighs setting method under a kind of automatic Pilot - Google Patents
Intersection weighs setting method under a kind of automatic Pilot Download PDFInfo
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/07—Controlling traffic signals
- G08G1/08—Controlling traffic signals according to detected number or speed of vehicles
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/07—Controlling traffic signals
- G08G1/081—Plural intersections under common control
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- G—PHYSICS
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- 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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Abstract
The invention discloses intersections under a kind of automatic Pilot to weigh setting method, belongs to intelligent transportation field, the best time into intersection can be provided for automatic driving vehicle and selects best exit lane.Under automatic Pilot environment, the physical parameter of intersection is determined, the inner space of intersection is divided into the grid of several squares.Entrance driveway number, turn direction reach the prediction time of stop line where acquiring vehicle.Establish vehicle running path preference pattern, the computation model that vehicle is actually reached the computation model at stop line moment, enters and exits the grid moment；Ensure that the same grid can only be occupied in synchronization by a vehicle, establishes the constraint condition formula that more trolleys occupy the same grid；The minimum objective function of total delay of vehicle is reached with intersection, optimization obtains the best exit lane of each car and the best time by intersection.The method of the present invention can ensure that automatic driving vehicle is in the safety of intersection and efficiently current.
Description
Technical field
The invention belongs to intelligent transportation field, the traffic control technology for being related to urban road for automatic driving vehicle is led
Domain, the setting method weighed more specifically to intersection under a kind of automatic Pilot.
Background technique
Automatic Pilot technology development prospect is boundless, and since 2018, Beijing, Shanghai, Chongqing, Shenzhen are mostly for certainly
The dynamic vehicle that drives successively puts into effect automatic Pilot drive test detailed rules and regulations, and Hangzhou, Guangzhou, Wuhan are just in the unmanned experiment base of planning construction
Ground.Under automatic Pilot environment, by using wireless communication and the technologies such as internet, it may be implemented between vehicle, vehicle and road
Communication.This makes vehicle no longer need Signalized control in intersection, can cooperate between vehicle, co-operatively pass through friendship
Prong realizes the right-of-way control being changed into from the signal control based on signal phase for " single unit vehicle ".But work as arrival
The volume of traffic it is larger when, how to coordinate automatic driving vehicle in the right-of-way of intersection inner space, it is different in different entrance driveway
Between the vehicle of turn direction, the optimal vehicle order by intersection is determined, become the major issue for needing to study.
On the other hand, existing most intersections, have done stringent division to the left-hand rotation, straight trip, right-hand rotation in import lane,
Vehicle needs lane-change to corresponding lane before entering intersection, and when vehicle is driven out to intersection is not specified by and must drive into
Which lane can choose any bar exit ramp and be driven out to.And under the conditions of automatic Pilot, each car need to be strictly set and drive into and sail
The lane of intersection out, on the one hand, the safety of automatic driving vehicle can be improved, on the other hand can export vehicle by optimal selection
Road improves the traffic efficiency of intersection.
Therefore, the present invention provides the setting methods that intersection under a kind of automatic Pilot is weighed, in automatic Pilot condition
Under, crossing inlet road is without dividing lane function, i.e., all entrance driveway " left straight right " travelings, with this condition, simultaneously
Optimize the transit time and exit lane of automatic driving vehicle.With the minimum target of total delay, intersection interior zone is divided
The time of each grid is occupied when calculating the vehicle different exit lanes of selection for several grids, it is most by one grid of constraint
It is occupied by a vehicle, realizes that vehicle safety efficiently passes through intersection region.
Through the literature search of existing technologies, the document having for automatic Pilot intersection power is based primarily upon
The passing method of First Come First Served lacks and considers the total delay that entire intersection reaches vehicle as a whole.
Summary of the invention
Technical problem: for automatic driving vehicle all lanes of entrance driveway can " left straight right " it is current under conditions of, such as
What most preferably determines the problem of selecting best exit lane while current order, and the present invention provides intersect under a kind of automatic Pilot
The setting method of mouth right-of-way, it is ensured that automatic driving vehicle is safe and efficient, passes through intersection in an orderly manner.
Technical solution: in order to solve the above technical problems, intersection weighs setting side under a kind of automatic Pilot of the invention
Method includes the following steps:
Step 1: it determines each entrance driveway in intersection, exit ramp number of track-lines and it is numbered respectively, the inside of intersection is empty
Between be divided into the lattice of several squares and grid be numbered, determine the coordinate range of each grid；Acquire vehicle where into
Mouth road number, turn direction reach the prediction time of stop line, the grid that all vehicle pass-through paths in input intersection are pressed onto
And vehicle enters and is driven out to the location point of grid；
Step 2: vehicle running path preference pattern is established, the computation model that vehicle is actually reached the stop line moment is established,
Establish at the time of driving into grid and be driven out to computation model at the time of grid；
Step 3: ensuring that the same grid can only be occupied in synchronization by a vehicle, it is same to establish more trolleys occupancy
The constraint condition formula of grid；
Step 4: the minimum objective function of total delay of vehicle is reached with intersection, optimization obtains the best outlet of each car
Lane and the best time by intersection.
In the present invention, step 1 includes the following steps:
Step 11: indicating crossing inlet road with parameter O, parameter D indicates intersection exit road, parameter E, W, S, N difference
Indicate East, West, South, North direction, O ∈ { E, W, S, N }, D ∈ { E, W, S, N }；G indicates the g vehicle on lane；Oi → Dj is indicated
Vehicle drives towards the j-th strip lane of D exit ramp from i-th lane of O entrance driveway, does not consider to turn around to travel, therefore, in Oi → Dj
In, O ≠ D；Each entrance driveway includes iOLane, wherein iO∈{1,2,…,nO, nOIndicate the direction O entrance driveway maximum lane
Number, each exit ramp include jDLane, wherein jD∈{1,2,…,mD, mDIndicate the direction D exit ramp maximum number of track-lines.Speed
It is indicated with parameter v, considers that vehicle drives at a constant speed inside intersection, cannot stop.Intersection is divided into the small of several squares
Grid is simultaneously numbered, RpqExpression grid R is p, q respectively in the corresponding number of x-axis and y-axis；Rectangular coordinate system is established, acquisition is every
Grid and entrance that vehicle presses through and the location point for being driven out to grid,Indicate that the vehicle on the Oi → Dj of path enters a-th
Grid RpqLocation point, thenWherein a ∈ { 1,2 ..., A }, A indicate entry into the total of location point
Number；Indicate that path Oi → Dj is driven out to b-th of grid RpqLocation point,Wherein b ∈
{ 1,2 ..., B }, B indicate the sum for being driven out to location point.
In the present invention, step 2 establishes vehicle running path preference pattern, establishes the meter that vehicle is actually reached the stop line moment
Model is calculated, establishes at the time of driving into grid and is driven out to computation model at the time of grid, comprise the following steps:
Step 21: entrance driveway vehicle turns left and turns right, and the direction for being driven out to intersection is known and determining, therefore is being driven out to direction
All outlet ports road select a lane be driven out to, by formula (1) calculate.
In formula,For binary variable,Indicate the g vehicle selection path Oi → Dj, i.e., from the direction O
I-th entrance driveway drives to the j-th strip exit ramp in the direction D；Indicate that vehicle is not driven out to from j-th strip exit ramp.
When vehicle is straight trip and entrance driveway iOLess than or equal to exit ramp number of track-lines jD, i.e. iO≤jDWhen, through vehicles selection
Path is calculated by formula (2):
When vehicle is straight trip and entrance driveway iOGreater than exit ramp jDThat is iO>jDWhen, on the lane that entrance driveway has more than exit ramp
Vehicle drive towards apart from nearest exit ramp, Path selection is calculated by formula (3):
The g vehicle prediction on i-th article of entrance driveway in the direction step 22:O is used at the time of reaching stop lineIt indicates, reaches
The practical moment of stop line is usedIt indicates, sails out of stop line, used at the time of into intersectionIt indicates.
At the time of the prediction time that the g vehicle reaches stop line sails out of stop line more than or equal to previous vehicle g-1, i.e.,Do not have to then wait in line；IfWhen, then the g vehicle cannot reach stop line by prediction time, need to arrange
Team waits, then reaches the practical moment of stop lineIt is calculated by formula (4).
D in formulavFor vehicle to the distance of intersection parking line, GOiIndicate the vehicle fleet on an entrance driveway.
As g=1, i.e., when vehicle is lane first car, front is actually reached stops at this time without waiting for current vehicle
It is equal to prediction at the time of fare and reaches the stop line moment, is calculated by formula (5).
Step 23: the g vehicle drives into location pointAt the time of useIt indicates, is driven out to location pointWhen
It carves and usesIt indicates, at the time of leaving stop line equal to vehicle at the time of driving into first location point, is calculated by formula (6):
The g vehicle is calculated at the time of driving into other positions point by formula (7):
The g vehicle is calculated at the time of being driven out to first location point by formula (8):
The g vehicle is calculated at the time of being driven out to other positions point by formula (9):
In the present invention, step 3 ensures that the same grid can only be occupied in synchronization by a vehicle, establishes more trolleys and accounts for
With the constraint condition formula of the same grid, specifically includes the following steps:
Step 31: the vehicle that can have a plurality of different driving paths reaches the same grid Rpq, vehicle must be compared two-by-two and arrived
At the time of reaching and be driven out to grid, the collection that definition reaches all vehicles in intersection is combined into G, for any one vehicle g1,g2∈ G, it is assumed that
Vehicle g1Path be (Oi → Dj)1, vehicle g2Path be (Oi → Dj)2, to arbitrary O ∈ { E, W, S, N }, D ∈ E, W,
S, N }, i ∈ { 1,2 ..., no, j ∈ { 1,2 ..., mD}.It may insure that the same grid exists using formula (10) and formula (11)
Synchronization can only be occupied by a vehicle.
In formulaFor binary variable, as grid RpqWhen on the Oi → Dj of path,As grid RabDo not exist
When on the Oi → Dj of path,M be big positive number, y is binary variable, can value be 0 or 1；
In the present invention, step 4 reaches the minimum objective function of total delay of vehicle with intersection, and optimization obtains each car
Best exit lane and the best time by intersection, specifically includes the following steps:
Step 41: the delay of the g vehicle is calculated by formula (12), and delay, which is equal to subtract at the time of sailing out of stop line, to be predicted
At the time of up to stop line.Total delay is calculated by formula (13), can according to the smallest formula of total delay (14) and publicity (1)-(13)
To determine optimal path of each car in the region of intersectionI.e. best exit lane, and sail out of stop line optimal time
MIN(Delay) (14)
The utility model has the advantages that compared with prior art, the present invention having the advantage that
The method of the present invention can determine the right-of-way and exit lane of vehicle in automatic driving vehicle before entering intersection,
Ensure that each entrance driveway vehicle safety passes through intersection in an orderly manner and total delay is minimum.
Detailed description of the invention
Fig. 1 is the flow chart of the method for the present invention；
Fig. 2 is embodiment schematic diagram.
Specific embodiment
In conjunction with the accompanying drawings and embodiments, to technical solution of the present invention, detailed description are as follows:
Example: selecting the typical intersection in city for research object, under automatic Pilot environment, can know and reach vehicle
Real time position, the prediction time for reaching stop line, turn direction and all pass drive into grid inside intersection
Position and the position for being driven out to grid.All directions entrance driveway number of track-lines is respectively as follows: n in exampleE=nS=nN=3, nW=4；All directions
Exit ramp number of track-lines is respectively as follows: mW=mS=mN=2, mE=3, each lane width in intersection is 3m, and the side length that grid is arranged is
3m.At the uniform velocity pass through the speed v=10m/s of intersection.13 automatic driving vehicles are generated at random, optimize the traveling road of this 13 vehicles
Diameter and the best time for entering intersection.Each entrance driveway automatic driving vehicle reaches prediction time and the turn direction of stop line,
As shown in Figure 2 and Table 1.
Each entrance driveway automatic driving vehicle of table 1 reaches prediction time and the turn direction table of stop line
Vehicle 1 is through vehicles, the grid position that the grid run over numbers, drives into the location point coordinate of grid and be driven out to
At the time of point coordinate, headstock drive into grid, at the time of the tailstock is driven out to grid, as shown in table 2.
Table 2: at the time of 1 headstock of through vehicles drives into grid and at the time of the tailstock is driven out to grid
Vehicle 2 is through vehicles, the grid position that the grid run over numbers, drives into the location point coordinate of grid and be driven out to
At the time of point coordinate, headstock drive into grid, at the time of the tailstock is driven out to grid, as shown in table 3.
Table 3: at the time of 2 headstock of through vehicles drives into grid and at the time of the tailstock is driven out to grid
Vehicle 3 is through vehicles, the grid number crossed, at the time of headstock drives into grid and at the time of the tailstock is driven out to grid
As shown in table 4.
Table 4: at the time of 3 headstock of through vehicles drives into grid and at the time of the tailstock is driven out to grid
Vehicle 4,5,6,7,8 be through vehicles, the grid crossed, at the time of headstock drives into grid, the tailstock be driven out to grid
Moment is as shown in table 5.
Table 5: at the time of grid, the headstock that through vehicles 4,5,6,7,8 cross drive into grid and the tailstock be driven out to grid when
It carves
Vehicle 9 is left turning vehicle, and exit ramp has S1, and S2 is available, and grid that driving path presses through when being E2 → S1 is sailed
It is as shown in table 6 at the time of entering grid and be driven out to the location point coordinate of grid, drive into grid and be driven out to grid.
Table 6: grid that vehicle 9 crosses on the E2 → S1 of path drives into grid and is driven out to location point coordinate, the headstock of grid
At the time of driving into grid and at the time of the tailstock is driven out to grid
Grid that vehicle 9 is crossed in path E2 → S2 drives into grid and is driven out to the location point coordinate of grid, the vehicle side of driving into
Lattice and be driven out to it is as shown in table 7 at the time of grid.
Table 7: grid that vehicle 9 is crossed in path E2 → S2 drives into grid and is driven out to location point coordinate, the headstock of grid and sails
At the time of entering grid and at the time of the tailstock is driven out to grid
Vehicle 10 is left turning vehicle, and available exit ramp has N1, N2, and when driving path is W3 → N1, vehicle 10 is pressed
It is the grid crossed, the location point coordinate for driving into grid and being driven out to grid, as shown in table 8 at the time of drive into grid and be driven out to grid, when
When driving path is W3 → N1, as shown in table 9.
Table 8: grid that vehicle 10 is crossed in path W3 → N1 drives into grid and is driven out to location point coordinate, the headstock of grid
At the time of driving into grid and at the time of the tailstock is driven out to grid
Table 9: the grid that vehicle crosses on the W3 → N2 of path of vehicle 10 drives into grid and is driven out to the location point coordinate of grid
And project to the coordinate of outer boundary, at the time of headstock drives into grid and at the time of the tailstock is driven out to grid
Vehicle 11 is right-turning vehicles, and it is E1, E2, E3 respectively, when driving path is that exit ramp, which has three lanes available,
When S1 → E1, the grid that crosses, the location point coordinate for driving into grid and being driven out to grid, at the time of drive into grid and be driven out to grid such as
Shown in table 10；It is as shown in table 11 when driving path is S1 → E2；It is as shown in table 12 when driving path is S1 → E3.
Table 10: grid that path S1 → E1 is crossed drives into grid and is driven out to location point coordinate, the headstock of grid and drives into grid
At the time of and tailstock at the time of be driven out to grid
Table 11: grid that S1 → E2 upper vehicle in path crosses drives into grid and is driven out to location point coordinate, the headstock of grid and sails
At the time of entering grid and at the time of the tailstock is driven out to grid
Table 12: at the time of path S1 → E3 headstock drives into gridAt the time of being driven out to grid with the tailstock
Vehicle 12 is right-turning vehicles, has three exit ramps available, is E1, E2, E3 respectively.Different driving paths are got on the bus
Head at the time of drive into grid and the tailstock be driven out to it is as shown in table 13 at the time of grid.
Table 13: at the time of headstock drives into grid on the different paths of vehicle 12 and at the time of the tailstock is driven out to grid
Vehicle 13 is right-turning vehicles, and it is W1, W2 respectively that corresponding exit ramp, which has two lanes optional,.Vehicle on different paths
At the time of headstock drives into grid and the tailstock be driven out to it is as shown in table 14 at the time of grid.
Table 14: at the time of headstock drives into grid on the different paths of vehicle 13 and at the time of the tailstock is driven out to grid
It is minimum by the total delay of intersection that 13 vehicles can be found out according to formula in step 4 (14) and formula (1)-(13)
MIN (Delay)=15.9s, the best exit lane and vehicle of each car selection at this time sail out of the best time such as table of stop line
Shown in 15；At the time of each entrance driveway vehicle prediction reaches the stop line moment, is actually reached stop line and vehicle is delayed such as 16 institute of table
Show, since vehicle is each entrance driveway first car, front does not have queuing vehicle, then when being actually reached constantly equal to prediction arrival
It carves.
Table 15: the best exit lane of vehicle is chosen and vehicle sails out of the best time table of stop line
Table 16: each entrance driveway vehicle reaches the prediction time, the practical moment for reaching stop line and vehicle delay of stop line
Table
Claims (5)
1. intersection weighs setting method under a kind of automatic Pilot, which is characterized in that this method comprises the following steps:
Step 1: determining each entrance driveway in intersection, exit ramp number of track-lines and it is numbered respectively, by the inner space of intersection point
For several squares lattice and grid is numbered, determine the coordinate range of each grid；Entrance driveway where acquiring vehicle
Number, turn direction reach the prediction time of stop line, grid that all vehicle pass-through paths in input intersection are pressed onto and
Vehicle enters and is driven out to the location point of grid；
Step 2: establishing vehicle running path preference pattern, establish the computation model that vehicle is actually reached the stop line moment, establish
Computation model at the time of at the time of driving into grid and being driven out to grid；
Step 3: ensuring that the same grid can only be occupied in synchronization by a vehicle, establish more trolleys and occupy the same grid
Constraint condition formula；
Step 4: the minimum objective function of total delay of vehicle is reached with intersection, optimization obtains the best exit lane of each car
And the best time for passing through intersection.
2. intersection weighs setting method under a kind of automatic Pilot according to claim 1, which is characterized in that the step
Rapid 1 includes the following steps:
Step 11: indicating crossing inlet road with parameter O, parameter D indicates intersection exit road, parameter E, W, S, and N is respectively indicated
East, West, South, North direction, O ∈ { E, W, S, N }, D ∈ { E, W, S, N }；G indicates the g vehicle on lane；Oi → Dj indicates vehicle
The j-th strip lane that D exit ramp is driven towards from i-th lane of O entrance driveway does not consider to turn around to travel, therefore, in Oi → Dj, and O ≠
D；Each entrance driveway includes iOLane, wherein iO∈{1,2,…,nO, nOIndicate the direction O entrance driveway maximum number of track-lines, each
Exit ramp includes jDLane, wherein jD∈{1,2,…,mD, mDIndicate the direction D exit ramp maximum number of track-lines；Speed parameter v
It indicates, considers that vehicle drives at a constant speed inside intersection, cannot stop；The lattice that intersection is divided into several squares is gone forward side by side
Row number, RpqExpression grid R is p, q respectively in the corresponding number of x-axis and y-axis；Rectangular coordinate system is established, acquisition each car presses through
Grid and entrance and the location point for being driven out to grid,Indicate that the vehicle on the Oi → Dj of path enters a-th of grid Rpq's
Location point, thenWherein a ∈ { 1,2 ..., A }, A indicate entry into the sum of location point；Indicate that path Oi → Dj is driven out to b-th of grid RpqLocation point,Wherein b ∈ 1,
2 ..., B }, B indicates the sum for being driven out to location point.
3. intersection weighs setting method under a kind of automatic Pilot according to claim 1, which is characterized in that the step
In rapid 2, vehicle running path preference pattern is established, establishes the computation model that vehicle is actually reached the stop line moment, foundation is driven into
Computation model at the time of at the time of grid and being driven out to grid, includes the following steps:
Step 21: entrance driveway vehicle turns left and turns right, and the direction for being driven out to intersection is known and determining, therefore in the institute for being driven out to direction
There is exit ramp that a lane is selected to be driven out to, is calculated by formula (1)；
In formula,For binary variable,Indicate the g vehicle selection path Oi → Dj, i.e. i-th from the direction O
Entrance driveway drives to the j-th strip exit ramp in the direction D；Indicate that vehicle is not driven out to from j-th strip exit ramp；
When vehicle is straight trip and entrance driveway iOLess than or equal to exit ramp number of track-lines jD, i.e. iO≤jDWhen, the path of through vehicles selection
It is calculated by formula (2):
When vehicle is straight trip and entrance driveway iOGreater than exit ramp jDThat is iO>jDWhen, the vehicle on lane that entrance driveway has more than exit ramp
It drives towards apart from nearest exit ramp, Path selection is calculated by formula (3):
The g vehicle prediction on i-th article of entrance driveway in the direction step 22:O is used at the time of reaching stop lineIt indicates, reaches parking
The practical moment of line is usedIt indicates, sails out of stop line, used at the time of into intersectionIt indicates；
At the time of the prediction time that the g vehicle reaches stop line sails out of stop line more than or equal to previous vehicle g-1, i.e.,
Do not have to then wait in line；IfWhen, then the g vehicle cannot reach stop line by prediction time, need to wait in line, then
Reach the practical moment of stop lineIt is calculated by formula (4)；
D in formulavFor vehicle to the distance of intersection parking line, GOiIndicate the vehicle fleet on an entrance driveway；
As g=1, i.e., when vehicle is lane first car, front is actually reached stop line without waiting for current vehicle at this time
At the time of be equal to prediction reach the stop line moment, by formula (5) calculate；
Step 23: the g vehicle drives into location pointAt the time of useIt indicates, is driven out to location pointAt the time of useIt indicates, at the time of leaving stop line equal to vehicle at the time of driving into first location point, is calculated by formula (6):
The g vehicle is calculated at the time of driving into other positions point by formula (7):
The g vehicle is calculated at the time of being driven out to first location point by formula (8):
The g vehicle is calculated at the time of being driven out to other positions point by formula (9):
4. intersection weighs setting method under a kind of automatic Pilot according to claim 1, which is characterized in that the step
In rapid 3, it is ensured that the same grid can only be occupied in synchronization by a vehicle, establish the pact that more trolleys occupy the same grid
Beam condition formula, includes the following steps:
Step 31: the vehicle that can have a plurality of different driving paths reaches the same grid Rpq, must compare two-by-two vehicle reach and
At the time of being driven out to grid, the collection that definition reaches all vehicles in intersection is combined into G, for any one vehicle g1,g2∈ G, it is assumed that vehicle
g1Path be (Oi → Dj)1, vehicle g2Path be (Oi → Dj)2, to arbitrary O ∈ { E, W, S, N }, D ∈ { E, W, S, N },
i∈{1,2,…,nO, j ∈ { 1,2 ..., mD}；It may insure the same grid in same a period of time using formula (10) and formula (11)
Carving can only be occupied by a vehicle；
In formulaFor binary variable, as grid RpqWhen on the Oi → Dj of path,As grid RabNot in path
When on Oi → Dj,M be big positive number, y is binary variable, can value be 0 or 1.
5. intersection weighs setting method under a kind of automatic Pilot according to claim 1, which is characterized in that the step
In rapid 4, with intersection reach vehicle the minimum objective function of total delay, optimization obtain each car best exit lane and
By the best time of intersection, include the following steps:
Step 41: the delay of the g vehicle is calculated by formula (12), and delay, which is equal at the time of sailing out of stop line to subtract prediction and reach, to stop
At the time of fare；Total delay is calculated by formula (13), can be true according to the smallest formula of total delay (14) and publicity (1)-(13)
Determine optimal path of each car in the region of intersectionI.e. best exit lane, and sail out of stop line optimal time
MIN(Delay) (14)。
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| CN112309120A (en) * | 2020-11-04 | 2021-02-02 | 长沙理工大学 | Automatic driving intersection traffic control method for optimal import lane selection |
| CN112373472A (en) * | 2021-01-14 | 2021-02-19 | 长沙理工大学 | Method for controlling vehicle entering time and running track at automatic driving intersection |
| CN112907944A (en) * | 2021-01-18 | 2021-06-04 | 陈潇潇 | Automatic driving intelligent traffic method for local traffic section |
| WO2022089307A1 (en) * | 2020-11-02 | 2022-05-05 | 河海大学 | Self-driving platoon-based lightweight scheduling method for uncontrolled intersection |
| CN114664098A (en) * | 2022-04-20 | 2022-06-24 | 北京京东乾石科技有限公司 | Road right distribution method and device |
| CN115482677A (en) * | 2022-09-19 | 2022-12-16 | 长沙理工大学 | Bus priority control method for automatic driving intersection |
| CN116092310A (en) * | 2023-01-28 | 2023-05-09 | 西南交通大学 | Intersection collaborative ecological driving control method and system for mixed traffic environment |
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